A photovoltaic cleaning robot

Abstract

This invention relates to the field of photovoltaic maintenance robot technology, and discloses a photovoltaic cleaning robot, including a robot body, a control arm, and a cleaning component. The control arm and the cleaning component are connected by a movable connecting kit. The movable connecting kit includes a pitch connecting seat, a longitudinal inner rod, a sliding sleeve, and a longitudinal outer sleeve. The longitudinal inner rod is provided with a universal ball, and correspondingly, the inner wall of the sliding sleeve is provided with a ball groove adapted to the universal ball. The universal ball is embedded in the ball groove. The outer wall of the sliding sleeve fits against the inner wall of the longitudinal outer sleeve. The longitudinal inner rod is rotatably connected to the pitch connecting seat. The longitudinal inner rod can be twisted relative to the universal ball, and the control arm can slide relative to the longitudinal inner rod. Its advantage is that it can isolate the cleaning component from the undulations and twisting changes when the carrier travels on uneven surfaces, ensuring efficient cleaning of photovoltaic panels.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic maintenance robot technology, and in particular to a photovoltaic cleaning robot. Background Technology

[0002] During the use of solar photovoltaic panels, dust will adhere to the surface of the panels, directly blocking sunlight. Clean photovoltaic modules often have at least 5% higher output power than those covered by dust. In heavily polluted areas such as deserts, the more severe the dust accumulation, the greater the power generation loss. Therefore, it is necessary to clean the photovoltaic panels in a timely manner during the use of photovoltaics.

[0003] In large-scale solar photovoltaic power plants, mechanical cleaning robots are typically used to clean the photovoltaic panels. These robots usually require a set of tracks and guide rail systems to allow the robot's robotic arm to move along the photovoltaic panels to clean their surfaces. However, this is only suitable for photovoltaic panels installed on flat ground. For photovoltaic panels installed on hillsides, due to the steep slopes and uneven bottoms, adjacent photovoltaic panels cannot be connected to each other, making it impossible to use guide rail or gantry-type cleaning robots. Small cleaning robots that can move autonomously on the photovoltaic panels lack the ability to cross obstacles to move from one photovoltaic panel to another, requiring manual labor or drones for transport, which is time-consuming and labor-intensive, greatly reducing cleaning efficiency. Although setting up an independent cleaning unit for each photovoltaic panel can indeed greatly improve cleaning efficiency, it also significantly increases operating costs, severely reducing its economic benefits.

[0004] Chinese patent application number 202211530495X: A fully automatic photovoltaic module cleaning robot, comprising a cleaning component, a lever arm component, and a drive component, wherein the lever arm component is connected to the cleaning component, and the drive component is connected to the lever arm component. This invention cleans the photovoltaic panels using the cleaning component, uses the lever arm component to bring the cleaning component into contact with the photovoltaic panels, and is driven by a tracked drive component. Although the tracked drive component has relatively higher mobility than wheeled movement, when moving on uneven slopes, the height of the lever arm component changes accordingly. This can result in either an overly tight or loose fit between the cleaning component and the photovoltaic panel. For example, when the drive component encounters a lower depression, the lever arm shifts downwards, causing the entire or part of the cleaning device to press down, potentially scratching or damaging the photovoltaic panel. Conversely, when the drive component moves to a higher position, it pulls the lever arm component upwards, causing the cleaning component to shift upwards and preventing it from effectively cleaning the photovoltaic panels.

[0005] In summary, there is an urgent need for a photovoltaic cleaning robot that can isolate the cleaning components from changes in shape due to elevation changes and twisting when the carrier travels on uneven roads, thus ensuring efficient cleaning of photovoltaic panels. Summary of the Invention

[0006] In view of the problem that existing photovoltaic cleaning robots are unable to effectively clean uneven photovoltaic panels, a photovoltaic cleaning robot is proposed that, when the carrier travels on uneven surfaces, isolates the cleaning components from the undulations and twisting changes in shape, thus ensuring efficient cleaning of photovoltaic panels.

[0007] To solve the above problems, the technical solution of the present invention is as follows: A photovoltaic cleaning robot includes a robot body, a control arm, and a cleaning component. The cleaning component is used to attach to and clean a photovoltaic panel. The control arm is mounted on the robot body and is used to control the movement of the cleaning component. The control arm and the cleaning component are connected by a movable connecting kit. The movable connecting kit includes a pitch connecting seat, a longitudinal inner rod, a sliding sleeve, and a longitudinal outer tube. The longitudinal inner rod is provided with a universal ball. Correspondingly, the inner wall of the sliding sleeve is provided with a ball groove adapted to the universal ball. The universal ball is embedded in the ball groove. The outer wall of the sliding sleeve is in contact with the inner wall of the longitudinal outer tube. The sliding sleeve can move along the longitudinal outer tube. The longitudinal inner rod is rotatably connected to the pitch connecting seat. The pitch connecting seat is fixed to the cleaning component, and the longitudinal outer tube is fixed to the control arm. The axial direction of the rotation axis between the longitudinal inner rod and the pitch connecting seat is the direction of movement of the cleaning component during cleaning.

[0008] As a preferred technical solution, the control arm is vertically connected to the longitudinal outer sleeve, and the control arm is telescopic.

[0009] As a preferred technical solution, the longitudinal inner sleeve is provided with a blocking block, which prevents the sliding sleeve from disengaging from the longitudinal outer sleeve.

[0010] As a preferred technical solution, the upper and lower ends of the longitudinal inner sleeve are provided with the blocking blocks, wherein the sliding sleeve is embedded between the two blocking blocks and prevents the sliding sleeve from moving along the longitudinal outer sleeve.

[0011] As a preferred technical solution, the omnidirectional ball is provided with a movable guide groove, and the longitudinal inner rod is movably connected to the omnidirectional ball through the movable guide groove.

[0012] As a preferred technical solution, the center of the omnidirectional ball is located on the central axis of the control arm.

[0013] As a preferred technical solution, a limiting block is provided on the longitudinal inner rod, and the limiting block is used to prevent the omnidirectional ball from detaching from the longitudinal inner rod.

[0014] As a preferred technical solution, the longitudinal outer sleeve is provided with an active slide rail, and the active slide rail is movably connected to the control arm through a drive.

[0015] As a preferred technical solution, the active slide rail is provided with a threaded rod, which passes through the control arm. The rotation of the threaded rod drives the active slide rail to move up and down relative to the control arm.

[0016] The beneficial effects of this invention are: 1. The photovoltaic cleaning robot of the present invention has its control arm and cleaning component connected by a movable connecting kit. The movable connecting kit is vertically slidably connected to the sliding sleeve through a longitudinal outer sleeve in the vertical movement direction. When cleaning the photovoltaic panel, it can isolate the cleaning component from vertical displacement when the robot moves on uneven roads, preventing the cleaning component from being forced away from the photovoltaic panel during cleaning, which would reduce cleaning efficiency, or from being subjected to additional pressure during cleaning, which would cause damage to the photovoltaic panel. In the horizontal direction, the movable connecting kit can realize the torsion of the sliding sleeve around the universal ball through the nested connection between the sliding sleeve and the universal ball. That is, when the robot moves on uneven roads, switching between high and low will cause the robot to twist in the direction of movement. The torsion of the robot during movement is converted into the torsion of the sliding sleeve relative to the universal ball, thereby avoiding the torsion being transmitted to the cleaning component cleaning the photovoltaic panel, causing the cleaning component to flip and resulting in a decrease in its cleaning efficiency.

[0017] 2. The photovoltaic cleaning robot of this invention does not require complex sensors and large models to precisely control the robotic arm. It can filter the cleaning pressure and cleaning angle deviation caused by bumpy roads, greatly reducing the production cost of the robot. Through the movement of the humanoid robot itself and its small footprint, it can carry the cleaning components to cross between non-adjacent photovoltaic panels at will, greatly increasing the flexibility of use.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the cleaning operation of the photovoltaic cleaning robot described in this invention; Figure 2 This is a schematic diagram of the cleaning components of the photovoltaic cleaning robot described in this invention; Figure 3 This is a schematic diagram of the movable connection kit of the photovoltaic cleaning robot described in this invention; Figure 4 This is a partial cross-sectional view of the active connection kit described in this invention; Figure 5 A schematic diagram of the movable connection kit ensuring that the omnidirectional ball always coincides with the axis of the control arm; Figure 6 A partial cross-sectional schematic diagram of the movable connection kit, ensuring that the omnidirectional ball always coincides with the axis of the control arm; Figure 7 This is a schematic diagram illustrating the state changes of the active connection kit described in this invention; Figure 8 A schematic diagram of the active connection kit with an active slide rail; Figure 9 A schematic diagram showing the active connecting kit with an active slide rail moving upward relative to the control arm; Figure 10 This is a schematic diagram of the reciprocating brushing state of the active connection kit.

[0020] The reference numerals and components involved in the accompanying drawings are shown below: 1. Robot body; 2. Control arm; 3. Cleaning assembly; 4. Photovoltaic panel; 5. Movable connection kit; 31. Intermediate partition; 32. Cleaning roller; 51. Pitch connector; 52. Longitudinal inner rod; 53. Sliding sleeve; 54. Longitudinal outer sleeve; 55. Universal ball; 511. Rotating shaft; 521. Limit block; 531. Ball groove; 541. Blocking block; 542. Active slide rail; 543. Threaded rod; 551. Moving guide groove. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 , Figure 1This is a schematic diagram of the cleaning operation of the photovoltaic cleaning robot according to the present invention. A photovoltaic cleaning robot includes a robot body 1, a control arm 2, and a cleaning component 3. The robot body 1 is used for the movement of the photovoltaic cleaning robot. In this embodiment, the robot body 1 is based on existing technology. Preferably, in order to move on uneven ground, its movement mode can be a bipedal anthropomorphic movement mode of a humanoid robot, enabling it to adapt to walking on rugged ground. In some embodiments, the robot body 1 adopts a tracked mobile base. During the cleaning process, the robot body 1 moves along the photovoltaic panel 4, driving the cleaning component 3 to move and clean on the photovoltaic panel 4.

[0023] Please see the appendix Figure 2 , Figure 2 This is a schematic diagram of the cleaning components of the photovoltaic cleaning robot of the present invention. The cleaning component 3 is used to clean the photovoltaic panel 4, and its movement trajectory, under the movement of the robot body 1, will cover the entire photovoltaic panel 4 to achieve cleaning of the entire photovoltaic panel 4. In this embodiment, the cleaning component 3 is the prior art. Preferably, the cleaning component 3 includes a middle partition 31 and a cleaning roller 32. The bottom of the middle partition 31 is provided with felt to prevent scratching the photovoltaic panel 4 when in contact with it. A cleaning roller 32 is provided on each side of the middle partition 31. The cleaning roller 32 is provided with a soft brush. The soft brush contacts the surface of the photovoltaic panel 4, and the movement of the soft brush on the photovoltaic panel 4 cleans the photovoltaic panel 4. In some preferred embodiments, the cleaning roller 32 can be driven by a motor to rotate around its own axis to clean the photovoltaic panel 4. In some embodiments, the cleaning component 3 can also be a cuboid structure covered with a soft cleaning cloth, etc., which can wipe the photovoltaic panel 4.

[0024] In the photovoltaic cleaning robot of the present invention, the robot body 1 is provided with a control arm 2. Preferably, the control arm 2 is a telescopic mechanical arm structure. Preferably, in some embodiments, a multi-joint structure can still be maintained. The other end of the telescopic control arm 2 is connected to the cleaning component 3 through a movable connecting kit 5. The movable connecting kit 5 can filter fluctuations from the ground during the movement of the robot body 1 and prevent them from being transmitted to the cleaning component 3, thereby avoiding uncontrolled deformation or pressure changes in the cleaning component 3 that could damage the photovoltaic panel 4. For details, please refer to the appendix. Figure 3 Appendix Figure 4 , Figure 3 This is a schematic diagram of the movable connection kit of the photovoltaic cleaning robot described in this invention. Figure 4 This is a partial cross-sectional view of the active connection kit described in this invention. Figure 4In section a and b, the movable connection kits are in different states. The movable connection kit 5 includes a pitch connection seat 51, a longitudinal inner rod 52, a sliding sleeve 53, and a longitudinal outer sleeve 54. The pitch connection seat 51 is fixedly connected to the middle partition plate 31 of the cleaning assembly 3, and has a rotating shaft 511 on it. The cleaning assembly 3 can rotate around the rotating shaft 511 to adapt to the tilt angle of the photovoltaic panel 4. The longitudinal inner rod 52 is a rod-shaped structure, and one end of it is connected to the rotating part of the pitch connection seat 51. A shaft 511 is rotatably connected, with one end being a free end. A universal ball 55 is provided on the longitudinal inner rod 52. The universal ball 55 is a spherical structure located on the longitudinal inner rod 52, situated in the central region of the longitudinal inner rod 52. Its upper and lower sides are reserved displacement areas. The center of the universal ball 55 is located on the axis of the longitudinal inner rod 52, and most of its spherical outer wall protrudes beyond the outer wall of the longitudinal inner rod 52; that is, the diameter of the universal ball 55 is larger than the cross-sectional diameter of the longitudinal inner rod 52. The sliding... The sleeve 53 is a tubular structure that is fitted onto the universal ball 55 and can rotate around the universal ball 55. Specifically, the inner wall of the tubular sliding sleeve 53 is provided with a ball groove 531 that is adapted to a portion of the outer wall of the universal ball 55. The sliding sleeve 53 is nested on the universal ball 55 through the ball groove 531. There is a gap between the inner wall of the sliding sleeve 53 and the outer wall of the longitudinal inner rod 52. The relative movement between the sliding sleeve 53 and the longitudinal inner rod 52 is only around the universal ball 55 and / or around the universal ball 55. The longitudinal inner rod 52 is a torsion of the axis; the sliding sleeve 53 is located inside the longitudinal outer tube 54, the outer wall of the sliding sleeve 53 is in contact with the inner wall of the longitudinal outer tube 54, and can move along the longitudinal outer tube 54 as a moving track. The corresponding longitudinal outer tube 54 is a tubular structure with a certain length for the sliding sleeve 53 to slide inside it, and a blocking block 541 is provided at the bottom of the longitudinal outer tube 54 to prevent the sliding sleeve 53 from falling off. The longitudinal outer tube 54 is fixed and vertically connected to the control arm 2.

[0025] The photovoltaic cleaning robot of this invention is used in such a way that the control arm 2 of the robot body 1 extends so that the cleaning component 3 is positioned above the photovoltaic panel 4, and the cleaning component 3 is perpendicular to the robot's direction of travel. In some preferred embodiments, the control arm 2 is also connected to the robot body 1 via a slide rail. By moving the control arm 2 up and down on the slide rail, the height of the cleaning component 3 is changed. Specifically, in the initial state, the sliding sleeve 53 is located at the bottom of the longitudinal outer sleeve 54, that is, the bottom of the sliding sleeve 53 contacts the blocking block 541, causing the control arm 2 to descend, and the cleaning component 3 moves down synchronously until the middle partition 31 of the cleaning component 3 moves down and... Upon contact with the photovoltaic panel 4, the cleaning component 3 begins to rotate around the rotation axis 511 of the pitch connection seat 51 until it is parallel to the photovoltaic panel 4. The control arm 2 continues to descend, and the sliding sleeve 53, the universal ball 55, and the longitudinal inner rod 52 move upward relative to each other along the longitudinal outer sleeve 54. Preferably, it moves upward to the middle position of the longitudinal outer sleeve 54. The robot body 1 moves along the photovoltaic panel 4, and the cleaning component 3 begins to scrub the photovoltaic panel 4. During the movement, since the direction of movement is perpendicular to the rotation plane of the cleaning component 3, that is, consistent with the axial direction of the rotation axis 511, the control arm 2 can synchronously drive the cleaning component 3 to move. When the robot body 1 is moving in an uneven area, such as when moving to the left and about to enter a low-lying area, the robot body 1 will tilt to the left, that is, the control arm 2 will simultaneously tilt downward to the left. At this time, the longitudinal outer sleeve 54 and the sliding sleeve 53 inside it will tilt and rotate synchronously. Figure 4 As shown in Figure b, due to the limiting movable connection of the omnidirectional ball 55 to the sliding sleeve 53, the longitudinal outer sleeve 54 can be twisted obliquely downward around the omnidirectional ball 55 through the sliding sleeve 53. Thus, the longitudinal inner rod 52 and the pitch connection seat 51 and cleaning assembly 3 connected to it can maintain their shape. It should be understood that the control arm 2 still applies a traction force in the direction of movement to the longitudinal inner rod 52, which can maintain the movement state of the cleaning assembly 3 unchanged. The undulation of the robot body 1 in the height direction is converted into relative sliding between the sliding sleeve 53 and the longitudinal outer sleeve 54, which is also used to prevent the swing of the robot during the movement from being transmitted to the cleaning assembly 3 on the photovoltaic panel 4.

[0026] It should be noted that the control arm 2 and the cleaning component 3 of the photovoltaic cleaning robot of the present invention are connected by a movable connecting kit 5. The movable connecting kit 5 is vertically slidably connected to the sliding sleeve 53 through the longitudinal outer sleeve 54 in the vertical movement direction. When cleaning the photovoltaic panel 4, it can isolate the cleaning component 3 from vertical displacement when the robot moves on uneven roads, preventing the cleaning component 3 from being forced away from the photovoltaic panel 4 during the cleaning process, which would reduce the cleaning efficiency, or from being subjected to additional pressure during the cleaning process, which would cause the photovoltaic panel 4 to be damaged by pressure. In the horizontal direction, the movable connecting kit 5 is nestedly connected to the universal ball 55 through the sliding sleeve 53, which can realize the torsion of the sliding sleeve 53 around the universal ball 55. That is, when the robot moves on uneven roads, switching between high and low will cause the robot to twist in the direction of movement. The torsion of the robot during the movement of the movable connecting kit 5 is converted into the torsion of the sliding sleeve 53 relative to the universal ball 55, thereby avoiding the torsion from being transmitted to the cleaning component 3, causing the cleaning component 3 to flip and reduce its cleaning efficiency.

[0027] For handling movements on steeper slopes or continuous uphill / downhill sections, please refer to the appendix. Figure 5 Appendix Figure 6 ; Figure 5 This is a schematic diagram of the movable connection kit that ensures the omnidirectional ball always coincides with the axis of the control arm. Figure 6 This is a partial cross-sectional view of the movable connection kit where the omnidirectional ball always coincides with the axis of the control arm. In some preferred embodiments, both the upper and lower ends of the longitudinal inner sleeve are provided with blocking blocks 541. The two blocking blocks 541 fix the sliding sleeve 53 inside the longitudinal outer sleeve 54, preventing the sliding sleeve 53 from moving up and down along the longitudinal outer sleeve 54. That is, the longitudinal outer sleeve 54 and the sliding sleeve 53 are an integral structure, and the length of the longitudinal outer sleeve 54 is adapted to the length of the sliding sleeve 53. In this embodiment, the center of the omnidirectional ball 55 is located on the central axis of the control arm 2, that is, the control arm 2 and the omnidirectional ball 55 are always on the same straight line. In this embodiment, the omnidirectional ball 55 is provided with a through-type movable guide groove 551, which is adapted to the longitudinal inner rod 52. The omnidirectional ball 55, along with its outer sliding sleeve 53 and longitudinal outer sleeve 54, can move along the longitudinal inner rod 52. A limiting block 521 is provided at the top of the longitudinal inner rod 52. When the omnidirectional ball 55 moves upward to contact the limiting block 521, it drives the cleaning assembly 3 to move. Please refer to the appendix. Figure 7 , Figure 7 This is a schematic diagram illustrating the state changes of the active connection kit described in this invention, wherein... Figure 7The robot moves from state a to state b. The two dotted lines indicate that the vertical position of the longitudinal inner rod 52 remains unchanged during the movement, while the omnidirectional ball 55 moves downward, the sliding sleeve 53 twists, and the lateral position of the longitudinal inner rod 52 shifts. During use, when encountering swinging motions on the path, the control arm 2, because it remains aligned with the omnidirectional ball 55, ensures that the robot's tilting swings are always converted into twisting of the sliding sleeve 53 relative to the omnidirectional ball 55. Furthermore, in the vertical direction, such as when swinging downwards clockwise or counterclockwise, the omnidirectional ball 55 relative to the longitudinal inner rod 52 shifts. When the inner rod 52 moves downward and the upper swing returns to its original position, the omnidirectional ball 55 moves upward relative to the longitudinal inner rod 52. However, in this embodiment, after the movement occurs in the vertical direction, the omnidirectional ball 55 remains coaxial with the control arm 2, so that when the control arm 2 rotates, the sliding sleeve 53 can still twist relative to the omnidirectional ball 55, and the moving guide groove 551 always remains vertical. This allows the robot to swing as a whole, which can still be converted into up and down movement along the longitudinal inner rod 52, ensuring that the longitudinal inner rod 52 is always in the vertical direction, and can cope with continuous downhill or uphill slopes.

[0028] During the cleaning process of photovoltaic panel 4, when encountering stubborn stains, the area is typically repeatedly scrubbed by moving the robot back and forth. However, this back-and-forth movement on uneven paths presents significant resistance. For humanoid robotic arm cleaning devices, achieving reciprocating scrubbing requires complex maneuvers of multi-jointed arms. Simple arm swinging only allows for reciprocating scrubbing of fan-shaped areas via the axis of the rotational joints. However, this fan-shaped area scrubbing creates blind spots at the edges, necessitating overall position adjustments to continuously clean the stains in these areas. In this embodiment, please refer to the attached diagram. Figure 8 , Figure 8 This is a schematic diagram of the movable connection kit with an active slide rail. The longitudinal outer sleeve 54 is equipped with an active slide rail 542. The control arm 2 is embedded within the active slide rail 542 and can move up and down relative to the active slide rail 542. Specifically, the active slide rail 542 is equipped with a threaded rod 543 (thread not shown in the figure). The threaded rod 543 passes through the control arm 2, and the rotation of the threaded rod 543 drives the active slide rail 542 to move up and down relative to the control arm 2. If a threaded sleeve, driven by a motor and adapted to the threaded rod 543, is provided inside the control arm 2, the clockwise or counterclockwise rotation of the threaded sleeve achieves the up and down movement of the longitudinal outer sleeve 54 relative to the control arm 2. When reciprocating cleaning is required, please refer to the appendix. Figure 9 , Figure 9This diagram illustrates the upward movement of the movable connecting assembly with the active slide rail relative to the control arm. Simply drive the longitudinal outer sleeve 54 and its internal omnidirectional ball 55 upward relative to the longitudinal inner rod 52. At this point, simply control the control arm 2 to rotate clockwise and counterclockwise around its own axis. (See attached diagram.) Figure 10 , Figure 10 This is a schematic diagram of the reciprocating brushing state of the active connection kit. Figure 10 In the diagrams a, b, and c, the relative positions of the movable connecting kit 5 in three states are shown. The circular dashed line in the diagram is coaxial with the control arm 2, indicating the rotation direction of the control arm 2. The horizontal dashed line indicates that during the transformation process, the longitudinal inner rod 52 and the cleaning component 3 remain unchanged in the longitudinal direction. During rotation, since the cleaning component 3 and the photovoltaic panel 4 remain in contact, a limit is formed in the direction of movement, so that the rotation of the control arm 2 around its own axis is converted into the torsion of the sliding sleeve 53 around the universal ball 55 and the up and down movement of the universal ball 55 relative to the vertical inner rod, and the reciprocating motion of the cleaning component 3 along the photovoltaic panel 4. The photovoltaic cleaning robot of the present invention can achieve translational reciprocating cleaning by only rotating the control arm 2 itself, which greatly reduces the mechanical control difficulty during reciprocating cleaning.

[0029] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements and additions without departing from the principle of the present invention, and these improvements and additions should also be considered within the scope of protection of the present invention.

Claims

1. A photovoltaic cleaning robot comprising a robot body, a control arm, a cleaning assembly for conforming to and cleaning a photovoltaic panel, the control arm being disposed on the robot body for controlling movement of the cleaning assembly, characterized in that, The control arm and the cleaning assembly are connected by a movable connecting kit, which includes a pitch connecting seat, a longitudinal inner rod, a sliding sleeve, and a longitudinal outer sleeve. The longitudinal inner rod is provided with a universal ball, and correspondingly, the inner wall of the sliding sleeve is provided with a ball groove adapted to the universal ball. The universal ball is embedded in the ball groove. The outer wall of the sliding sleeve is in contact with the inner wall of the longitudinal outer sleeve. The sliding sleeve can move along the longitudinal outer sleeve. The longitudinal inner rod is rotatably connected to the pitch connecting seat. The pitch connecting seat is fixed to the cleaning assembly, and the longitudinal outer sleeve is fixed to the control arm. The axial direction of the rotation axis between the longitudinal inner rod and the pitch connecting seat is the direction of movement of the cleaning assembly during cleaning.

2. The photovoltaic cleaning robot of claim 1, wherein, The control arm is perpendicularly connected to the longitudinal outer sleeve, and the control arm is telescopic.

3. The photovoltaic cleaning robot of claim 1, wherein, The longitudinal inner sleeve is provided with a blocking block, which prevents the sliding sleeve from disengaging from the longitudinal outer sleeve.

4. The photovoltaic cleaning robot of claim 3, wherein, The longitudinal inner sleeve is provided with the blocking blocks at both the upper and lower ends, wherein the sliding sleeve is embedded between the two blocking blocks and prevents the sliding sleeve from moving along the longitudinal outer sleeve.

5. The photovoltaic cleaning robot of claim 4, wherein, The omnidirectional ball is provided with a movable guide groove, and the longitudinal inner rod is movably connected to the omnidirectional ball through the movable guide groove.

6. The photovoltaic cleaning robot according to claim 5, characterized in that, The center of the omnidirectional ball is located on the central axis of the control arm.

7. The photovoltaic cleaning robot according to claim 6, characterized in that, The longitudinal inner rod is provided with a limiting block, which is used to prevent the omnidirectional ball from detaching from the longitudinal inner rod.

8. The photovoltaic cleaning robot according to claim 5, characterized in that, The longitudinal outer sleeve is equipped with an active slide rail, which is movably connected to the control arm via a drive.

9. The photovoltaic cleaning robot according to claim 8, characterized in that, The active slide rail is provided with a threaded rod that passes through the control arm. The rotation of the threaded rod drives the active slide rail to move up and down relative to the control arm.

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