A cleaning robot for photovoltaic modules

Abstract

The present application relates to the technical field of cleaning robots, and discloses a cleaning robot for photovoltaic modules, which comprises a shell, a fixing mechanism and a hinge set, the telescopic pipes are arranged outside the shell, and the two sets of telescopic pipes are connected through the hinge set, the hinge set can realize folding and unfolding actions of the two sets of telescopic pipes, flexibly adjusts the width of the cleaning operation, adapts to photovoltaic modules with different width sizes, and can reduce the overall volume of the equipment in the folded state, thereby facilitating transportation and storage. Correspondingly, the two sets of shells can realize double-mode cleaning operation: during operation, one set of shells can be controlled to be adsorbed and fixed on the surface of the photovoltaic panel through the fixing mechanism as a positioning base point. The cleaning robot for photovoltaic modules can realize remote regulation and control of the operation state of the equipment, the antenna can enhance the receiving and transmitting strength of the communication signal, guarantee the signal transmission stability in the complex terrain photovoltaic power station, and adapt to the operation and maintenance requirements of large-scale photovoltaic power stations without manual attendance.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to a cleaning robot for photovoltaic modules. Background Technology

[0002] During long-term outdoor operation, photovoltaic (PV) modules gradually accumulate dust, fallen leaves, and various stains on their surfaces, leading to a decrease in light transmittance and directly impacting PV power generation efficiency. Therefore, regular cleaning and maintenance of the PV module surfaces is necessary. PV cleaning robots, as automated maintenance equipment, can replace manual labor in cleaning PV panels, effectively reducing labor costs and improving the efficiency and safety of cleaning operations. They are currently widely used in the operation and maintenance of various ground-mounted PV power plants and distributed PV systems.

[0003] Existing photovoltaic module cleaning robots are generally equipped with wheels, cleaning brushes, and suction cup fixing structures. Some models have retractable cleaning frame structures to adjust the cleaning width, allowing them to move along the photovoltaic panel surface and complete the cleaning operation. They can also be fixed in place during operation using suction cups. However, existing suction cup fixing structures mostly use cylinders to directly drive the suction cups up and down and generate negative pressure. The suction cup's descent and the generation of negative pressure occur simultaneously within the same stroke of the cylinder, lacking a mechanically linked pre-bonding and pressurization process. The initial tightness of the adhesion between the suction cup and the photovoltaic panel is easily affected by thermal deformation of the panel surface and installation height differences. When dealing with photovoltaic panels with slight undulations, the initial sealing effect is difficult to guarantee, and negative pressure leakage is prone to occur, resulting in insufficient stability of the suction fixation. This can easily lead to machine slippage when working on photovoltaic modules with large tilt angles. Furthermore, existing suction structures rely solely on negative pressure in the air passage to maintain fixation. The retention of suction depends entirely on the continuous air supply from the cylinder. There is no additional mechanical locking protection when the cylinder loses pressure. Under abnormal operating conditions such as sudden power outages, the suction force will rapidly decrease, posing a safety hazard of slippage. Existing cleaning robots use separate drive units for their telescopic tube width locking structure and suction cup fixing structure. Their motion control is independent; after the suction cup completes adhesion and fixation, the locking action of the telescopic tube requires a separate control signal. This results in poor synchronization between the two actions. During cleaning, the telescopic tube is prone to retraction and displacement due to the reaction force of cleaning resistance, causing changes in the cleaning width and creating blind spots. Furthermore, the two independent drive structures increase the overall structural complexity and maintenance costs of the equipment. In addition, existing single-unit cleaning robots have a limited operating mode, making it difficult to simultaneously meet the stability requirements of fixed-point cleaning and the efficiency demands of large-area cleaning. The cleaning brush directly contacts the panel surface, and large surface particles can easily become trapped between the brush and the glass, accelerating brush wear and posing a risk of scratching the photovoltaic coating. Moreover, signal coverage in some remote photovoltaic power stations is weak, and the equipment's remote communication stability is insufficient, making it difficult to adapt to unattended maintenance requirements. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a cleaning robot for photovoltaic modules. It solves the problems of poor initial sealing of the suction cups, insufficient adsorption stability, lack of mechanical self-locking protection leading to slippage under abnormal operating conditions, asynchronous locking of the telescopic tube and adsorption action resulting in width deviation and cleaning blind spots, and the high complexity and maintenance costs of two independent drive structures. Furthermore, it addresses the technical problems of limited operating modes, lack of pre-cleaning protection, and insufficient communication stability in remote scenarios.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a cleaning robot for photovoltaic modules, comprising two sets of symmetrically arranged shells, a fixing mechanism, telescopic tubes, and a hinge group. The telescopic tubes are disposed outside the shells, and the two sets of telescopic tubes are hinged together at their closest points via the hinge group. The hinge group allows for the folding and unfolding of the two sets of telescopic tubes, flexibly adjusting the cleaning width to accommodate photovoltaic modules of different widths. Simultaneously, the folded state reduces the overall size of the device, facilitating transport and storage. Both sets of shells are equipped with electric wheels and a fixing mechanism, enabling dual-mode cleaning operations: during operation, one set of shells can be fixed to the surface of the photovoltaic panel using the fixing mechanism as a positioning base, while the other set of shells moves via the electric wheels, working in conjunction with the telescopic tubes and cleaning brushes to clean the panel surface. Alternatively, both sets of shells can be controlled to move simultaneously, performing cleaning operations concurrently to adapt to different cleaning conditions and efficiency requirements.

[0006] The bottom of the telescopic tube is equipped with cleaning brushes along its length. These brushes extend and cover the entire cleaning area as the tube unfolds, allowing for one-time coverage of the entire cleaning width. This, combined with the movement of the equipment, completes the panel cleaning operation, significantly increasing the cleaning area and work efficiency per unit time. A communication module is located at the top of the housing. This module receives command signals from a remote control terminal, enabling remote control of the equipment's operating status and meeting the unattended operation and maintenance needs of large-scale photovoltaic power plants. An antenna is located on the outer top of the housing, electrically connected to the communication module. This enhances the strength of the communication signal transmission and reception, ensuring signal transmission stability in remote areas and complex terrain photovoltaic power plants, and preventing control command interruptions from affecting the work progress. Electric wheels are evenly distributed along the walking direction at the bottom of the housing. These wheels allow the machine to move autonomously on the photovoltaic module surface, flexibly switching cleaning positions without manual movement, reducing the labor intensity of maintenance personnel. The bottom of the housing is provided with a base, and brush wheels are evenly distributed on the bottom of the base. The brush wheels can pre-sweep away surface dust and large particles of debris on the photovoltaic panel during the movement of the equipment, reducing the cleaning load on the subsequent cleaning brushes, while also helping to support the machine body and improve the stability of the machine body during movement and cleaning. The inner cavity of the housing is provided with a fixing mechanism.

[0007] The fixing mechanism includes a hollow column, which is vertically slidably embedded in the inner cavity of the housing. The hollow column serves as the supporting base for the negative pressure generation and transmission structure, providing a sealed sliding space for internal components such as pistons and cylinders, ensuring the airtightness of the negative pressure chamber, and providing a structural basis for stable suction and linkage locking. A cylinder is located at the top of the inner cavity of the hollow column. The control end of the cylinder is equipped with a signal transmission module, which can receive control commands from the communication module to precisely drive the cylinder to perform extension and retraction actions, achieving electronic control adjustment of negative pressure generation and release with high precision and fast response. A piston is connected to the lower end of the cylinder's output rod. The piston is sealed and slidably positioned within the inner cavity of the hollow column. Driven by the cylinder, the piston slides vertically back and forth along the inner wall of the hollow column, changing the volume of the sealed chamber below the piston, thereby generating or releasing negative pressure, providing a unified power source for subsequent suction and locking actions.

[0008] The chamber below the piston is connected to a flexible hose. This hose has a flexible structure to accommodate the piston's reciprocating movement, preventing airflow bends and blockages, ensuring stable negative pressure airflow, and maintaining reliable airflow connectivity. A suction cup is located at the bottom of the hollow column. The inner cavity of the suction cup is connected to the hose. After the suction cup forms a seal against the smooth surface of the photovoltaic glass, the piston continues to descend, generating a stable negative pressure within the suction cup cavity via the hose. This negative pressure suction force firmly fixes the device to the outside of the photovoltaic panel, preventing displacement or slippage during cleaning operations. This method is suitable for cleaning large-angle photovoltaic modules. A connecting rod is connected to the bottom of the piston via a hinge. The other end of the connecting rod is rotatably connected to a first wedge. The first wedge slides horizontally through the side wall of the hollow column. As the piston descends, the vertical linear motion of the piston is converted into the horizontal outward linear motion of the first wedge via the swinging transmission of the connecting rod. This transmission is smooth and the structure is compact, requiring no additional drive components. The inner cavity of the housing is fixedly provided with a second wedge that matches the first wedge. When the first wedge moves outward as the piston moves downward, its outer inclined surface will abut against the inner inclined surface of the second wedge. Under the action of the reverse component force of the second wedge, the hollow column can be driven to slide downward as a whole, so that the suction cup first tightly adheres to the surface of the photovoltaic panel, forming an initial sealing state, which provides a reliable sealing basis for subsequent negative pressure adsorption.

[0009] After the first wedge extends further until it fully fits the inclined surface, the self-locking angle of the inclined surface forms a mechanical self-locking structure with the second wedge. This counteracts the piston's retraction tendency when the cylinder loses pressure, preventing sudden electrical circuit failure and pressure leakage that could cause the suction cup to fail or the entire machine to slip, further improving the safety and reliability of the adsorption and anchoring. A horizontal tube connects to the outer side wall of the hollow column. A locking block is slidably connected to the inner cavity of the horizontal tube. A return spring is installed between the locking block and the inner wall of the horizontal tube. A slot is provided on the inner side wall of the telescopic tube that matches the end of the locking block. The negative pressure inside the hollow column can be transmitted through the horizontal tube to the side chamber of the locking block away from the slot, driving the locking block to overcome the return spring force and extend outward, locking into the slot on the inner wall of the telescopic tube, thus mechanically locking the extension length of the telescopic tube. The adsorption fixation and telescopic tube locking are triggered by the same negative pressure source, ensuring that the machine body anchoring and cleaning width fixation are completed simultaneously, improving operational stability and preventing changes in the cleaning width or blind spots caused by the telescopic tube retracting during cleaning. After the negative pressure is released, the locking block can automatically retract under the action of the return spring, releasing the lock on the telescopic tube.

[0010] Preferably, the signal transmission module is electrically connected to the communication module, enabling stable bidirectional transmission of control signals and ensuring accurate execution of remote control commands and real-time feedback of equipment operating status. The hollow column is slidably disposed within the inner cavity of the housing, and its extension length can be adaptively adjusted along the vertical direction of the housing to ensure that the suction cup can closely adhere to photovoltaic panel surfaces with different flatness, while buffering vibrations generated during machine operation and preventing hard contact damage to the photovoltaic glass coating layer.

[0011] Preferably, slotted blocks are connected to both sides of the inner cavity of the housing. Guide blocks are slidably connected to the inner cavities of the slotted blocks. When the hollow column slides up and down, it drives the guide blocks to slide vertically synchronously along the inner cavities of the slotted blocks, providing guidance and limiting for the displacement of the hollow column, preventing circumferential deflection, and ensuring the alignment accuracy of the internal air passage and transmission structure. An elastic element connects the guide block and the slotted block, providing an upward reset force when the suction cup depressurizes and resets, assisting the hollow column to quickly return to its original position. Simultaneously, it acts as a buffer and shock absorber during the adsorption process, offsetting the impact of machine vibration on the suction cup's sealing effect and maintaining negative pressure stability. The guide block is connected to the hollow column, and the slotted block is fixedly installed in the inner cavity of the housing, providing a stable mounting support surface for the entire guiding and resetting structure, ensuring the operational reliability of the guiding and resetting actions.

[0012] Preferably, a sealing sleeve is provided at the junction of the first wedge and the hollow column to seal the assembly gap between the first wedge and the hollow column, ensuring the airtightness of the hollow column's inner cavity and preventing problems such as decreased adsorption force and insufficient locking force caused by negative pressure leakage. Both the first and second wedges have an inclined design at their opposite ends, which converts the vertical driving force of the piston downwards into the horizontal thrust of the first wedge. This results in smooth transmission and a force amplification effect, achieving a larger self-locking force with a smaller cylinder driving force. The second wedge is fixedly installed in the inner cavity of the housing, providing a stable abutment support surface for the self-locking structure, ensuring no displacement of the body structure when under self-locking force, and improving the overall reliability of the self-locking structure.

[0013] Preferably, the telescopic tube includes a main tube and a secondary tube. The secondary tube is slidably disposed within the inner cavity of the main tube and can slide and extend along the inner cavity of the main tube. Combined with the folding and swinging action of the hinge assembly, the cleaning width can be flexibly adjusted to accommodate photovoltaic modules of different sizes and specifications, thus broadening its applicability. The main tube and secondary tube are also connected to a fixing mechanism and a housing. The housing and fixing mechanism provide a fixed support end for the telescopic structure, ensuring the overall stability of the structure during telescopic adjustment and preventing the telescopic tube from shaking during cleaning operations.

[0014] Preferably, the water inlet end of the telescopic tube is connected to a water inlet pipe, which can be connected to an external clean water source. Clean water is delivered to the inner cavity of the telescopic tube and supplied to the cleaning brush, achieving a combined cleaning mode of water washing and brushing, effectively improving the removal of stubborn stains such as sand and bird droppings. The telescopic tube is equipped with reinforcing ribs on its exterior, which can improve the structural strength and deformation resistance of the telescopic tube, preventing bending and deformation due to long-term water pressure and cleaning resistance, and extending the service life of the components.

[0015] Preferably, the signal output terminal of the housing is provided with an antenna, and the antenna is provided with a rubber protective sleeve to isolate it from outdoor dust, rain and strong ultraviolet radiation, protect the antenna from damage in harsh environments, extend the antenna's service life, and ensure the long-term stability of signal transmission and reception.

[0016] Preferably, the cleaning brush includes a nozzle and bristles. The bristles are positioned outside the nozzle, surrounding it to prevent water splashing and waste, while ensuring uniform water distribution within the cleaning area and improving the consistency of cleaning effectiveness. The nozzle is connected to the outside of the telescopic pipe, allowing it to evenly spray the cleaning water delivered by the pipe onto the photovoltaic panel surface. Combined with the physical scrubbing action of the bristles, this achieves a combined cleaning effect of water washing and brushing, effectively removing various stains adhering to the panel surface.

[0017] Preferably, the bottom of the brush wheel is evenly equipped with brushes, which can pre-clean the photovoltaic panel surface by rotating, sweeping away large particles of sand, fallen leaves, and other debris from the surface. This prevents large particles from scratching the glass coating layer during brushing, thus protecting the photovoltaic module. A motor is installed at the output end of the brush wheel, located within the inner cavity of the base. The motor drives the brush wheel to rotate autonomously, ensuring sufficient power for pre-cleaning. The motor's internal design within the base provides effective protection, preventing sand and moisture intrusion that could cause motor malfunction, and improving the component's environmental adaptability and lifespan.

[0018] Preferably, a guide plate is embedded in the inner cavity of the piston. The guide plate is slidably disposed within the inner cavity of the hollow column, which can guide the airflow in the lower chamber of the piston to flow evenly to the hose and horizontal tube, avoiding uneven negative pressure transmission caused by local airflow turbulence, and ensuring the synchronicity and consistency of the suction cup adsorption and locking action. The outer surface of the housing is provided with a protective film and a display module. The protective film can cover the outer surface of the housing, isolating it from outdoor dust, rain, and strong ultraviolet radiation, improving the overall environmental weather resistance of the machine and extending its overall service life. The display module can display parameters such as the equipment's operating status, adsorption pressure, and power consumption in real time, facilitating on-site inspection and debugging by maintenance personnel.

[0019] Compared with the prior art, the present invention provides a cleaning robot for photovoltaic modules, which has the following beneficial effects: This photovoltaic module cleaning robot connects the hollow column's inner cavity to the drive chamber of the locking block via a horizontal tube. Utilizing the same negative pressure source generated by the suction action, it synchronously drives the locking block to extend and engage with the slot in the telescopic tube, locking the extension length of the tube. The suction fixation and locking actions are triggered simultaneously, eliminating the need for a separate locking drive structure. This effectively improves the synchronization of their actions, preventing changes in cleaning width and blind spots caused by the telescopic tube retracting due to resistance during cleaning, thus enhancing the stability of the cleaning operation. Furthermore, the integrated design simplifies the overall structure of the equipment, reducing manufacturing and maintenance costs.

[0020] Connecting the two housings and the telescopic tube via a hinge assembly allows for flexible adjustment of the cleaning operation width through folding and unfolding movements, accommodating photovoltaic modules of varying widths. In its folded state, the overall size of the equipment is reduced, facilitating transport and storage. The two housings also enable dual-mode cleaning operations: one housing can be fixed in place as a positioning base while the other moves the machine to complete the cleaning; alternatively, both housings can move simultaneously to perform cleaning operations, adapting to different cleaning conditions and efficiency requirements, thus enhancing the equipment's versatility. Brush wheels at the bottom of the base pre-sweep away surface dust and large particles from the photovoltaic panels during movement, reducing the workload on the cleaning brushes and providing additional support for the machine to improve operational stability and minimize the risk of large particles scratching the panels. Combined with a communication module and antenna on the housing, remote control of the equipment's operating status is possible. The antenna enhances the transmission and reception of communication signals, ensuring signal transmission stability in complex terrain photovoltaic power plants and meeting the unattended operation and maintenance needs of large photovoltaic power plants. Attached Figure Description

[0021] Figure 1 This is a front view of the present invention; Figure 2 This is a planar schematic diagram of the present invention; Figure 3 This is a schematic diagram of the bottom of the present invention; Figure 4 This is a partial sectional view of the fixing mechanism of the present invention; Figure 5 This is a flowchart of the workflow of the present invention.

[0022] In the diagram: 1. Housing; 11. Protective film; 12. Brush wheel; 13. Antenna; 14. Display module; 15. Electric moving wheel; 16. Base; 2. Communication module; 3. Fixing mechanism; 31. Hollow column; 32. Signal transmission module; 33. Cylinder; 34. Piston; 35. Hose; 36. Suction cup; 37. Connecting rod; 38. First wedge; 39. Second wedge; 310. Horizontal tube; 311. Locking block; 312. Slotted block; 313. Guide block; 314. Elastic element; 4. Telescopic tube; 41. Water inlet pipe; 5. Cleaning brush; 6. Hinge assembly. Detailed Implementation

[0023] This invention provides a technical solution; please refer to [link / reference]. Figure 1 and Figure 2A cleaning robot for photovoltaic modules includes: a housing 1, a fixing mechanism 3, and a hinge group 6. Telescopic tubes 4 are disposed outside the housing 1, and the two sets of telescopic tubes 4 are connected by the hinge group 6. The hinge group 6 allows for the folding and unfolding of the two sets of telescopic tubes 4, flexibly adjusting the cleaning width to adapt to photovoltaic modules of different widths. Simultaneously, the folded state reduces the overall size of the device, facilitating transport and storage. The two sets of housings 1 can achieve dual-mode cleaning operations: during operation, one set of housings 1 can be controlled to be fixed to the surface of the photovoltaic panel via the fixing mechanism 3 as a positioning base, while the other set of housings 1 moves via electric wheels 15, working in conjunction with the telescopic tubes 4 and cleaning brushes 5 to clean the panel surface. Alternatively, both sets of housings 1 can be controlled to move simultaneously, carrying out cleaning operations concurrently to adapt to different cleaning conditions and efficiency requirements.

[0024] Please see Figure 3 and Figure 4 The bottom of the telescopic tube 4 is equipped with a cleaning brush 5, which unfolds synchronously with the extension tube 4, covering the entire cleaning width in one go. This, combined with the movement of the equipment, completes the panel cleaning operation, significantly increasing the cleaning area and work efficiency per unit time. The top of the housing 1 is equipped with a communication module 2, which can receive command signals from a remote control terminal, enabling remote control of the equipment's operating status and adapting to the unattended operation and maintenance needs of large-scale photovoltaic power plants. The display end of the housing 1 is equipped with an antenna 13, which enhances the transmission and reception strength of communication signals, ensuring signal transmission stability in remote factory areas and complex terrain photovoltaic power plants, and preventing control command interruptions from affecting the work progress. The moving end of the housing 1 is evenly equipped with electric moving wheels 15, which allow the machine to move autonomously on the surface of the photovoltaic modules, flexibly switching cleaning positions without the need for manual pushing of the equipment, reducing the labor intensity of maintenance personnel. A base 16 is provided at the bottom of the housing 1, and brush wheels 12 are evenly arranged at the bottom of the base 16. The brush wheels 12 can pre-sweep away the surface dust and large particles of debris on the photovoltaic panel during the movement of the equipment, reducing the cleaning load of the subsequent cleaning brush 5, and at the same time assisting in supporting the machine body and improving the stability of the machine body during the movement and cleaning process. A fixing mechanism 3 is provided in the inner cavity of the housing 1.

[0025] Please see Figure 4 and Figure 5The fixing mechanism 3 includes a hollow column 31, which is embedded in the inner cavity of the housing 1. The hollow column 31 serves as the supporting base for the negative pressure generation and transmission structure, providing a sealed sliding space for internal components such as the piston 34 and cylinder 33, ensuring the airtightness of the negative pressure chamber, and providing a structural basis for the stable adsorption and linkage locking of the suction cup 36. The inner cavity of the hollow column 31 houses the cylinder 33, and the control end of the cylinder 33 is equipped with a signal transmission module 32. The signal transmission module 32 can receive control commands transmitted by the communication module 2, precisely driving the cylinder 33 to perform extension and retraction actions, realizing the electronic control adjustment of negative pressure generation and release, with high control accuracy and fast response speed. The output end of the cylinder 33 is connected to the piston 34, which is slidably disposed in the inner cavity of the hollow column 31. Driven by the cylinder 33, the piston 34 slides vertically back and forth along the inner wall of the hollow column 31, changing the volume of the sealed chamber below the piston 34, thereby generating or releasing negative pressure, providing a unified power source for subsequent adsorption and locking actions. The bottom of piston 34 is connected to a flexible hose 35. The hose 35 has a flexible structure to accommodate the reciprocating movement of piston 34, preventing airway bends and blockages, ensuring stable negative pressure airflow, and maintaining reliable airway connectivity. A suction cup 36 is located at the bottom of the hollow column 31. The suction cup 36 is connected to the hose 35. After the suction cup 36 forms a seal against the smooth surface of the photovoltaic glass, the piston 34 continues to move, generating a stable negative pressure within the suction cup 36 via the hose 35. This negative pressure suction force firmly fixes the device to the outside of the photovoltaic panel, preventing displacement or slippage during cleaning operations. This method is suitable for cleaning large-tilt photovoltaic modules. The bottom of piston 34 is connected to a connecting rod 37 via a double-headed hinge.

[0026] The other end of the connecting rod 37 is rotatably connected to the first wedge 38. When the piston 34 moves downward, the connecting rod 37 can be driven to swing through the double-headed hinge, converting the vertical linear motion of the piston 34 into the horizontal linear motion of the first wedge 38. The transmission is smooth and the structure is compact, requiring no additional drive components. The inner cavity of the housing 1 is provided with a second wedge 39 that matches the first wedge 38. When the first wedge 38 moves outward with the piston 34, its inclined surface will abut against the fixed second wedge 39. Under the reverse force of the second wedge 39, the hollow column 31 can be driven to slide downward as a whole, so that the suction cup 36 first tightly adheres to the surface of the photovoltaic panel, forming an initial sealing state, providing a reliable sealing foundation for subsequent negative pressure adsorption. After the first wedge 38 continues to extend, it can form a mechanical self-locking structure with the second wedge 39, counteracting the tendency of the piston 34 to retract when the cylinder 33 loses pressure, avoiding the failure of the suction cup 36 and the slippage of the whole machine due to sudden power circuit failure and pressure relief, further improving the safety and reliability of adsorption anchoring. The hollow column 31 is externally connected to a horizontal tube 310. A locking block 311 is evenly slidably connected to the inner cavity of the horizontal tube 310. The inner cavity of the telescopic tube 4 has a slot that matches the locking block 311. Negative pressure within the hollow column 31 can be transmitted through the horizontal tube 310 to the rear chamber of the locking block 311, driving the locking block 311 to extend outwards and engage in the slot on the inner wall of the telescopic tube 4, thus mechanically locking the extension length of the telescopic tube 4. The adsorption fixation and the locking of the telescopic tube 4 are triggered by the same negative pressure source, ensuring that the anchoring of the machine body and the fixing of the cleaning width are completed simultaneously, improving operational stability and preventing changes in the cleaning width or the creation of cleaning blind spots due to the retraction of the telescopic tube 4 during cleaning.

[0027] The signal transmission module 32 is electrically connected to the communication module 2, enabling stable bidirectional transmission of control signals and ensuring accurate execution of remote control commands and real-time feedback of equipment operating status. The hollow column 31 is slidably disposed within the inner cavity of the housing 1, and its extension length can be adaptively adjusted vertically along the housing 1 to ensure that the suction cup 36 can closely adhere to photovoltaic panels with different flatness, while buffering vibrations generated during machine operation and preventing hard contact damage to the photovoltaic glass coating layer.

[0028] Both sides of the inner cavity of the housing 1 are connected to slotted blocks 312. Guide blocks 313 are slidably connected to the inner cavity of the slotted blocks 312. When the hollow column 31 slides up and down, it can drive the guide blocks 313 to slide vertically synchronously along the inner cavity of the slotted blocks 312, providing guidance and limiting for the displacement of the hollow column 31, preventing circumferential deflection of the hollow column 31, and ensuring the alignment accuracy of the internal air passage and transmission structure. An elastic element 314 is connected between the guide block 313 and the slotted blocks 312, providing an upward reset force when the suction cup 36 is depressurized and reset, assisting the hollow column 31 to quickly return to its original position. Simultaneously, it acts as a buffer and shock absorber during the adsorption process, offsetting the impact of machine vibration on the sealing effect of the suction cup 36 and maintaining negative pressure stability. The guide blocks 313 are connected to the hollow column 31, and the slotted blocks 312 are fixedly installed in the inner cavity of the housing 1, providing a stable mounting support surface for the entire guiding and reset structure, ensuring the operational reliability of the guiding and reset actions.

[0029] A sealing sleeve is provided at the junction of the first wedge 38 and the hollow column 31 to seal the assembly gap between them, ensuring the airtightness of the hollow column 31's inner cavity and preventing negative pressure leakage that could lead to decreased adsorption force and insufficient locking force. Both the first wedge 38 and the second wedge 39 have an inclined design at their opposite ends, which converts the vertical driving force of the piston 34 downwards into the horizontal thrust of the first wedge 38. This provides smooth transmission and a force amplification effect, allowing for a larger self-locking force with a smaller cylinder 33 driving force. The second wedge 39 is fixedly installed in the inner cavity of the housing 1, providing a stable abutment support surface for the self-locking structure, ensuring no displacement of the body structure when under self-locking force, and improving the overall reliability of the self-locking structure.

[0030] The telescopic tube 4 includes a main tube and a secondary tube. The secondary tube is slidably disposed within the inner cavity of the main tube and can slide and extend along the inner cavity of the main tube. In conjunction with the folding and swinging of the hinge assembly 6, the cleaning width can be flexibly adjusted to adapt to photovoltaic modules of different sizes and specifications, thus broadening its application range. The main tube and the secondary tube are also connected to the fixing mechanism 3 and the housing 1. The housing 1 and the fixing mechanism 3 provide a fixed support end for the telescopic structure, ensuring the overall stability of the structure during telescopic adjustment and preventing the telescopic tube 4 from shaking during cleaning operations.

[0031] The telescopic pipe 4 has a water inlet pipe 41 connected to its inlet end, allowing access to an external clean water source. Clean water is then delivered to the inner cavity of the telescopic pipe 4 and supplied to the cleaning brush 5, achieving a combined water washing and brushing cleaning mode. This effectively improves the removal of stubborn stains such as sand and bird droppings. The telescopic pipe 4 is equipped with reinforcing ribs on its exterior, enhancing its structural strength and resistance to deformation. This prevents the telescopic pipe 4 from bending and deforming due to long-term water pressure and cleaning resistance, extending the service life of the components.

[0032] The signal output end of the housing 1 is equipped with an antenna 13. The antenna 13 is covered with a rubber protective sleeve, which can isolate outdoor dust, rain and strong ultraviolet radiation, protect the antenna 13 from damage in harsh environments, extend the service life of the antenna 13, and ensure the long-term stability of signal transmission and reception.

[0033] The cleaning brush 5 includes a nozzle and bristles. The bristles are positioned outside the nozzle, surrounding it to prevent water splashing and waste, while ensuring even water distribution within the cleaning area and improving the consistency of cleaning. The nozzle is connected to the outside of the telescopic pipe 4, allowing it to evenly spray the cleaning water delivered by the pipe onto the photovoltaic panel surface. Combined with the physical scrubbing action of the bristles, this achieves a combined cleaning effect of water washing and brushing, effectively removing various stains adhering to the panel surface.

[0034] The bottom of the brush wheel 12 is evenly equipped with brushes, which can pre-clean the photovoltaic panel surface by rotating, sweeping away large particles of sand, dust, fallen leaves, and other debris from the surface. This prevents large particles from scratching the glass coating layer while being brushed by the cleaning brush 5, thus protecting the photovoltaic module. A motor is installed at the output end of the brush wheel 12, located inside the cavity of the base 16. The motor drives the brush wheel 12 to rotate autonomously, ensuring sufficient power for pre-cleaning. The motor is effectively protected within the cavity of the base 16, preventing sand and moisture from entering and causing motor failure, thus improving the component's environmental adaptability and service life.

[0035] A guide plate is embedded in the inner cavity of piston 34. The guide plate is slidably disposed in the inner cavity of hollow column 31, which can guide the airflow in the lower chamber of piston 34 to flow evenly to hose 35 and horizontal tube 310, avoiding uneven negative pressure transmission caused by local airflow turbulence, and ensuring the synchronicity and consistency of suction cup 36 adsorption and locking action of block 311. The outer surface of housing 1 is provided with protective film 11 and display module 14. Protective film 11 can cover the outer surface of housing 1, isolate outdoor dust, rain, and strong ultraviolet radiation, improve the environmental weather resistance of the whole machine, and extend the overall service life of the equipment. Display module 14 can display the equipment operating status, adsorption pressure, power consumption and other parameters in real time, which is convenient for maintenance personnel to view and debug the equipment on site.

Claims

1. A cleaning robot for photovoltaic modules, comprising: The housing (1), the fixing mechanism (3) and the hinge group (6) are characterized in that: a cleaning brush (5) is provided at the bottom of the telescopic tube (4), a communication module (2) is provided at the top of the housing (1), an antenna (13) is provided at the display end of the housing (1), electric moving wheels (15) are evenly provided at the moving end of the housing (1), a base (16) is provided at the bottom of the housing (1), and brush wheels (12) are evenly provided at the bottom of the base (16), and a fixing mechanism (3) is provided in the inner cavity of the housing (1). The fixing mechanism (3) includes a hollow column (31), which is embedded in the inner cavity of the housing (1). A cylinder (33) is provided in the inner cavity of the hollow column (31). A signal transmission module (32) is provided at the control end of the cylinder (33). A piston (34) is connected to the output end of the cylinder (33). The piston (34) is slidably disposed in the inner cavity of the hollow column (31). A flexible tube (35) is connected to the bottom of the piston (34). A suction cup (36) is provided at the bottom of the hollow column (31). (36) is connected to the hose (35). The bottom of the piston (34) is connected to the connecting rod (37) by a double-headed hinge. The other end of the connecting rod (37) is rotatably connected to the first wedge (38). The inner cavity of the housing (1) is provided with a second wedge (39) that matches the first wedge (38). The outside of the hollow column (31) is connected to the horizontal tube (310). The inner cavity of the horizontal tube (310) is uniformly slidably connected to the locking block (311). The inner cavity of the telescopic tube (4) is provided with a locking groove that matches the locking block (311).

2. The cleaning robot for photovoltaic modules according to claim 1, characterized in that: The signal transmission module (32) is electrically connected to the communication module (2), and the hollow column (31) is slidably disposed in the inner cavity of the housing (1).

3. The cleaning robot for photovoltaic modules according to claim 1, characterized in that: The inner cavity of the housing (1) is connected to both sides of the slotted block (312), the inner cavity of the slotted block (312) is slidably connected to the guide block (313), the guide block (313) and the slotted block (312) are connected to the elastic element (314), the guide block (313) is connected to the hollow column (31), and the slotted block (312) is fixedly installed in the inner cavity of the housing (1).

4. A cleaning robot for photovoltaic modules according to claim 1, characterized in that: A sealing sleeve is provided at the junction of the first wedge (38) and the hollow column (31). The opposite ends of the first wedge (38) and the second wedge (39) are both designed with bevels. The second wedge (39) is fixedly installed in the inner cavity of the shell (1).

5. A cleaning robot for photovoltaic modules according to claim 1, characterized in that: The telescopic tube (4) includes a main tube and a secondary tube. The secondary tube is slidably disposed in the inner cavity of the main tube. The main tube and the secondary tube are connected to the fixing mechanism (3) and the housing (1).

6. A cleaning robot for photovoltaic modules according to claim 1, characterized in that: The inlet end of the telescopic pipe (4) is connected to an inlet pipe (41), and the outside of the telescopic pipe (4) is provided with reinforcing ribs.

7. A cleaning robot for photovoltaic modules according to claim 1, characterized in that: The signal output terminal of the housing (1) is provided with an antenna (13), and the outside of the antenna (13) is provided with a rubber protective sleeve.

8. A cleaning robot for photovoltaic modules according to claim 1, characterized in that: The cleaning brush (5) includes a nozzle and bristles, with the bristles located outside the nozzle and the nozzle connected to the outside of the telescopic tube (4).

9. A cleaning robot for photovoltaic modules according to claim 1, characterized in that: The bottom of the brush wheel (12) is evenly provided with brushes, and the output end of the brush wheel (12) is provided with a motor, which is located in the inner cavity of the base (16).

10. A cleaning robot for photovoltaic modules according to claim 1, characterized in that: The piston (34) has a guide plate embedded in its inner cavity, and the guide plate is slidably disposed in the inner cavity of the hollow column (31). The outer side of the housing (1) is provided with a protective film (11) and a display module (14).

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