Photovoltaic cleaning robot

Abstract

The application discloses a photovoltaic cleaning robot, and relates to the technical field of photovoltaic cleaning equipment.The photovoltaic cleaning robot comprises a base body and a moving assembly.The base body is provided with a base plate, and the bottom of the base plate is fixed with a first box body and a second box body at both ends, which are arranged in front and back along the advancing direction of the robot.The moving assembly is installed below the base plate and is used for driving the base body to move linearly along the photovoltaic panel.The base body is provided with a first rolling brush at the front side along the advancing direction of the robot, and is provided with a second rolling brush at the back side, and the lower ends of the first rolling brush and the second rolling brush protrude from the bottom supporting surface of the moving assembly.The photovoltaic cleaning robot can stably displace on the surface of a photovoltaic assembly, keep the operating posture stable, adapt to the form difference of the surface of the photovoltaic assembly, effectively remove various types of adhered pollutants on the surface, and thus maintain the light transmission performance and normal power generation efficiency of the photovoltaic assembly, reduce the operation hidden danger of the assembly, and prolong the service life of the photovoltaic assembly.

Description

Technical Field

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

[0002] Currently, during long-term outdoor operation, photovoltaic modules are prone to accumulating pollutants such as dust, sand, bird droppings, and leaves. This can block sunlight, reduce light transmittance, and lead to a decrease in the power generation efficiency of the photovoltaic modules. Moreover, long-term accumulation of pollutants can also cause hot spot effects, accelerating module aging and shortening its lifespan. Therefore, photovoltaic panels need to be cleaned to ensure their power generation efficiency. The mainstream methods for cleaning photovoltaic panels are manual cleaning, high-pressure water gun cleaning, and small cleaning equipment. Manual cleaning and high-pressure water gun cleaning both require human operation, which poses risks of working at height and is relatively inefficient. The cleaning effect of cleaning equipment still has room for improvement. Currently, it can generally remove floating dust, but its cleaning effect is not good for stubborn stains, mud, and bird droppings. There are also related improvement technologies for the problems of existing cleaning equipment. For example, US20190044476A1 discloses a cleaning system for solar panels. The cleaning system includes: a frame movable laterally on a solar panel, the frame having edges oriented laterally; a brush assembly located within the frame and movable longitudinally, the brush assembly including a plurality of brush holders arranged within the frame, each brush holder adapted to interchangeably accommodate a brush for cleaning the solar panel; and a liquid spraying device including nozzles arranged in one or more rows for spraying at least one of water and a water-based detergent mixture onto the solar panel. The liquid spraying device includes nozzles located near at least one of the lateral edges of the frame for spraying the water-based detergent mixture onto the longitudinal end of the brush assembly; however, existing cleaning equipment still has room for improvement in terms of thorough cleaning. Summary of the Invention

[0003] The purpose of this invention is to provide a photovoltaic cleaning robot that can move smoothly on the surface of photovoltaic modules, maintain a stable operating posture, adapt to the morphological differences of photovoltaic module surfaces, effectively remove various adhering contaminants from the surface, thereby maintaining the light transmittance and normal power generation efficiency of photovoltaic modules, reducing potential operational hazards of modules, and extending the service life of photovoltaic modules.

[0004] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A photovoltaic cleaning robot includes a base and a moving component. The base has a substrate, with a first housing and a second housing fixed at both ends of the bottom of the substrate and arranged back and forth along the robot's direction of travel. The moving component is installed below the substrate and is used to drive the base to move linearly along the photovoltaic panel. A first roller brush is arranged on the front side of the base along the robot's direction of travel, and a second roller brush is arranged on the rear side. The lower ends of both the first and second roller brushes protrude from the bottom support surface of the moving component.

[0005] The substrate of this invention adopts a structure with a first box and a second box separately positioned at the front and rear of the substrate, so that the center of gravity of the whole machine is evenly distributed along the direction of travel. This can avoid problems such as tilting, deviation, or shaking when the moving component drives the substrate. It helps to keep the contact pressure between the dual roller brushes and the photovoltaic panel uniform at all times, and will not cause local cleaning force to be too light or too heavy due to machine instability. Furthermore, the lower ends of the first and second roller brushes protrude from the bottom support surface of the moving component to eliminate the obstruction and blockage of the roller brush cleaning range by the support surface of the moving component, and to avoid the roller brushes being suspended in the air. To prevent ineffective rotation, specifically, the first roller brush can directly and fully contact the surface of the photovoltaic panel at the front end of the machine's movement, effectively removing floating dust, leaves, large particles of sand and other pollutants from the panel in advance, avoiding large impurities from scratching the panel surface during the cleaning process. At the same time, the second roller brush closely adheres to the panel at the rear end of the machine's movement, performing a secondary fine cleaning of the fine dust and shallow stains remaining after the first roller brush's cleaning. The front and rear roller brushes form a continuous and uninterrupted cleaning band. In addition, the cleaning trajectories of the first and second roller brushes coincide with the overall movement trajectory of the machine.

[0006] According to one embodiment of the present invention, the mobile component is provided with a mounting frame, which is fixed to the bottom surface of the substrate via an auxiliary frame, forming a rigid connection between the mounting frame and the substrate. This avoids the problem of frame loosening or displacement during long-term movement. The mounting frame has vertical plates on both sides, with a drive wheel and a driven wheel rotatably mounted on the vertical plates. A belt is fitted around the outer periphery of the drive wheel and the driven wheel. The use of belts allows for a larger contact area between the belt and the photovoltaic panel. A power motor is also fixed on the mounting frame. The output shaft of the power motor is coaxially fixed to the drive wheel to drive the drive wheel to rotate. The rigid connection structure of the mounting frame, the auxiliary frame, and the substrate, combined with the fixed layout of the power motor on the mounting frame, ensures that the center of gravity of the mobile component coincides with the center of gravity of the substrate. Combined with the front-rear layout of the first and second boxes at the bottom of the substrate, the balance of the entire machine during movement is further improved, avoiding the tilting of the machine body caused by the shift of the center of gravity of the mobile component. This ensures that the first and second roller brushes are always evenly attached to the surface of the photovoltaic panel, preventing local cleaning failures due to machine shaking.

[0007] According to one embodiment of the present invention, a spray assembly communicating with the interior of the first housing is installed on the outside of the first housing. The spray assembly includes a pump body disposed on the outside of the bottom of the first housing. The rigid shell of the first housing provides a stable mounting carrier for the spray assembly. The inlet end of the pump body is communicating with the interior of the first housing, and the outlet end of the pump body is connected to a first pipeline. The end of the first pipeline away from the pump body is connected to an outlet plate. Cleaning liquid can be stably drawn without the need for additional transfer storage components.

[0008] According to one embodiment of the present invention, multiple spray holes are uniformly opened at the bottom of the liquid outlet plate along its own length direction. The spray direction of the spray holes has an angle with the vertical direction, so that the cleaning liquid covers the surface of the photovoltaic panel in a uniform fan shape, which avoids splash loss caused by vertical spraying and can fully wet the stained area to improve the dissolution efficiency.

[0009] According to one embodiment of the present invention, a reinforcing plate is fixedly connected to the lower surface of the first housing, a connecting plate is vertically fixed to the lower end of the reinforcing plate, the connecting plate is connected to the liquid outlet plate, the first pipeline is fixed to the reinforcing plate, and the connecting plate and the liquid outlet plate are provided with flow channels communicating with the first pipeline.

[0010] According to one embodiment of the present invention, a cleaning component is installed inside the second housing, and the cleaning component is capable of moving up and down in the vertical direction and swinging back and forth in the horizontal direction relative to the second housing.

[0011] According to one embodiment of the present invention, the cleaning component includes a horizontally arranged second rod, with connecting strips fixed to both ends of the second rod, and a first rod connected to the connecting strips. The axes of the first rod and the second rod are parallel to each other. A swing motor is fixed to the side of the first rod. The output shaft of the swing motor is coaxially connected to the first rod to drive the first rod to swing the second rod horizontally back and forth, thus eliminating the cleaning blind spots caused by fixed posture cleaning.

[0012] According to one embodiment of the present invention, a hydraulic rod is fixed to the top wall of the second box, and a connecting block is fixedly connected to the telescopic end of the hydraulic rod. The connecting block covers the outer wall of the first rod and is fixedly connected to the first rod. The hydraulic rod drives the first rod, the connecting plate and the second rod to rise and fall in the vertical direction through the connecting block. In this way, the height of the second rod and the cleaning actuator below can be dynamically adjusted according to the actual installation spacing and surface undulation of the photovoltaic panel, so as to ensure that the first scraper maintains a uniform and stable contact pressure with the panel.

[0013] According to one embodiment of the present invention, a first cleaning section and a second cleaning section are sequentially fixed to the side of the second rod body. The first cleaning section and the second cleaning section have a smooth arc transition. A straight first scraper is fixed to the lower end of the second cleaning section, which helps the first scraper to adhere to the surface of the solar panel and scrape off stubborn dirt, bird droppings, dried stains and other attachments that have been moistened and softened by the spraying component.

[0014] According to one embodiment of the present invention, a second sponge strip is fixedly connected to the bottom of the second rod, and the two sides of the second sponge strip are fixedly connected to the first cleaning section. During the adaptive lifting and lowering of the hydraulic rod and the reciprocating swing of the swing motor, the first sponge strip and the second sponge strip can provide flexible deformation space for the first cleaning section and the second cleaning section, which helps the flexible velvet surface of the first cleaning section and the second cleaning section to adhere to the surface of the photovoltaic panel. At the same time, the flexible buffering characteristics of the second sponge strip and the first sponge strip can prevent the first cleaning section, the second cleaning section and the first scraper from rigidly contacting the solar panel and causing surface scratches. Attached Figure Description

[0015] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the photovoltaic cleaning robot solution of the present invention; Figure 2 This is a schematic diagram of the mobile component solution of the present invention; Figure 3 This is a partial schematic diagram of the mobile component of the present invention; Figure 4 This is a schematic diagram of the substrate design of the present invention; Figure 5 This is a schematic diagram of the spray assembly scheme of the present invention; Figure 6 This is a partial schematic diagram of the spray assembly of the present invention; Figure 7 This is a schematic diagram of the cleaning component solution of the present invention; Figure 8 This is a partial schematic diagram of the cleaning component of the present invention.

[0017] Explanation of reference numerals in the attached drawings: 10. Substrate; 11. Base plate; 12. Cover; 13. First housing; 14. Second housing; 20. Moving component; 21. Belt; 22. Driven wheel; 23. Drive wheel; 24. Control module; 25. Power motor; 26. Battery; 27. Mounting frame; 28. Auxiliary frame; 30. First roller brush; 31. First frame; 32. First drive motor; 40. Second roller brush; 41. Second frame; 42. Second... 50. Drive motor; 60. Mounting side plate; 61. Spray assembly; 62. Pump body; 63. First pipeline; 64. Reinforcing plate; 65. Connecting plate; 76. Liquid outlet plate; 77. Cleaning assembly; 78. Swing motor; 79. First rod; 70. Connecting strip; 71. Second rod; 72. First cleaning section; 73. Second cleaning section; 74. First scraper; 75. Hydraulic rod; 76. Connecting block; 77. First sponge strip; 78. Second sponge strip. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described 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.

[0019] The concepts involved in this application will first be described with reference to the accompanying drawings. It should be noted that the following descriptions of various concepts are only for the purpose of making the content of this application easier to understand and do not constitute a limitation on the scope of protection of this application; furthermore, the embodiments and features in the embodiments of this application can be combined with each other unless otherwise specified. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Example 1: As shown in the attached figure Figure 1 Appendix Figure 4 As shown, the photovoltaic cleaning robot includes a base 10, which has a substrate 11. The substrate 11 is horizontally arranged, and a first housing 13 and a second housing 14 are respectively provided at both ends of the bottom surface of the substrate 11. The first housing 13 and the second housing 14 are arranged back and forth along the robot's traveling direction. The upper part of the substrate 11 has an opening that extends through its lower part, and the substrate 11 has a cover 12 that covers the opening.

[0021] The first chamber 13 is a sealed water tank used to store cleaning fluid and provide a water source for the spray assembly 60.

[0022] The bottom of the second housing 14 has a through opening, and the cleaning component 70 is installed inside the second housing 14 and can move up and down relative to the second housing 14 in the vertical direction.

[0023] Mounting side plates 50 are fixedly connected to the left and right sides of the substrate 11, respectively. The mounting side plates 50 extend vertically downward and are used to mount the movable component 20.

[0024] Combined with appendix Figure 1 -Appendix Figure 3 As shown, a moving assembly 20 is provided below the substrate 11. The moving assembly 20 includes a mounting frame 27. The mounting frame 27 is connected to the bottom surface of the substrate 11 via an auxiliary frame 28. The mounting frame 27 has vertical plates on both sides, which are arranged perpendicularly to it. Multiple driven wheels 22 and at least one driving wheel 23 are arranged sequentially on the vertical plates. The axes of the driven wheels 22 and the axes of the driving wheels 23 are parallel to each other and arranged horizontally. The driven wheels 22 and the driving wheels 23 are both located at the edge of the vertical plates, so that the belts connected to the driven wheels 22 and the driving wheels 23 will not scratch the edge of the vertical plates. The mounting frame 27 has a power motor 25 that drives the driving wheels 23. The output shaft of the power motor 25 is coaxially connected to the driving wheels 23. It should be noted that in this embodiment, the inner side of the belt 21 is tightly engaged with the outer circumferential surface of the driving wheels 23 and the driven wheels 22, without relative sliding. Specifically, the engagement is a toothed engagement. The side plate 50 is located outside the vertical plate and is connected to the threaded hole pre-set on the vertical plate through connectors such as bolts. The side plate 50 and the vertical plate should have a distance between them to avoid them getting too close and causing interference.

[0025] The moving component 20 employs a connection structure where the mounting frame 27 and auxiliary frame 28 are fixed to the bottom surface of the substrate 11, forming a rigid connection between the mounting frame 27 and the substrate 10. This prevents the frame from loosening or shifting during long-term movement. Simultaneously, vertical plates are installed on both sides of the mounting frame 27, providing rotational positioning for the drive wheel 23 and driven wheel 22. This ensures that the drive wheel 23 and driven wheel 22 maintain a parallel and horizontal assembly state. A belt 21 is fitted around the outer periphery of the drive wheel 23 and driven wheel 22, forming a closed-loop transmission structure. Compared to single-wheel drive, the belt 21 has a larger contact area with the photovoltaic panel, allowing for smoother movement. The belt has stronger adhesion and is less prone to slippage of a single wheel, which can cause the whole machine to get stuck or deviate from its path. The belt 21 is a non-slip rubber toothed belt. The power motor 25 is fixed on the mounting frame 27, which can directly transmit the torque output by the power motor 25 to the drive wheel 23 without loss. This drives the drive wheel 23 to rotate smoothly and drives the belt 21 and the driven wheel 22 to run synchronously. This ensures that the transmission efficiency and the travel speed of the moving component 20 are stable and controllable. The vertically set vertical plate limits the drive wheel 23 and the driven wheel 22 to the edge of the vertical plate, so that the belt 21 will not scrape or interfere with the edge of the vertical plate when it runs, thus reducing the wear of the belt 21.

[0026] Simultaneously, the rigid connection structure between the mounting frame 27, the auxiliary frame 28, and the substrate 11, along with the fixed layout of the power motor 25 on the mounting frame 27, ensures that the center of gravity of the moving component 20 coincides with the center of gravity of the base 10. Combined with the front-to-back layout of the first box 13 and the second box 14 at the bottom of the substrate 11, the balance of the whole machine during movement is further improved, avoiding the tilting of the machine body caused by the shift of the center of gravity of the moving component 20. This ensures that the first roller brush 30 and the second roller brush 40 are always evenly attached to the surface of the photovoltaic panel, and there will be no local cleaning failure due to the shaking of the machine body.

[0027] The upper part of the mounting frame 27 is equipped with a control module 24 and a battery 26. The battery 26 needs to be replaced by removing the cover 12 to replace the battery 26 located below the base plate 11, or by connecting the power cord for charging. The output terminal of the battery 26 is electrically connected to the control module 24, the power motor 25, the first drive motor 32, and the second drive motor 42 for power supply.

[0028] The structure of the upper part of the mounting frame 27 integrates the control module 24 and the battery 26. This makes use of the idle space of the mounting frame 27, avoids the scattered layout of electrical components occupying the effective space inside the base 10, and does not interfere with the front and rear layout of the first box 13 and the second box 14 and the transmission structure of the moving component 20, thus maintaining the balanced distribution of the center of gravity of the whole machine.

[0029] The moving component 20 is used for the robot to move in a straight line along the photovoltaic panel, and the direction of travel is consistent with the transmission direction of the belt 21.

[0030] Further combine with the appendix Figure 1 As shown, a first roller brush 30 and a second roller brush 40 are arranged in the front-rear direction of the substrate 10. The first roller brush 30 and the second roller brush 40 are arranged parallel to each other in the front-rear direction along the robot's traveling direction. This makes the center of gravity of the whole machine evenly distributed along the traveling direction. This can avoid problems such as tilting, deflection or shaking when the moving component 20 drives the substrate 10 to move. It helps to keep the contact pressure between the dual roller brushes and the photovoltaic panel uniform, and will not cause the cleaning force to be too light or too heavy in some places due to the instability of the machine. Specifically, The first roller brush 30 is rotatably mounted on the first frame 31. The first frame 31 is fixedly connected to the base 10 by a connecting block, which can also be a rod. This connecting block is used to weld the first frame 31 to the base 10 and to create a certain distance between the first frame 31 and the base 10. The first drive motor 32 is fixed on the first frame 31. The output shaft of the first drive motor 32 is coaxially fixedly connected to the first roller brush 30, driving the first roller brush 30 to rotate around its own axis.

[0031] The second roller brush 40 is rotatably mounted on the second frame 41 and fixedly connected to the base 10 via a connecting block. This connecting block can also be a rod, which is used to realize the welding of the second frame 41 to the base 10 and to make a certain distance between the second frame 41 and the base 10. The second drive motor 42 is fixed on the second frame 41, and the output shaft of the second drive motor 42 is coaxially fixedly connected to the second roller brush 40 to drive the second roller brush 40 to rotate.

[0032] The lower edges of both the first roller brush 30 and the second roller brush 40 protrude 1mm–10mm from the lowest part of the horizontal height of the belt 21, ensuring that the roller brushes are in tight contact with the photovoltaic panel surface. This eliminates the obstruction and blockage of the cleaning range of the roller brushes by the support surface of the moving component 20, and avoids ineffective rotation caused by the roller brushes being suspended in the air. Specifically, the first roller brush 30 can directly and fully contact the photovoltaic panel surface at the front end of the machine's movement, effectively removing floating dust, branches, large particles of sand and other contaminants from the panel in advance, and preventing large impurities from scratching the panel surface during the cleaning process. At the same time, the second roller brush 40 closely adheres to the panel at the rear end of the machine's movement, performing a secondary fine cleaning of the fine dust and shallow stains remaining after the first roller brush 30's cleaning. The front and rear roller brushes form a continuous and uninterrupted cleaning belt.

[0033] Example 2: This embodiment is based on embodiment 1, and incorporates the appendix. Figure 4 As shown, a spray assembly 60 is provided on one side of the first housing 13 on the substrate 10. Specifically, in conjunction with the attached diagram... Figure 5 Appendix Figure 6 As shown, the spray assembly 60 is installed on the bottom outside of the first housing 13. The spray assembly 60 includes a pump body 61, which is fixed to the bottom of the first housing 13. The rigid shell of the first housing 13 provides a stable mounting carrier for the spray assembly 60. The inlet end of the pump body 61 is connected to the inside of the first housing 13, and the outlet end of the pump body 61 is sealed and connected to the first pipeline 62. In this way, cleaning liquid can be stably drawn without the need for additional transfer liquid storage components.

[0034] The reinforcing plate 63 is fixedly connected to the lower surface of the first housing 13. The connecting plate 64 is vertically fixed to the lower end of the reinforcing plate 63. The first pipeline 62 is externally located on the lower surface of the first housing 13 and is fixed to the reinforcing plate 63 by means of adhesive bonding or rope connection. The lower end of the connecting plate 64 is connected to the liquid outlet plate 65, and the upper end of the connecting plate 64 is connected to the first pipeline 62. The liquid outlet plate 65 and the connecting plate 64 have flow channels communicating with the first pipeline 62. Multiple spray holes are evenly opened at the bottom of the liquid outlet plate 65 along the length direction. The spray holes are inclined towards the surface of the photovoltaic panel, and the spray angle is 15°–30° with the vertical direction. The purpose is to make the cleaning liquid cover the surface of the photovoltaic panel in a uniform fan shape, which avoids splash loss caused by vertical spraying and can fully wet the stain area to improve the dissolution efficiency.

[0035] In this embodiment, the layered support structure, in which the reinforcing plate 63 is fixed to the lower surface of the first housing 13 and the connecting plate 64 is vertically fixed to the lower end of the reinforcing plate 63, provides double rigid fixation for the first pipeline 62 and the liquid outlet plate 65. At the same time, the support structure of the reinforcing plate 63 and the connecting plate 64 does not occupy the brush cleaning space and does not interfere with the transmission structure of the moving component 20, thus maintaining the balance of the machine's center of gravity and the stability of its movement.

[0036] The spray assembly 60 is located on one side of the first roller brush 30 and is used to spray cleaning liquid onto the panel surface. First, the first roller brush 30 performs preliminary roller brushing to clean objects such as leaves on the surface of the photovoltaic panel, then the spray assembly 60 sprays, then the cleaning assembly 70 wipes, and finally the second roller brush 40 performs a second roller brushing. It should be noted that the first roller brush 30 and the second roller brush 40 have different surface hardness and different materials. The second roller brush 40 is mainly used for final cleaning of water stains, small particles, etc. on the surface of the photovoltaic panel. The first roller brush 30 has hard nylon bristles, while the second roller brush 40 has soft plush bristles.

[0037] When the machine is moving, the first roller brush 30 starts first, the pump body 61 starts after a delay, the cleaning component 70 swings with the start of spraying, and the second roller brush 40 continues to operate.

[0038] Example 3: This embodiment is based on embodiment 1, and incorporates the appendix. Figure 4 As shown, a cleaning component 70 is provided on one side of the second housing 14 on the substrate 10. Specifically, in conjunction with the attached... Figure 7 Appendix Figure 8 As shown, The cleaning assembly 70 is installed inside the second housing 14 and includes a horizontally arranged second rod 74. Both ends of the second rod 74 are connected to connecting plates 73 perpendicular to their axes. The connecting plates 73 have first rods 72 parallel to the axis of the second rod 74. At least one first rod 72 has a swing motor 71 coaxially connected to its side. Each second rod 74 is connected to a connecting block 79 covering the outer wall of the first rod 72. The upper end of the connecting block 79 has a hydraulic rod 78 that moves vertically. The hydraulic rod 78 is fixed to the top wall inside the second housing 14 and can drive the connecting block 79 and the second rod 74 to move up and down. The lower end of the second rod 74 is sequentially connected to a first cleaning section 75 and a second cleaning section 76, which smoothly transition in an arc shape. The lower end of the first cleaning section 75 is fixed with a first scraper 77, the bottom edge of which is straight and can make parallel contact with the surface of the photovoltaic panel. The first cleaning section 75 and the second cleaning section 76 are made of a flexible material with a fluffy surface and are permeable, specifically by having through-holes. The bottom of the second rod 74 has a second sponge strip 711 that is bonded or tied to it. The first cleaning section 75 is bonded to both sides of the second sponge strip 711. The first cleaning sections 75 on both sides are smoothly connected to the second cleaning sections 76. Below the second sponge strip 711 is a first sponge strip 710. The two sides of one end of the first sponge strip 710 are connected to the first cleaning section 75, and the other end is filled between the two second cleaning sections 76.

[0039] Hydraulic rod 78 is fixed to the inner top wall of the second housing 14 and connected to the first rod 72 via connecting block 79. This allows for dynamic adjustment of the height of the second rod 74 and the cleaning actuator below according to the actual installation spacing and surface undulation of the photovoltaic panel, ensuring that the first scraper 77 maintains uniform and stable contact pressure with the panel. The first cleaning section 75 and the second cleaning section 76 at the lower end of the second rod 74 are connected by a smooth arc transition, which, together with the first scraper 77 with a straight bottom edge, allows the first scraper 77 to adhere to the surface of the solar panel, scraping away stubborn dirt, bird droppings, dried stains, and other attachments that have been softened by the spray component 60. Furthermore, during the adaptive lifting and lowering of the hydraulic rod 78 and the reciprocating swing of the swing motor 71, the first sponge strip 710 and the second sponge strip 711 can provide... The first cleaning section 75 and the second cleaning section 76 provide flexible deformation space, which helps the flexible velvet surface of the first cleaning section 75 and the second cleaning section 76 to adhere to the surface of the photovoltaic panel. At the same time, the flexible buffering characteristics of the second sponge strip 711 and the first sponge strip 710 can prevent the first cleaning section 75, the second cleaning section 76 and the first scraper 77 from rigidly contacting the solar panel and causing surface scratches. Furthermore, the adhesive fit between the second sponge strip 711 and the first cleaning section 75, and the filling fit between the first sponge strip 710 and the second cleaning section 76, form a continuous guide slope at the bottom of the cleaning section. This is conducive to quickly guiding and discharging the cleaning liquid sprayed by the spray assembly 60 and the dissolved stains and dirt to both sides of the panel, avoiding the accumulation of liquid in the middle of the cleaning area and secondary adhesion to the panel surface.

[0040] In this embodiment, the hydraulic rod 78 is automatically adjusted in lifting height by the control module 24 based on a preset stroke or feedback from a contact sensor.

[0041] In this embodiment, the first cleaning section 75 and the second cleaning section 76 are made of polyester fiber composite permeable nonwoven fabric or PVDF flexible permeable fabric. This material is a flexible porous substrate body. The outer surface of the substrate body is integrally formed with a continuous pile structure through a flocking process. The interior of the substrate body has uniformly distributed through-hole micropores with a pore size of 0.1mm–0.5mm. Cleaning liquid can freely penetrate the material body through these micropores, thus achieving water permeability. The flexible substrate body can adaptively conform to the photovoltaic panel surface as the cleaning component swings. The surface pile structure is used to absorb fine stains and residual water, while the internal through-hole micropores prevent cleaning liquid from accumulating on the surface of the cleaning section.

[0042] The swing motor 71 drives the first rod 72 to swing back and forth at ±30°, causing the first scraper 77, the first cleaning section 75, and the second cleaning section 76 to swing left and right synchronously. The lifting and swinging composite motion structure of the cleaning component 70, combined with the linear stable movement of the moving component 20, aims to eliminate cleaning blind spots caused by fixed posture cleaning. The continuous reciprocating swing driven by the swing motor 71 and the adaptive lifting of the hydraulic rod 78 work together to allow the first scraper 77, the first cleaning section 75, and the second cleaning section 76 to conform to the flat surface and slightly curved areas of the panel, deeply clean the fine crevices of the panel surface to remove residual stains, and improve the efficiency of removing stubborn stains.

[0043] Example 4: Based on Examples 1, 2, and 3, the horizontal movement scheme of the photovoltaic cleaning robot during operation is as follows: Specifically, the moving components 20 mounted on the side plates 50 on the left and right sides of the substrate 11 are set as a dual-side independent drive structure. The left moving component 20 and the right moving component 20 are respectively equipped with independent power motors 25. Both sets of power motors 25 are electrically connected to the control module 24, and the control module 24 independently controls the operating speed, rotation direction and start / stop status of the two power motors 25. When the machine needs to move in a straight line along the longitudinal direction of the photovoltaic panel, the control module 24 drives the two power motors 25 to rotate at the same speed and in the same direction. The two drive wheels 23 drive the belt 21 synchronously to maintain the original straight and stable movement. When the machine needs to move horizontally to achieve cross-row cleaning, the control module 24 controls the two power motors 25 to form a speed difference or rotate in opposite directions. By utilizing the friction difference between the two belts 21 and the surface of the photovoltaic panel, the machine is driven to turn smoothly around the vertical axis and gradually complete the horizontal displacement. During the turning and horizontal movement, the hydraulic rod 78 can slightly lift the cleaning component 70 to avoid friction interference between the cleaning component and the edge of the panel. During the horizontal movement, the spray component 60 is in a paused state, and the cleaning component 70 is used to perform cleaning when moving in a straight line.

[0044] Example 5: Based on Embodiment 1, the present invention further optimizes the mounting structure of the first roller brush 30 and the second roller brush 40: A first elastic floating component is provided between the first frame 31 on which the first roller brush 30 is assembled and the base 10. The first elastic floating component includes a vertical guide sleeve fixed to the base 10, a guide rod that slides with the vertical guide sleeve, and a compression spring sleeved on the outside of the guide rod. The lower end of the guide rod is fixedly connected to the first frame 31. The upper end of the compression spring abuts against the base 10 and the lower end abuts against the first frame 31. The compression spring provides the first roller brush 30 with a vertically downward elastic preload, so that the first roller brush 30 can adaptively float vertically according to the undulations of the photovoltaic panel surface. Similarly, a second elastic floating component is provided between the second frame 41 and the base 10 of the second roller brush 40. The structure of the second elastic floating component is exactly the same as that of the first elastic floating component, which can drive the second roller brush 40 to achieve adaptive vertical floating synchronously.

[0045] Through the aforementioned elastic floating structure, the first roller brush 30 and the second roller brush 40, while maintaining a 1mm–10mm protrusion from the bottom support surface of the moving component 20, can automatically retract upwards and press downwards along the uneven areas of the photovoltaic panel, maintaining a flexible fit throughout the process. This prevents scratches on the photovoltaic panel surface due to rigid compression and avoids cleaning failure caused by the roller brush being suspended in the air, thus solving the problem of hard contact scratches caused by uneven panels, while ensuring uniform and stable cleaning force.

[0046] It should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0047] The embodiments and / or implementation methods described above are merely preferred embodiments and / or implementation methods for implementing the technology of the present invention, and are not intended to limit the implementation methods of the technology of the present invention in any way. Any person skilled in the art can make some modifications or alterations to other equivalent embodiments without departing from the scope of the technical means disclosed in the content of the present invention, but they should still be regarded as the technology or embodiments that are substantially the same as the present invention.

[0048] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. Photovoltaic cleaning robots, including, The substrate (10) has a base plate (11), and the bottom ends of the base plate (11) are respectively fixed with a first box (13) and a second box (14), and are arranged back and forth along the robot's travel direction; A moving component (20) is installed below the substrate (11) to drive the substrate (10) to move linearly along the photovoltaic panel; Its features are, The base (10) has a first roller brush (30) on the front side along the robot's travel direction and a second roller brush (40) on the rear side, and the lower ends of the first roller brush (30) and the second roller brush (40) both protrude from the bottom support surface of the moving component (20).

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The moving component (20) is provided with a mounting frame (27), which is fixed to the bottom surface of the base plate (11) by an auxiliary frame (28). The mounting frame (27) has vertical plates on both sides, which are perpendicular to it. A drive wheel (23) and a driven wheel (22) are rotatably mounted on the vertical plates. A belt (21) is sleeved on the outer periphery of the drive wheel (23) and the driven wheel (22). A power motor (25) is also fixed on the mounting frame (27). The output shaft of the power motor (25) is coaxially fixed to the drive wheel (23) to drive the drive wheel (23) to rotate.

3. The photovoltaic cleaning robot according to claim 1, characterized in that, A spray assembly (60) communicating with the interior of the first box (13) is installed on the outside of the first box (13). The spray assembly (60) includes a pump body (61) disposed on the outside of the bottom of the first box (13). The inlet end of the pump body (61) is communicating with the interior of the first box (13), and the outlet end of the pump body (61) is connected to a first pipeline (62). The end of the first pipeline (62) away from the pump body (61) is connected to an outlet plate (65).

4. The photovoltaic cleaning robot according to claim 3, characterized in that, The liquid outlet plate (65) has multiple spray holes evenly distributed along its length at the bottom, and the spray direction of the spray holes has an angle with the vertical direction.

5. The photovoltaic cleaning robot according to claim 3, characterized in that, A reinforcing plate (63) is fixed to the lower surface of the first box (13). A connecting plate (64) is vertically fixed to the lower end of the reinforcing plate (63). The connecting plate (64) is connected to the liquid outlet plate (65). The first pipeline (62) is fixed to the reinforcing plate (63). The connecting plate (64) and the liquid outlet plate (65) are provided with a flow channel communicating with the first pipeline (62).

6. The photovoltaic cleaning robot according to claim 1, characterized in that, The second housing (14) is equipped with a cleaning component (70), and the cleaning component (70) can move up and down in the vertical direction relative to the second housing (14) and swing back and forth in the horizontal direction.

7. The photovoltaic cleaning robot according to claim 6, characterized in that, The cleaning component (70) includes a horizontally arranged second rod (74), with connecting strips (73) fixed to both ends of the second rod (74), and the connecting strips (73) are connected to a first rod (72), the axes of the first rod (72) and the second rod (74) being parallel to each other; A swing motor (71) is fixed to the side of the first rod (72). The output shaft of the swing motor (71) is coaxially connected to the first rod (72) to drive the first rod (72) to drive the second rod (74) to swing horizontally back and forth.

8. The photovoltaic cleaning robot according to claim 7, characterized in that, A hydraulic rod (78) is fixed to the inner top wall of the second box (14). A connecting block (79) is fixed to the telescopic end of the hydraulic rod (78). The connecting block (79) covers the outer wall of the first rod (72) and is fixedly connected to the first rod (72). The hydraulic rod (78) drives the first rod (72), the connecting strip (73) and the second rod (74) to rise and fall in the vertical direction through the connecting block (79).

9. The photovoltaic cleaning robot according to claim 7, characterized in that, The second rod (74) has a first cleaning section (75) and a second cleaning section (76) fixedly connected to its side in sequence. The first cleaning section (75) and the second cleaning section (76) have a smooth arc transition. The lower end of the second cleaning section (76) is fixedly connected to a straight first scraper (77).

10. The photovoltaic cleaning robot according to claim 9, characterized in that, The bottom of the second rod (74) is fixedly connected to a second sponge strip (711), and the two sides of the second sponge strip (711) are fixedly connected to the first cleaning section (75).

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