Cleaning robot

Abstract

The utility model provides a cleaning robot which comprises a vehicle body, a first cover body, a second cover body, a controller, a battery unit and a rotating connector, the vehicle body comprises a space defined by a chassis and the side wall of the vehicle body, and the space is divided into a first cavity and a second cavity by a partition plate; the first cover body is connected to the vehicle body and can cover the first cavity; the second cover body is hinged to the vehicle body in an opening and closing manner and can cover the second cavity; the controller is arranged in the first cavity and is connected to the vehicle body; the battery unit is arranged in the second cavity and is electrically connected to the controller; and the rotary joint is connected to the first cover body and comprises a water inlet and a water outlet, so that the technical problems that the operation process is complicated and the user experience is poor due to the fact that an existing robot cannot give consideration to water prevention and battery unit disassembly are solved.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic panel cleaning, and in particular to a cleaning robot. Background Art

[0002] Photovoltaic panels use the voltaic effect of semiconductor materials under light conditions to directly convert solar energy into electrical energy. Photovoltaic panels are installed outdoors, so dust or other attachments are easily accumulated on the surface of the panels, resulting in reduced power generation efficiency of the photovoltaic panels. Usually, the surface of photovoltaic panels needs to be cleaned regularly. In order to reduce manual cleaning costs and improve cleaning efficiency, photovoltaic power stations often use cleaning robots to clean the panel surface.

[0003] To ensure power generation efficiency, photovoltaic panels are usually tilted at an angle relative to the horizontal plane. Cleaning robots in the prior art are usually applied to horizontal surfaces, so there are many difficulties in applying them to tilted photovoltaic surfaces.

[0004] The cleaning robot includes a controller, a battery pack, a cleaning device and a pipeline device. When the body of the cleaning robot moves on the surface of the photovoltaic panel, the pipeline device can spray water onto the surface of the photovoltaic panel, and the cleaning device can clean the dust and attachments on the surface of the panel.

[0005] The battery pack and the controller are electrically connected to multiple components through wires. If there is water seepage at the connection of the pipeline device during the cleaning process or it suddenly rains during operation, the robot will be at risk of damage. If the top and side walls of the vehicle body are designed as a complete shell, although the waterproof problem can be solved, the battery of the robot is covered by the shell. Every time the battery pack is removed, the shell needs to be removed as a whole, making the operation process complicated and the user experience poor. Summary of the invention

[0006] The present application provides a cleaning robot to solve the technical problem that existing robots cannot be both waterproof and have removable battery units, resulting in complicated operation procedures and poor user experience.

[0007] The present application provides a cleaning robot, which includes a body, a first cover, a second cover, a controller, a battery unit and a rotating joint, the body including a space surrounded by a chassis and a side wall of the body, the space being divided into a first cavity and a second cavity by a partition; the first cover is connected to the body and can cover the first cavity; the second cover can be hinged to the body and can cover the second cavity; the controller is disposed in the first cavity and connected to the body; the battery unit is disposed in the second cavity and electrically connected to the controller; the rotating joint is connected to the first cover, and the rotating joint includes a water inlet and a water outlet.

[0008] Optionally, the cleaning robot also includes a cleaning shell, a first cleaning tube, a second cleaning tube, at least one nozzle and a sealing cover, wherein the cleaning shell is rotatably connected to the front side of the vehicle body, defining the forward direction of the vehicle body as the front; one end of the first cleaning tube is connected to the water outlet of the rotating joint, and the other end thereof is passed through the cleaning shell; the second cleaning tube is connected to the inner wall of the cleaning shell and is connected to the first cleaning tube; the central axis of the second cleaning tube is parallel to the central axis of the cleaning shell; at least one nozzle is connected to the second cleaning tube; and the sealing cover is provided to the front side of the vehicle body and is located below the first cleaning tube.

[0009] Optionally, the cleaning robot also includes two sets of walking devices and two protective shells, the two sets of walking devices are respectively connected to the two sides of the vehicle body; the two protective shells are respectively connected to the two sides of the vehicle body, and each of the protective shells is covered to the outside of the walking devices.

[0010] Optionally, each of the walking devices includes a first wheel, a second wheel, a track and a walking motor, the first wheel is rotatably connected to the front end of the side wall of the vehicle body; the second wheel is rotatably connected to the rear end of the side wall of the vehicle body; the track is annular and surrounds the outside of the first wheel and the second wheel, and the outer surface of the track is provided with more than two grooves, and the grooves are provided through the width direction of the track; the walking motor is connected to the vehicle body and electrically connected to the controller, and the rotating shaft of the walking motor is connected to the first wheel.

[0011] Optionally, each of the walking devices also includes a clamping mechanism, which includes a mounting frame, two or more telescopic rods and two or more clamping wheels, the mounting frame is connected to the side wall of the vehicle body and is located in the space surrounded by the track; the two or more telescopic rods are arranged along the forward direction of the track, each of the telescopic rods is vertically inserted into the mounting frame, and the top end thereof is connected to the mounting frame; each of the clamping wheels is rotatably connected to the bottom end of the telescopic rod, and the central axis of the clamping wheel is perpendicular to the forward direction of the track; when the track is moving, at least one of the clamping wheels is pressed to the inner surface of the track by the telescopic rod.

[0012] Optionally, each of the walking devices also includes an anti-loosening mechanism, which includes a fixed seat, a linkage arm and an anti-loosening wheel. The fixed seat is connected to the protective shell and is arranged above the track; one end of the linkage arm is rotatably connected to the fixed seat through an elastic member, and the other end thereof extends obliquely toward the track; the anti-loosening wheel is rotatably connected to the end of the linkage arm and can be pressed against the outer surface of the track.

[0013] Optionally, the cleaning robot also includes a sleeve and a water inlet pipe, the sleeve is a sleeve, one end of the sleeve is rotatably connected to the rotary joint; one end of the water inlet pipe is connected to the rotary joint, and the other end thereof is detachably connected to an external water supply system; wherein a transverse groove is provided on the side wall of the sleeve along its axial direction, the water inlet pipe passes through the transverse groove, and is inserted into the sleeve.

[0014] Optionally, a vertical distance from the rotary joint to the side of the vehicle body is smaller than a length of the sleeve.

[0015] Optionally, the cleaning robot also includes a cleaning shell and a cleaning brush, wherein the cleaning shell is rotatably connected to one side of the vehicle body; the cleaning brush is rotatably connected to the inside of the cleaning shell; wherein the length of the cleaning brush is adapted to the width of at least one photovoltaic panel.

[0016] Optionally, the cleaning robot further comprises a wiper connected to one side of the vehicle body, and a bottom end of the wiper can be attached to the surface to be cleaned.

[0017] The present application provides a cleaning robot, wherein a rotary joint is disposed above a first cover, the rotary joint comprising a water inlet and a water outlet, and the first cover can be used to isolate the controller from the rotary joint, thereby preventing water seeping from the rotary joint from flowing into the first cavity. Since the battery unit in the second cavity needs to be replaced, the second cover needs to be opened and closed, and therefore the rotary joint is disposed on the first cover, which not only prevents the rotary joint from affecting the closing of the second cover, but also prevents water seeping from the rotary joint from flowing into the second cavity, thereby ensuring the isolation effect between the rotary joint and the controller and the battery unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a structural schematic diagram of the cleaning robot provided by the present application;

[0020] Figure 2 It is a structural schematic diagram of the body of the cleaning robot provided in this application;

[0021] Figure 3 It is a schematic diagram of the connection between the rotary joint and the sleeve in the cleaning robot provided by the present application;

[0022] Figure 4is a schematic diagram of the connection between the cleaning shell and the second cleaning pipe in the cleaning robot provided by the present application;

[0023] Figure 5 It is a structural schematic diagram of the walking device in the cleaning robot provided in the present application;

[0024] Figure 6 This is a schematic diagram of the connection between the telescopic rod and the pressure wheel in the cleaning robot provided by the present application;

[0025] Figure 7 It is a structural schematic diagram of the anti-loosening mechanism in the cleaning robot provided in this application.

[0026] Description of reference numerals:

[0027] 100, vehicle body; 110, first cavity; 111, controller; 120, second cavity; 130, partition; 140, first cover; 150, second cover; 200, wiper; 300, walking device; 310, first wheel; 320, second wheel; 330, crawler track; 331, groove; 400, clamping mechanism; 410, mounting frame; 420, telescopic rod; 430, clamping wheel; 500, anti-loosening mechanism; 510, fixing seat; 520, linkage arm; 530, elastic member; 540, anti-loosening wheel; 600, protective shell; 710, rotary joint; 720, sleeve; 721, transverse groove; 730, water inlet pipe; 740, first cleaning pipe; 750, second cleaning pipe; 760, nozzle; 800, cleaning shell; 810, cleaning brush; 900, sealing cover. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application and are not used to limit the present application. In the present application, unless otherwise stated, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0029] The present application provides a cleaning robot, which is described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0030] See also Figure 1 The present application provides a cleaning robot that can move on a smooth cleaning surface to clean the cleaning surface. In this embodiment, the cleaning surface can be a photovoltaic panel or a panel array composed of photovoltaic panels.

[0031] See also Figure 1 and Figure 2 The cleaning robot includes a body 100, a first cover 140 and a second cover 150. The body 100 is composed of a chassis and surrounding body side walls, and the chassis and the body side walls can enclose a space, which can be divided into a first cavity 110 and a second cavity 120 by a partition 130. In this embodiment, the front part of the space is defined as the first cavity 110, and the rear part of the space is defined as the second cavity 120. One side of the first cover 140 is hinged to the body 100 by a hinge, so that the first cover 140 can completely cover the first cavity 110; one side of the second cover 150 is hinged to the body 100 by a hinge, so that the second cover 150 can completely cover the second cavity 120.

[0032] See also Figure 1 and Figure 2 The cleaning robot further includes a controller 111 and a battery unit (not shown in the figure), and the battery unit is electrically connected to the controller 111. The body is located in the first cavity 110 and is provided with a heat dissipation rack. The controller 111 is disposed inside the first cavity 110 and fixed to the heat dissipation rack, so that the controller 111 is relatively fixed to the body. The battery unit is disposed inside the second cavity 120. Since the second cover 150 can be connected to the body in an openable manner, the battery unit can be taken out or put back in the second cavity 120.

[0033] Since the battery unit is electrically connected to the controller 111, the first cavity 110 is not completely separated from the second cavity 120. In this embodiment, a plurality of U-shaped plates are provided on the bottom wall of the second cavity 120, and the sides of the U-shaped plates are connected to the bottom wall of the second cavity 120 by fastening screws. The bottom end of the partition 130 is at a distance from the chassis, so that one end of the U-shaped plate can pass through the bottom of the partition 130 and extend into the first cavity 110. The battery unit can be placed above the U-shaped plate, and the wire can pass through the U-shaped plate and be electrically connected to the controller 111 in the first cavity 110.

[0034] See also Figure 1-Figure 3A rotary joint 710 is disposed above the first cover 140. The rotary joint 710 includes a water inlet and a water outlet. The first cover 140 can be used to isolate the controller 111 from the rotary joint 710, thereby preventing water seeping from the rotary joint 710 from flowing into the first cavity 110. Since the battery unit in the second cavity 120 needs to be replaced, the second cover 150 needs to be opened and closed. Therefore, the rotary joint 710 is disposed on the first cover 140, which can prevent the rotary joint 710 from affecting the closing of the second cover 150 and prevent water seeping from the rotary joint 710 from flowing into the second cavity 120, thereby ensuring the isolation effect between the rotary joint 710 and the controller 111 and the battery unit.

[0035] See also Figure 1 and Figure 3 The outer part of the rotary joint 710 is provided with a sleeve 720, which is a square tube. One end of the sleeve 720 is rotatably connected to the outer part of the rotary joint 710, and the other end thereof extends in a direction away from the vehicle body 100; a transverse groove 721 is formed on the side wall of the sleeve 720 along its axial direction, and the transverse groove 721 is connected to the space inside the sleeve 720.

[0036] See also Figure 1 and Figure 3 The water inlet of the rotary joint 710 is connected to a water inlet pipe 730, and the other end of the water inlet pipe 730 is detachably connected to an external water supply system. By connecting the water inlet pipe 730 to an external water supply system, the existing water tank design can be simplified, the weight of the cleaning robot can be reduced, and the power consumption rate during cleaning can be reduced, thereby improving the cleaning efficiency. At the same time, the cleaning robot can be prevented from slipping or falling off due to weight and inertia when moving or turning, thereby ensuring the safety and stability of its work. At the same time, by connecting the water inlet pipe 730 with the rotary joint 710, the water inlet pipe 730 can be prevented from getting tangled when the cleaning robot is moving or turning.

[0037] See also Figure 1 and Figure 3 , the water inlet pipe 730 can be inserted into the interior of the sleeve 720 through the transverse groove 721, and then connected to the external water supply system after passing through the sleeve 720. In this embodiment, the vertical distance from the rotary joint 710 to the side of the vehicle body 100 is less than the length of the sleeve 720. The sleeve 720 is a rigid structure, and part of the water inlet pipe 730 can be inserted into the sleeve 720, so that the sleeve 720 can be used to lift the end of the water inlet pipe 730 to the top of the vehicle body 100 to avoid interference between the vehicle body 100 and the water inlet pipe 730 when the cleaning robot is moving.

[0038] See also Figure 1 and Figure 4, defining the forward direction of the vehicle body 100 as the front, the front side of the vehicle body 100 is rotatably connected to a cleaning shell 800, and a cleaning brush 810 and a cleaning motor are arranged in the cleaning shell 800, and the two ends of the cleaning brush 810 are respectively connected to the ends of the cleaning shell 800 through rolling bearings, and the cleaning motor is fixed to one end of the cleaning shell 800 to drive the cleaning brush 810 to clean the surface of the photovoltaic panel.

[0039] See also Figure 4 The length of the cleaning brush 810 is adapted to the width of at least one photovoltaic panel, so that when the traveling cleaning robot moves along the width direction of the photovoltaic panel, it can clean the entire photovoltaic panel array, avoiding the cleaning robot from turning back and forth, thereby improving the cleaning efficiency.

[0040] See also Figure 1 , Figure 3 and Figure 4 The cleaning robot further includes a first cleaning pipe 740, a second cleaning pipe 750 and at least one nozzle 760. One end of the first cleaning pipe 740 is connected to the water outlet of the rotary joint 710, and the other end thereof is inserted into the interior of the cleaning housing 800 and connected to the second cleaning pipe 750. The two ends of the second cleaning pipe 750 are respectively fixed to the two ends of the cleaning housing 800, so that the central axis of the second cleaning pipe 750 is parallel to the central axis of the cleaning housing 800. The nozzle 760 is connected to the second cleaning pipe 750 and arranged along the axial direction of the second cleaning pipe 750, so that the water spraying port of the nozzle 760 can face the surface of the photovoltaic panel. The external water supply system transports the cleaning liquid to the rotary joint 710 through the water inlet pipe 730, and then passes through the first cleaning pipe 740 and the second cleaning pipe 750 in sequence and then sprays it to the surface of the photovoltaic panel through the nozzle 760.

[0041] See also Figure 1 and Figure 4 The front side of the vehicle body 100 is provided with a wiper 200, so that the wiper 200 is located between the cleaning brush 810 and the vehicle body 100, and the bottom end of the wiper 200 can be attached to the surface of the photovoltaic panel, so that when the cleaning robot moves, the wiper 200 can remove the liquid attached to the photovoltaic panel, thereby improving the cleaning effect. At the same time, when the cleaning housing 800 rotates during the cleaning process, the wiper 200 arranged on the front side of the vehicle body 100 can always be attached to the surface of the photovoltaic panel, avoiding the wiper 200 from lifting or floating, thereby ensuring the cleaning effect.

[0042] See also Figure 1 and Figure 2A sealing cover 900 is provided at the front side of the vehicle body 100. One end of the sealing cover 900 is connected to the first cover 140 above the vehicle body 100, and the other end thereof is connected to the chassis of the vehicle body 100, so as to cover the front end of the vehicle body 100. Since the rotary joint 710 is provided above the first cover 140, one end of the first cleaning pipe 740 is connected to the rotary joint 710, and the other end thereof is passed through the cleaning housing 800. The sealing cover 900 is located below the first cleaning pipe 740. When leakage occurs at the connection between the first cleaning pipe 740 and the rotary joint 710, the sealing cover 900 can prevent external water from penetrating into the front side of the vehicle body 100, so as to protect the controller 111 in the first cavity 110.

[0043] See also Figure 1 and Figure 5 A running device 300 and a protective shell 600 are respectively arranged on both sides of the vehicle body 100. The running device 300 can drive the vehicle body 100 to move forward on the surface of the photovoltaic panel. The protective shell 600 is connected to the vehicle body 100 by fastening screws, and each protective shell 600 can be covered on the outside of the running device 300.

[0044] See also Figure 1-Figure 5 When using the cleaning robot to clean the photovoltaic panel, the walking device 300 moves along the width direction of the photovoltaic panel, the sleeve 720 and the water inlet pipe 730 are located above the walking device 300, and the protective shell 600 can prevent the water from flowing to the walking device 300 when leakage occurs at the connection between the water inlet pipe 730 and the rotary joint 710, so as to ensure the safety of the cleaning robot during movement.

[0045] See also Figure 1 , Figure 2 and Figure 5 Each walking device 300 includes a first wheel 310, a second wheel 320, a track 330 and a walking motor. The first wheel 310 and the second wheel 320 can be rotatably connected to the side wall of the vehicle body 100, wherein the first wheel 310 is arranged at the front end of the side wall of the vehicle body 100, and the second wheel 320 is arranged at the rear end of the side wall of the vehicle body 100. The walking motor is connected to the front end of the side wall of the vehicle body 100 and is electrically connected to the controller 111. The rotating shaft of the walking motor is connected to the first vehicle body 100, so as to drive the first wheel 310 to rotate. The track 330 is an annular structure, and the track 330 is wound around the outside of the first wheel 310 and the second wheel 320 to drive the first wheel 310 and the second wheel 320 to rotate synchronously.

[0046] The outer surface of the track 330 is provided with more than two grooves 331, and the multiple grooves 331 are arranged at equal intervals along the annular direction of the track 330, and each groove 331 is opened through along the width direction of the track 330, thereby increasing the deformation performance of the track 330 and improving the stability of the track 330 when walking on the photovoltaic panel.

[0047] See also Figure 1 , Figure 5 and Figure 6 Each walking device 300 further includes a clamping mechanism 400, which includes a mounting frame 410, two or more telescopic rods 420, and two or more clamping wheels 430. The mounting frame 410 is connected to the side wall of the vehicle body 100 and is located in the space surrounded by the crawler 330. The multiple telescopic rods 420 are arranged at equal intervals along the forward direction of the crawler 330, and each telescopic rod 420 is vertically inserted into the mounting frame 410. In the present application, the top end of the telescopic rod 420 is fixed to the mounting frame 410 by a fastening screw, so that the bottom end of the telescopic rod 420 can be telescoped relative to the mounting frame 410.

[0048] Each pressure wheel 430 is correspondingly installed to the bottom end of a telescopic rod 420, and the central axis of the pressure wheel 430 is perpendicular to the forward direction of the track 330. When the track 330 moves along the surface of the photovoltaic panel, the telescopic rod 420 can drive the pressure wheel 430 to press against the inner surface of the track 330, thereby preventing the track 330 from slipping.

[0049] See also Figure 1 , Figure 5 and Figure 7 Each walking device 300 further includes an anti-loosening mechanism 500, which includes a fixed seat 510, a linkage arm 520 and an anti-loosening wheel 540. The fixed seat 510 is fixed to the protective housing 600 by fastening screws, so that the anti-loosening mechanism 500 is arranged above the crawler 330. The linkage arm 520 includes a first arm body and a second arm body, the first arm body and the second arm body are vertically connected to form a T-shaped structure, the first arm body is rotatably connected to the fixed seat 510, and an elastic member 530 (a spring in this embodiment) is sleeved on the outer side of the first arm body, and an extended end of the elastic member 530 abuts against the fixed seat 510. At the same time, the anti-loosening wheel 540 is rotatably connected to the end of the second arm body, and the elastic member 530 in a compressed state can push the linkage arm 520 to rotate an angle, so that the end of the linkage arm 520 is closer to the crawler 330, thereby ensuring that the anti-loosening wheel 540 can always be pressed on the outer surface of the crawler 330, thereby tightening the crawler 330.

[0050] The above is a detailed introduction to a cleaning robot provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A cleaning robot, characterized in that: include: A vehicle body, comprising a space enclosed by a chassis and a side wall of the vehicle body, the space being divided into a first cavity and a second cavity by a partition; a first cover body connected to the vehicle body and capable of covering the first cavity; A second cover body, which is hinged to the vehicle body in an openable and closable manner and can cover the second cavity; a controller disposed in the first cavity and connected to the vehicle body; a battery unit disposed in the second cavity and electrically connected to the controller; and A swivel joint is connected to the first cover body, and the swivel joint comprises a water inlet and a water outlet.

2. The cleaning robot according to claim 1, characterized in that: Also includes: A cleaning shell rotatably connected to the front side of the vehicle body, defining the forward direction of the vehicle body as the front; A first cleaning pipe, one end of which is connected to the water outlet of the rotary joint, and the other end of which is passed through the cleaning housing; a second cleaning pipe connected to the inner wall of the cleaning housing and connected to the first cleaning pipe; a central axis of the second cleaning pipe is parallel to the central axis of the cleaning housing; at least one nozzle connected to the second cleaning pipe; as well as A sealing cover is arranged to cover the front side of the vehicle body and is located below the first cleaning pipe.

3. The cleaning robot according to claim 1, characterized in that: Also includes: Two sets of running devices, which are respectively connected to two sides of the vehicle body; as well as Two protective shells are respectively connected to two sides of the vehicle body, and each protective shell covers the outside of the running device.

4. The cleaning robot according to claim 3, characterized in that: Each of the walking devices comprises: A first wheel rotatably connected to a front end of the vehicle body side wall; a second wheel rotatably connected to the rear end of the vehicle body side wall; A crawler track is annular and surrounds the outer sides of the first wheel and the second wheel, and the outer surface of the crawler track is provided with two or more grooves, and the grooves are provided through the width direction of the crawler track; and A travel motor is connected to the vehicle body and electrically connected to the controller, and a rotating shaft of the travel motor is connected to the first wheel.

5. The cleaning robot according to claim 4, characterized in that: Each of the walking devices further comprises a clamping mechanism, and the clamping mechanism comprises: A mounting frame connected to the side wall of the vehicle body and located in the space surrounded by the crawler track; Two or more telescopic rods are arranged along the forward direction of the crawler, each of the telescopic rods is vertically inserted into the mounting frame, and the top end of each telescopic rod is connected to the mounting frame; and Two or more clamping wheels, each of which is rotatably connected to the bottom end of the telescopic rod, and the central axis of the clamping wheel is perpendicular to the forward direction of the crawler track; When the crawler track is moving, at least one of the clamping wheels is pressed against the inner surface of the crawler track by the telescopic rod.

6. The cleaning robot according to claim 4, characterized in that: Each of the walking devices further includes an anti-loosening mechanism, and the anti-loosening mechanism includes: A fixing seat connected to the protective shell and disposed above the crawler; A linkage arm, one end of which is rotatably connected to the fixing seat via an elastic member, and the other end of which extends obliquely toward the crawler track; and The anti-loosening wheel is rotatably connected to the end of the linkage arm and can be pressed onto the outer surface of the crawler track.

7. The cleaning robot according to claim 1, characterized in that: Also includes: A sleeve, which is a sleeve, one end of which is rotatably connected to the rotary joint; as well as A water inlet pipe, one end of which is connected to the rotary joint, and the other end of which is detachably connected to an external water supply system; Wherein, a transverse groove is provided on the side wall of the sleeve along its axial direction, and the water inlet pipe passes through the transverse groove and is inserted into the sleeve.

8. The cleaning robot according to claim 7, characterized in that: The vertical distance from the rotary joint to the side of the vehicle body is less than the length of the sleeve.

9. The cleaning robot according to claim 1, characterized in that: Also includes: A cleaning housing rotatably connected to one side of the vehicle body; as well as a cleaning brush rotatably connected to the cleaning housing; Wherein, the length of the cleaning brush is adapted to the width of at least one photovoltaic panel.

10. The cleaning robot according to claim 1, characterized in that: Also includes: A wiper blade is connected to one side of the vehicle body, and the bottom end of the wiper blade can be attached to the surface to be cleaned.

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