Photovoltaic panel cleaning device with deviation rectifying function

Abstract

The utility model discloses a photovoltaic panel cleaning device with a deviation rectifying function, and belongs to the technical field of photovoltaic power generation. Which comprises a main frame, a front driving mechanism (3) and a rear driving mechanism (6), and is characterized in that a deviation rectifying mechanism is arranged at the front driving mechanism (3) or the rear driving mechanism (6), the deviation rectifying mechanism comprises a fixing frame (17), swing shafts (18) are rotationally arranged on the two sides of the fixing frame (17) respectively, deviation rectifying wheels (15) are installed at the ends of the two swing shafts (18) respectively, and the deviation rectifying wheels (15) are connected with the front driving mechanism (3) or the rear driving mechanism (6). The two deviation rectifying wheels (15) are clamped at the bottom of the photovoltaic module, and angle sensors (11) used for detecting the swing angles of the swing shafts (18) are arranged at hinged shafts of the two swing shafts (18) and the fixing frame (17) respectively. According to the photovoltaic panel cleaning device with the deviation correction function, the deviation correction wheel drives the swing shaft, the angle sensor is used for detecting the swing angle of the swing shaft in real time, and therefore the deviation degree of the cleaning robot is accurately measured.

Description

Technical Field

[0001] The invention discloses a photovoltaic panel cleaning device with a deviation correction function, belonging to the technical field of photovoltaic power generation. Background Art

[0002] Photovoltaic power generation is a technology that uses the photovoltaic effect of semiconductor interfaces to directly convert light energy into electrical energy. During the use of photovoltaic panels, dust, bird droppings and other impurities are easily attached to their surfaces. If they are not removed in time, the power generation efficiency will be greatly reduced, further producing hot spot effects, leading to damage to the photovoltaic panels, thereby causing energy waste. Therefore, it is necessary to clean the surface of the photovoltaic panels regularly. In the prior art, photovoltaic panels are generally cleaned by cleaning robots. Since the cleaning robot is relatively long, when the cleaning robot is installed on the surface of the photovoltaic panel, in order to ensure smooth movement, it is generally necessary to set power at both ends of the cleaning robot. Since the power devices at both ends are difficult to ensure complete consistency, there will be displacement deviations at the upper and lower ends of the cleaning robot. If not corrected in time, the deviation will gradually increase, which is easy to cause damage to the robot. In the prior art, there are the following technical solutions:

[0003] The Chinese invention patent with application number 202210212498.2 and application date March 7, 2022, and the patent name "A Handheld Remote Control Photovoltaic Cleaning Robot" discloses a technical solution in which the deviation of the robot is detected by a travel switch. In actual use, it is found that when using the travel switch for deviation detection, it is difficult to detect the robot in real time and it is difficult to achieve a good detection effect.

[0004] In order to improve the detection effect, the following technical solutions are also disclosed in the prior art:

[0005] (1) A Chinese utility model patent application with application number 202120227751.2, application date January 27, 2021, and patent name “A driving unit for a photovoltaic panel cleaning robot” discloses a technical solution in which a group of guide wheels that abut against each other are provided close to the lower edge of the photovoltaic panel, and a baffle is provided at the support rod on which the guide wheel is installed. The position sensor changes the position of the baffle to determine the degree of deviation of the robot, and further corrects the deviation of the robot.

[0006] (2) The Chinese invention patent with application number 202310626686.4 and application date May 30, 2023, and patent name “Rooftop distributed photovoltaic cleaning robot and its control method” discloses a technical solution in which inclination sensors arranged on the four driving wheels are used to sense the inclination angle of the robot body and further correct the robot.

[0007] (3) The Chinese invention patent with application number 202311718042.4 and application date December 14, 2023, and patent name “A path correction system for a photovoltaic robot and a photovoltaic robot” discloses a technical solution in which a displacement sensor is used to detect the displacement at both ends of the robot, further obtain the deflection angle of the robot frame, and further correct the robot.

[0008] The applicant of the present application hopes to design a new technical solution that can monitor the deviation of the cleaning robot in real time and further realize deviation correction. Utility Model Content

[0009] The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art, to provide a photovoltaic panel cleaning device with a deviation correction function, which is driven by a deviation correction wheel and uses an angle sensor to detect the swing angle of the swing shaft in real time, thereby realizing accurate measurement of the deviation degree of the cleaning robot.

[0010] The technical solution adopted by the utility model to solve its technical problems is: the photovoltaic panel cleaning device with a correction function comprises a main frame, a front driving mechanism and a rear driving mechanism are respectively arranged at the front end and the rear end of the main frame, a group of front driving wheels are arranged in the front driving mechanism, and a group of rear driving wheels are arranged in the rear driving mechanism. It is characterized in that: a correction mechanism is arranged at the front driving mechanism or the rear driving mechanism, the correction mechanism comprises a fixed frame, a swing shaft is respectively arranged on both sides of the fixed frame for rotation, a correction wheel is respectively installed at the end of the two swing shafts, the two correction wheels are clamped on the bottom of the photovoltaic component, and an angle sensor for detecting the swing angle of the swing shaft is respectively arranged at the hinge shaft between the two swing shafts and the fixed frame.

[0011] Preferably, the two swing shafts are connected via a tension spring.

[0012] Preferably, a cleaning roller is arranged inside the main frame along its length direction, and a cleaning drive mechanism for driving the cleaning roller to rotate is provided in the middle of the main frame.

[0013] Preferably, the cleaning drive mechanism includes a cleaning drive motor, which is connected to a reduction gear group, and two cleaning drive shafts are led out from the output end of the reduction gear group. The cleaning roller includes two roller shafts and bristles arranged on the surface of the roller shafts. One end of the two roller shafts is coaxially fixed to the two cleaning drive shafts, and the other ends of the two roller shafts extend to the front drive mechanism and the rear drive mechanism, respectively.

[0014] Preferably, the front drive mechanism includes a front drive fixing plate fixed to the main frame, a front drive motor is arranged on one side of the front drive fixing plate, a motor shaft of the front drive motor passes through the front drive fixing plate and is coaxially fixed with a front driving gear, two front driven gears are rotatably installed on the surface of the front drive fixing plate, and the gear shaft of the front driven gear passes through the front drive fixing plate and is coaxially fixed to the front drive wheel.

[0015] Preferably, the rear drive mechanism includes a rear drive rear fixing plate and a rear drive front fixing plate which are fixed to the main frame at the same time, and a rear drive box is arranged between the rear drive rear fixing plate and the rear drive front fixing plate; a rear drive motor is arranged on the surface of the rear drive rear fixing plate, and a rear driving gear is coaxially fixed after the output shaft of the rear drive motor passes through the rear drive rear fixing plate, and two rear driven gears are rotatably installed on the surface of the rear driving gear, and the wheel axles of the two rear driven gears pass through the rear drive rear fixing plate and the rear drive front fixing plate and are respectively connected to the rear drive wheels.

[0016] Preferably, the axles of the two rear driven gears are also coaxially fixed with a driving bevel gear in the rear drive box, and two driven bevel gears are arranged in the rear drive box. The two driven bevel gears are respectively meshed with the driving bevel gears on the corresponding sides, and the axles of the two driven bevel gears are respectively coaxially fixed with a driving card wheel outside the rear drive box.

[0017] Preferably, the main frame includes two support beams arranged side by side and an outer shell covering the surface of the support beams, a control box is also arranged between the two support beams, a photovoltaic panel is arranged on the surface of the outer shell, and the photovoltaic panel is connected to the control box.

[0018] Preferably, handles are provided on both sides of the shell.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] In the photovoltaic panel cleaning device with a deviation correction function, a swing shaft is driven by a deviation correction wheel, and an angle sensor is used to detect the swing angle of the swing shaft in real time, thereby achieving accurate measurement of the deviation degree of the cleaning robot.

[0021] A handle is arranged on the surface of the shell, so as to facilitate the installation of the photovoltaic panel cleaning device with deviation correction function on the surface of the photovoltaic assembly.

[0022] By arranging a photovoltaic panel on the surface of the shell, the photovoltaic panel cleaning device with a deviation correction function can be powered, avoiding the need for an external power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an axonometric view of a photovoltaic panel cleaning device with a deviation correction function.

[0024] Figure 2This is a top view of a photovoltaic panel cleaning device with a deviation correction function.

[0025] Figure 3 for Figure 2 Left view of .

[0026] Figure 4 for Figure 1 The cleaning roller and the rear housing are omitted in the schematic diagram.

[0027] Figure 5 for Figure 2 The cleaning roller and the rear housing are omitted in the schematic diagram.

[0028] Figure 6 for Figure 5 Left view of .

[0029] Figure 7 for Figure 3 Enlarged view of point A in the middle.

[0030] Figure 8 This is an enlarged front view of a photovoltaic panel cleaning device with a deviation correction function, with the cleaning roller and casing omitted.

[0031] Fig. 9 for Figure 8 Bottom view of .

[0032] Fig.10 for Figure 8 Top view of the .

[0033] Fig.11 for Figure 6 CC section view.

[0034] Fig.12 An enlarged rear view of a photovoltaic panel cleaning device with a deviation correction function omitting the cleaning roller and the outer shell.

[0035] Fig.13 for Figure 5 Enlarged cross-section view along the BB axis.

[0036] Fig.14 for Fig.12 Top view of the .

[0037] Fig.15 for Fig.12 The rear view with the front fixing plate omitted.

[0038] Fig.16 for Fig.15 Axonometric drawing of .

[0039] Wherein: 1, shell 2, support beam 3, front drive mechanism 4, cleaning drive mechanism 5, handle 6, rear drive mechanism 7, control box 8, roller shaft 9, bristles 10, front driving gear 11, angle sensor 12, front intermediate gear 13, front drive fixing plate 14, front driven gear 15, deviation correction wheel 16, front drive wheel 17, fixing frame 18, swing shaft 19, tension spring 20, front drive motor 21, cleaning drive motor 22, cleaning transmission box 23, cleaning fixing plate 24, auxiliary roller 25, cleaning drive shaft 26, rear driving gear 27, rear intermediate gear 28, rear drive rear fixing plate 29, rear driven gear 30, rear drive wheel 31, drive card wheel 32, rear drive motor 33, rear drive front fixing plate 34, rear drive box 35, driven helical gear 26, driving helical gear. DETAILED DESCRIPTION

[0040] Figures 1 to 16 It is the best embodiment of the utility model, and the following Figures 1 to 16 The utility model is further described.

[0041] like Figures 1 to 3 As shown, a photovoltaic panel cleaning device with a deviation correction function (hereinafter referred to as the cleaning robot) includes two support beams 2 arranged side by side, and a shell 1 is arranged on the surface of the support beams 2. The shell 1 covers the upper surface and the front and rear ends of the two support beams 2. A plurality of handles 5 are respectively arranged on both sides of the shell 1 so as to place the cleaning robot on the surface of the photovoltaic component.

[0042] Combination Figures 4 to 6 A rear driving mechanism 6 is arranged at the rear ends of the two supporting beams 2, and a front driving mechanism 3 is arranged at the front ends of the two supporting beams. The rear driving mechanism 6 and the front driving mechanism 3 are respectively clamped at the front and rear ends of the photovoltaic component. The rear driving mechanism 6 and the front driving mechanism 3 are both powered. When the rear driving mechanism 6 and the front driving mechanism 3 are working, they drive the cleaning robot to move along the photovoltaic component from both ends.

[0043] A cleaning roller is arranged in parallel between the two support beams 2, and a cleaning drive mechanism 4 is arranged in the middle of the two support beams 2. Figure 7 The cleaning roller includes a roller shaft 8 and bristles 9 arranged on the surface of the roller shaft 8. The roller shaft 8 is provided with two sections, both of which are connected to the cleaning drive mechanism 4. The other end of one section of the roller shaft 8 extends to the rear drive mechanism 6, and the other end of the other section of the roller shaft 8 extends to the front drive mechanism 3. The cleaning drive mechanism 4 drives the two roller shafts 8 to rotate at the same time, and the bristles 9 are used to clean the surface of the photovoltaic module.

[0044] A control box 7 is provided at the front portion between the two support beams 2, and a control circuit of the cleaning robot is provided in the control box 7. A photovoltaic panel is also provided on the surface of the housing 1, and the photovoltaic panel provides working power for the cleaning robot.

[0045] like Figures 8-10 As shown, the front drive mechanism 3 includes a front drive fixing plate 13 fixed to the front ends of the two support beams 2, and a front drive motor 20 is arranged on the back (rear surface) of the front drive fixing plate 13. The output shaft of the front drive motor 20 passes through the front drive fixing plate 13 and is coaxially fixed with the front driving gear 10. The front driving gear 10 is located above the middle of the front drive fixing plate 13. The above-mentioned roller shaft 8 extends to the front drive mechanism 3 and is rotatably connected with the front drive fixing plate 13. The roller shaft 8 is located at the lower part of the front driving gear 10.

[0046] Two front intermediate gears 12 are respectively arranged on both sides of the lower part of the front driving gear 10, and a front driven gear 14 is also respectively arranged on both sides of the lower part of the two front intermediate gears 12. The two front intermediate gears 12 are rotatably mounted on the surface of the front driving fixed plate 13, and the wheel shafts of the two front driven gears 14 penetrate the front driving fixed plate 13 backwards, and a front driving wheel 16 is coaxially fixed to each of them. The front driving wheel 16 is located on the surface of the lower part of the photovoltaic module as a power wheel. The front driving gear 10, the two front intermediate gears 12 and the two front driven gears 14 are connected by a chain (not shown in the figure). When the front driving gear 10 is driven by the front driving motor 20 to rotate, the two front intermediate gears 12 and the two front driven gears 14 are driven to rotate at the same time through the chain, and the two front driving wheels 16 are further driven to rotate.

[0047] A deviation correction mechanism is also provided at the lower part of the front drive fixing plate 13, and the deviation correction mechanism includes a fixing frame 17 fixed at the lower part of the front drive fixing plate 13, and the lower part of the fixing frame 17 extends downward to the lower part of the front drive fixing plate 13. A swing shaft 18 is hinged on both sides of the fixing frame 17, and the two swing shafts 18 are respectively absorbed and extended to the front drive wheels 16 on the corresponding sides. A tension spring 19 is provided at the rear of the fixing frame 17, and the two ends of the tension spring 19 are respectively connected to the two swing shafts 18. A deviation correction wheel 15 is respectively installed at the rear end of the two swing shafts 18. After the cleaning robot is installed on the surface of the photovoltaic module, the two deviation correction wheels 15 are stuck at the lower edge of the photovoltaic module.

[0048] An angle sensor 11 is coaxially fixed on the upper part of the two swing shafts 18. After the cleaning robot is installed on the surface of the photovoltaic module, the two angle sensors 11 measure the swing angles of the two swing shafts 18 respectively. The signal output ends of the two angle sensors 11 are connected to the control box 7 and connected to the control circuit in the control box 7. When a speed difference occurs during the operation of the front drive mechanism 3 or the rear drive mechanism 6, position deviation will occur at the upper and lower ends of the cleaning robot. Since the two deviation correction wheels 15 are clamped at the lower edge of the photovoltaic module, the deviation correction wheels 15 will drive the swing shaft 18 to rotate. Through the angle sensor 11 connected to the swing shaft 18, the absolute angle of rotation of the two swing shafts 18 can be measured, thereby obtaining the deviation of the cleaning robot, and the deviation correction is achieved by controlling the front drive mechanism 3 or the rear drive mechanism 6. The angle sensor 11 can be implemented by an encoder, or a non-contact angle sensor, such as a Hall angle sensor.

[0049] like Fig.11 As shown, the cleaning drive mechanism 4 includes a cleaning fixed plate 23 vertically fixed to the support beams 2 on both sides, a cleaning transmission box 22 is arranged on one side of the cleaning fixed plate 23, a cleaning drive motor 21 is fixed on the surface of the cleaning transmission box 22, and a plurality of gears meshing with each other are arranged in the cleaning transmission box 22 as a reduction gear set. The motor shaft of the cleaning drive motor 21 enters the cleaning transmission box 22 and is connected to the driving gear, and the reduction effect is achieved through the reduction gear set. A cleaning drive shaft 25 is coaxially fixed at the axle of the last gear in the reduction gear set. The cleaning drive shaft 25 is located at both ends of the last gear. The cleaning drive shaft 25 can be two independent shaft bodies or a whole shaft body. The cleaning drive shaft 25 is respectively led out from the surface of the cleaning transmission box 22 and the surface of the cleaning fixed plate 23, and is coaxially fixed with the above-mentioned two sections of roller shafts 8.

[0050] like Figures 12-14 As shown, the rear drive mechanism 6 includes a rear drive rear fixing plate 28 and a rear drive front fixing plate 33 fixed to the two support beams 2 at the same time, wherein the rear drive rear fixing plate 28 is fixed to the ends of the two support beams 2, and the rear drive rear fixing plate 28 is located at the rear side of the rear drive front fixing plate 33. A rear drive box 34 is arranged between the rear drive rear fixing plate 28 and the rear drive front fixing plate 33, and the rear drive rear fixing plate 28 and the rear drive front fixing plate 33 serve as the rear panel and the front panel of the rear drive box 34 respectively. A rear drive motor 32 is arranged on the back (front surface) of the rear drive rear fixing plate 28. The output shaft of the rear drive motor 32 passes through the rear drive rear fixing plate 28 and is coaxially fixed with the rear driving gear 26, and the rear driving gear 26 is located above the middle of the front drive fixing plate 13. The above-mentioned roller shaft 8 extends to the rear drive mechanism 6 and is rotatably connected to the rear drive front fixing plate 33.

[0051] Two rear intermediate gears 27 are respectively arranged on both sides of the lower part of the rear driving gear 26, and a rear driven gear 29 is also respectively arranged on both sides of the lower part of the two rear front intermediate gears 27. The two rear front intermediate gears 12 and the two rear driven gears 29 are rotatably mounted on the surface of the rear driving rear fixed plate 28. The rear driving gear 26, the two rear intermediate gears 27 and the two rear driven gears 29 are connected by a chain (not shown in the figure). When the rear driving gear 26 is driven by the rear driving motor 32 to rotate, the two rear intermediate gears 27 and the two rear driven gears 29 are driven to rotate at the same time through the chain.

[0052] Further integration Figures 15 and 16 After the wheel shafts of the two rear front intermediate gears 27 pass through the rear drive rear fixing plate 28 and the rear drive front fixing plate 33 respectively, a rear drive wheel 30 is coaxially fixed to the front side of the rear drive front fixing plate 33, and the wheel shafts of the two rear driven gears 29 are coaxially fixed to a driving bevel gear 36 in the rear drive box 34. Two driven bevel gears 35 are arranged in the rear drive box 34, and the two driven bevel gears 35 are respectively meshed with the driving bevel gears 36 on the corresponding side. The wheel shafts of the two driven bevel gears 35 pass through the bottom plate of the rear drive box 34 downward and extend to the lower side of the rear drive box 34, and are coaxially fixed to a driving card wheel 31 respectively.

[0053] When the cleaning robot is installed on the surface of the photovoltaic module, the two rear drive wheels 30 are located on the upper side of the front surface of the photovoltaic module and are arranged opposite to the front drive wheel 16 in the front drive mechanism 3. The two drive clamping wheels 31 are clamped at the upper edge of the photovoltaic module. When the rear drive motor 32 rotates, it drives the rear driving gear 26 to rotate, and the rear driving gear 26 further drives the rear intermediate gear 27 and the rear driven gear 29 to rotate through the chain. When the rear driven gear 29 rotates, it directly drives the rear drive wheel 30 to rotate, and drives the drive clamping wheel 31 to rotate through the mutually meshing driven bevel gear 35 and the driving bevel gear 36.

[0054] The specific working process and working principle are as follows:

[0055] The cleaning robot is mounted on the surface of the photovoltaic module by the handle 5, at which time the front driving wheel 16 in the front driving mechanism 3 is located at the lower side of the front surface of the photovoltaic module, the rear driving wheel 30 in the rear driving mechanism 6 is located at the upper side of the front surface of the photovoltaic module, and the correcting wheel 15 in the correcting mechanism is clamped at the lower edge of the photovoltaic module, and the driving card wheel 31 in the rear driving mechanism 6 is clamped at the lower edge of the photovoltaic module. When the front driving motor 20 and the rear driving motor 32 in the front driving mechanism 2 and the rear driving mechanism 6 are working, the front driving wheel 16, the rear driving mechanism 6 and the driving card wheel 31 provide power to drive the cleaning robot at the same time, and the cleaning robot moves along the surface of the photovoltaic module.

[0056] When the cleaning robot is moving, the two correcting wheels 15 in the correcting mechanism roll along the lower surface of the photovoltaic module. When a speed difference occurs during the operation of the front drive mechanism 3 or the rear drive mechanism 6, position deviations will occur at the upper and lower ends of the cleaning robot. Since the two correcting wheels 15 are clamped at the lower edge of the photovoltaic module, the correcting wheels 15 will drive the swing shaft 18 to rotate. The absolute angle of rotation of the two swing shafts 18 can be measured by the angle sensor 11 connected to the swing shaft 18, thereby obtaining the deviation of the cleaning robot, and achieving correction by controlling the front drive mechanism 3 or the rear drive mechanism 6.

[0057] The above is only the preferred embodiment of the utility model, and does not limit the utility model in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the technical solution of the utility model still belongs to the protection scope of the technical solution of the utility model.

Claims

1. A photovoltaic panel cleaning device with a deviation correction function, comprising a main frame, a front drive mechanism (3) and a rear drive mechanism (6) are respectively arranged at the front and rear ends of the main frame, a group of front drive wheels (16) are arranged in the front drive mechanism (3), and a group of rear drive wheels (30) are arranged in the rear drive mechanism (6), characterized in that: A deviation correction mechanism is provided at the front drive mechanism (3) or the rear drive mechanism (6), the deviation correction mechanism comprising a fixing frame (17), a swing shaft (18) being rotatably provided on both sides of the fixing frame (17), a deviation correction wheel (15) being respectively installed at the end of the two swing shafts (18), the two deviation correction wheels (15) being clamped at the bottom of the photovoltaic module, and an angle sensor (11) for detecting the swing angle of the swing shaft (18) being respectively provided at the hinge shaft between the two swing shafts (18) and the fixing frame (17).

2. The photovoltaic panel cleaning device with deviation correction function according to claim 1 is characterized in that: The two swing shafts (18) are connected via a tension spring (19).

3. The photovoltaic panel cleaning device with deviation correction function according to claim 1 is characterized in that: A cleaning roller is also arranged inside the main frame along its length direction, and a cleaning drive mechanism (4) for driving the cleaning roller to rotate is arranged in the middle of the main frame.

4. The photovoltaic panel cleaning device with deviation correction function according to claim 3 is characterized in that: The cleaning drive mechanism (4) comprises a cleaning drive motor (21), the cleaning drive motor (21) is connected to a reduction gear set, a cleaning drive shaft (25) is led out from the output end of the reduction gear set, the cleaning roller comprises a roller shaft (8) and bristles (9) arranged on the surface of the roller shaft (8), and the roller shaft (8) and the cleaning drive shaft (25) are coaxially fixed.

5. The photovoltaic panel cleaning device with deviation correction function according to claim 1 is characterized in that: The front drive mechanism (3) comprises a front drive fixing plate (13) fixed to the main frame, a front drive motor (20) is arranged on one side of the front drive fixing plate (13), a motor shaft of the front drive motor (20) passes through the front drive fixing plate (13) and is coaxially fixed with a front driving gear (10), two front driven gears (14) are rotatably mounted on the surface of the front drive fixing plate (13), and the gear shafts of the front driven gears (14) pass through the front drive fixing plate (13) and are coaxially fixed with the front drive wheel (16).

6. The photovoltaic panel cleaning device with deviation correction function according to claim 1 is characterized in that: The rear drive mechanism (6) comprises a rear drive rear fixing plate (28) and a rear drive front fixing plate (33) fixed to the main frame at the same time, and a rear drive box (34) is arranged between the rear drive rear fixing plate (28) and the rear drive front fixing plate (33); a rear drive motor (32) is arranged on the surface of the rear drive rear fixing plate (28), an output shaft of the rear drive motor (32) passes through the rear drive rear fixing plate (28), and a rear driving gear (26) is coaxially fixed thereto; two rear driven gears (29) are rotatably mounted on the surface of the rear driving gear (26), and the wheel shafts of the two rear driven gears (29) pass through the rear drive rear fixing plate (28) and the rear drive front fixing plate (33), and are respectively connected to the rear drive wheels (30).

7. The photovoltaic panel cleaning device with deviation correction function according to claim 6 is characterized in that: The wheel axles of the two rear driven gears (29) are coaxially fixed with a driving bevel gear (36) in the rear drive box (34), and two driven bevel gears (35) are arranged in the rear drive box (34). The two driven bevel gears (35) are respectively meshed with the driving bevel gears (36) on the corresponding sides, and the wheel axles of the two driven bevel gears (35) are coaxially fixed with a driving card wheel (31) outside the rear drive box (34).

8. The photovoltaic panel cleaning device with deviation correction function according to claim 1 is characterized in that: The main frame comprises two support beams (2) arranged side by side and an outer shell (1) covering the surface of the support beams (2); a control box (7) is also arranged between the two support beams (2); a photovoltaic panel is arranged on the surface of the outer shell (1), and the photovoltaic panel is connected to the control box (7).

9. The photovoltaic panel cleaning device with deviation correction function according to claim 8 is characterized in that: Handles (5) are also provided on both sides of the housing (1).

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