Photovoltaic cleaning robot

Abstract

The utility model discloses a photovoltaic cleaning robot, and belongs to the field of photovoltaic maintenance equipment. Comprising a chassis, a mechanical arm and a sweeping mechanism; the chassis comprises a chassis shell, a driving wheel, a driven wheel, a motor, a chuck, a first fixed seat, a second fixed seat, a cushioning rod, a cushioning arm, a cushioning wheel and a crawler belt; the mechanical arm comprises a first motor, a second motor, a third motor, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a first rocker, a second rocker, a base, a first transmission disc, a second transmission disc and a third transmission disc. The cleaning mechanism comprises a fixing frame, a cover, a detachable dry brush strip, a detachable silica gel brush strip, a rotating brush shaft, an insert ball bearing, a key, a bearing seat, a frameless motor, a coupler and a rotating main shaft. The photovoltaic panel cleaning device is scientific and reasonable in structural design, accurate in recognition, stable and accurate in steering, low in damage to the photovoltaic panel in the cleaning process, high in cleaning efficiency and capable of being used and popularized.

Description

Technical Field

[0001] This application relates to the field of photovoltaic maintenance devices, and more specifically, to a photovoltaic cleaning robot. Background Technology

[0002] With the intensification of global warming and the emergence of various seasonal problems, people are paying increasing attention to clean energy, leading to the rapid development of the photovoltaic industry and a year-on-year increase in installed photovoltaic power generation capacity. However, photovoltaic panels in power plants are mostly installed in the open, making them prone to accumulating dust and other contaminants, reducing their photoelectric conversion efficiency and causing significant losses. Furthermore, in winter, heavy snowfall can cover large areas of photovoltaic panels, reducing light transmittance and severely impacting power generation efficiency.

[0003] Existing technologies mainly include manual snow removal, chemical snow removal, and mechanical snow removal. The photovoltaic power station cleaning market primarily uses manual or third-party teams for cleaning, which is inefficient and requires significant investment. Chemical snow removal uses de-icing agents containing chloride ions and other corrosive elements. If these components adhere to the surface of photovoltaic panels, they can affect the surface materials, leading to decreased power generation efficiency or shortened module lifespan. Furthermore, the salt content in de-icing agents can cause soil salinization and groundwater pollution, resulting in adverse environmental impacts. Mechanical snow removal, using only physical methods without any chemical sprays, is not only environmentally friendly and pollution-free but also far more efficient than manual snow removal, making it the preferred solution. However, currently available photovoltaic dust removal robots lack the ability to sweep snow from photovoltaic panels, have limited application scope, and are costly. Some cleaning robots still require manual relocation, necessitating the installation of battery packs and cleaning hoses, making the relocation process inconvenient.

[0004] Therefore, a photovoltaic cleaning robot is needed to solve the above problems. Utility Model Content

[0005] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0006] To address the technical problems mentioned in the background section, some embodiments of this application provide a photovoltaic cleaning robot, including a chassis, a robotic arm, and a cleaning mechanism. The robotic arm is mounted on the chassis, and the cleaning mechanism is located at one end of the robotic arm. The cleaning mechanism includes: a fixed frame connected to one end of the robotic arm, a cover fixedly connected to the fixed frame, a bearing seat fixedly connected to the fixed frame, an outer spherical ball bearing mounted on the bearing seat, a rotating spindle mounted on the outer spherical ball bearing to cause the rotating spindle to rotate, a rotating brush shaft fixedly connected to the rotating spindle via keys on both sides, a detachable brush strip provided on the rotating brush shaft, the detachable brush strip extending spirally on the rotating brush shaft; a frameless motor fixedly connected to the fixed frame, the frameless motor housing fixed to the fixed frame; a coupling sleeved on the rotating spindle, the coupling fixedly connected to the rotating brush shaft via a key in the middle, the internal rotor of the frameless motor fixedly connected to the coupling; wherein, the rotating brush shaft is located on both sides of the coupling.

[0007] The system utilizes a rotating main shaft and two rotating brush shafts mounted on it. When the main shaft rotates, it drives the two brush shafts to rotate as well. The detachable brush strips then sweep away snow from the photovoltaic panels. Because the rotating brush shafts are keyed, they are detachable. When snow needs to be swept to one side, the detachable brush strips on both rotating brush shafts extend spirally in the same direction. When snow needs to be swept to either side, the detachable brush strips extend spirally in opposite directions, effectively sweeping the snow to both sides and preventing snow from accumulating on one side of the photovoltaic panels and causing clumping.

[0008] The detachable brush strips include detachable dry bristle brush strips and detachable silicone brush strips, which are alternately inserted into the slots of the rotating brush shaft.

[0009] Furthermore, the chassis includes: a chassis shell; tracks, disposed on the left and right sides of the chassis shell for moving the chassis shell; a first fixed seat and a second fixed seat, disposed on the chassis shell; shock absorbers, disposed on the first fixed seat and the second fixed seat and arranged perpendicular to the track's direction of travel; shock absorbers, disposed at both ends of the shock absorbers, one end of which is rotatably connected to a shock absorber wheel for supporting the track; a motor, fixedly disposed inside the chassis shell; a drive wheel, connected to the power output end of the motor, located inside the track for driving the track; and a battery, fixedly disposed on the upper part of the chassis shell for providing power to the motor.

[0010] A damping device can be installed between the shock absorber arm and the chassis shell. When the shock absorber arm deflects, the damping device can buffer and reduce the shock.

[0011] Furthermore, the robotic arm includes a base fixed to the chassis housing, with a first motor, a second motor on the same side and a third motor on the other side fixedly mounted on the base. The first motor is powered by a first transmission disk, and the first transmission disk is fixedly connected to a first connecting rod. One end of the first connecting rod is hinged to the upper part of the base, causing the first connecting rod to deflect.

[0012] The first motor outputs power, causing the first connecting rod to deflect, which can adjust the up and down position of the sweeping mechanism.

[0013] Furthermore, the first link is hinged to the second link, and the cleaning mechanism is installed at one end of the second link.

[0014] Furthermore, the third motor is powered by a third transmission disc, the third transmission disc is fixedly connected to a first rocker arm, the first rocker arm is hinged to a fourth link, the fourth link is hinged to one end of a second link, the hinge axis of the fourth link and the second link is spaced from the hinge axis of the first link and the second link, and a counterweight is hinged at the hinge point connecting the fourth link and the second link.

[0015] By using a second link and a counterweight, the overall center of gravity is positioned on the chassis, preventing the chassis from tilting. At the same time, the vertical position of the sweeping mechanism can be adjusted by deflecting the second link relative to the first link.

[0016] Furthermore, the second motor is powered by a second transmission disc, the second motor is fixedly connected to the second transmission disc, the second transmission disc is fixedly connected to a second rocker arm, the second rocker arm is hinged to a fifth link, the fifth link is hinged to a triangular link, the triangular link is hinged to a first link, the triangular link is hinged to a third link, and the third link is connected to the cleaning mechanism.

[0017] By setting up a second motor, a triangular linkage, and a third linkage, when the second motor outputs power, it can drive the second rocker arm to move, which in turn drives the fifth linkage to move. Under the action of the triangular linkage, the third linkage moves, which in turn causes the sweeping mechanism to tilt.

[0018] Furthermore, the fixed frame is hinged to one end of the second link, and the hinge axis of the second link and the fixed frame is hinged to one end of the second link. There is a gap between the hinge axis of the second link and the fixed frame and the hinge axis of the third link and the fixed frame.

[0019] Furthermore, the rotating brush shaft has a spirally extending mounting groove, and the detachable brush bar has a mounting part that is embedded in the mounting groove, wherein both the mounting part and the mounting groove have a "T" shaped cross-section.

[0020] The mounting slots allow the detachable brush strips to be detachably mounted on the rotating brush shaft.

[0021] The beneficial effects of this application are as follows:

[0022] 1. The robot chassis is driven by tracks, which can meet the autonomous driving needs of photovoltaic power plants and field environments. The addition of a shock-absorbing structure can ensure the stability of the robotic arm when the robot is working.

[0023] 2. The design of the counterweight shifts the center of gravity away from the cleaning mechanism, thus avoiding the problem of overall tipping over.

[0024] 3. The cleaning section uses a robotic arm. Considering the windy and sandy conditions and the snow accumulation in winter, the cleaning brush can be replaced to remove sand particles and even snow, thereby reducing power generation costs and improving power generation efficiency.

[0025] 4. By using a rotating spindle and two rotating brush shafts mounted on it, the two rotating brush shafts rotate when the spindle rotates, and the snow on the photovoltaic panel is swept away by the action of the detachable brush strips, thus achieving snow removal.

[0026] 5. When it is necessary to sweep the snow on the photovoltaic panel to one side, the detachable brush strips on the two rotating brush shafts can be extended spirally in the same direction. When the rotating brush shafts rotate, the snow is swept to one side of the photovoltaic panel through the detachable brush strips.

[0027] 6. When it is necessary to sweep the snow on the photovoltaic panel to both sides, the detachable brush strips on the two rotating brush shafts are arranged in opposite spiral directions to sweep the snow on both sides of the photovoltaic panel and prevent the snow from accumulating on one side of the photovoltaic panel, which would cause it to clump together. Attached Figure Description

[0028] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0029] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0030] In the attached diagram:

[0031] Figure 1 This is an overall schematic diagram according to one embodiment of the present application;

[0032] Figure 2 This is a schematic diagram of the chassis power structure.

[0033] Figure 3 This is a schematic diagram of the chassis damping structure.

[0034] Figure 4 This is a schematic diagram of the overall robotic arm.

[0035] Figure 5 This is a schematic diagram of the robotic arm base.

[0036] Figure 6 This is a schematic diagram of the transmission system of the robotic arm.

[0037] Figure 7 This is a schematic diagram of the transmission system of the robotic arm.

[0038] Figure 8 This is a schematic diagram of the overall cleaning mechanism.

[0039] Figure 9 This is a schematic diagram of the sweeping mechanism drive system.

[0040] Figure 10 This is a schematic diagram of the rotating system of the cleaning mechanism.

[0041] Figure 11 This is a schematic diagram of the cleaning mechanism's brush system.

[0042] Figure label:

[0043] 1-Chassis; 2-Robotic arm; 3-Cleaning mechanism;

[0044] 1001 - Battery; 1002 - Motor; 1003 - Base casing;

[0045] 1004 - Track; 1005 - Drive sprocket; 1006 - Driven sprocket;

[0046] 1007 - Shock-absorbing wheel; 1008 - Chuck; 1009 - First fixed seat;

[0047] 1010 - Second fixed seat; 1011 - Shock absorber rod; 1012 - Shock absorber arm;

[0048] 2001 - Base; 2002 - First washer; 2003 - First screw;

[0049] 2004 - First nut; 2005 - First motor; 2006 - Second motor;

[0050] 2007 - Second screw; 2008 - First connecting rod; 2009 - Second connecting rod;

[0051] 2010 - Third link; 2011 - Fourth link; 2012 - Counterweight;

[0052] 2013 - Fifth Link; 2014 - Third Motor; 2015 - First Joystick;

[0053] 2016 - Second joystick; 2017 - Triangle linkage; 2018 - Third screw;

[0054] 2019 - Second nut; 2020 - Second washer; 2021 - Fourth screw;

[0055] 2022 - Third washer; 2023 - Third nut; 2024 - Fifth screw;

[0056] 2025 - Fourth nut; 2026 - Fourth washer; 2027 - Fifth washer;

[0057] 2028 - Fifth nut; 2029 - Sixth screw; 2030 - Sixth nut;

[0058] 2031 - Seventh screw; 2032 - First bearing; 2033 - First shoulder screw;

[0059] 2034 - Second bearing; 2035 - Seventh nut; 2036 - First transmission disc;

[0060] 2037 - Second transmission disc; 2038 - Third transmission disc; 2039 - Eighth nut;

[0061] 2040 - Eighth screw; 3001 - Fixing bracket; 3002 - Second shoulder screw;

[0062] 3003 - Third shoulder screw; 3004 - First bolt; 3005 - Second bolt;

[0063] 3006 - Cover; 3007 - Ninth screw; 3008 - Bearing housing;

[0064] 3009 - Ninth nut; 3010 - Detachable bristles; 3011 - Rotating brush shaft;

[0065] 3012 - Tenth screw; 3013 - Frameless motor housing; 3014 - Frameless motor rotor;

[0066] 3015 - Coupling; 3016 - Spherical roller bearing; 3017 - Key;

[0067] 3018 - Rotary spindle. Detailed Implementation

[0068] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0069] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0070] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0071] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0072] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0073] Reference Figure 1-11 This utility model includes a chassis 1, a robotic arm 2, and a cleaning mechanism 3. The robotic arm 2 is fixedly mounted on the top of the chassis 1 using screws, nuts, and washers. The cleaning mechanism 3 is fixedly mounted at the end of the robotic arm 2. The chassis includes a battery 1001, a motor 1002, a chassis shell 1003, tracks 1004, a drive wheel 1005, a driven wheel 1006, a shock-absorbing wheel 1007, a chuck 1008, a first fixed seat 1009, a second fixed seat 1010, a shock-absorbing rod 1011, and a shock-absorbing arm 1012. The battery 1001 is fixedly mounted on the upper part of the chassis shell 1003, and the motor 1002 is connected inside the chassis shell 1003. The power output end of the motor 1002 is fixedly connected to the drive wheel 1005. Tracks 1004 are provided on the left and right sides of the chassis shell 1003. The drive wheel 1005 is located inside the track 1004 and connected to the track 1004, used to drive the track 1004 to move. Driven wheel 1006 rotates on chassis housing 1003 via chuck 1008 and is connected to track 1004. Drive wheel 1005 drives track 1004, and track 1004 drives driven wheel 1006. Track structure meets the needs of autonomous driving in field environments.

[0074] In chassis structure 1, multiple sets of first fixed seats 1009 and second fixed seats 1010 are fixed on the chassis shell 1003. Shock-absorbing rods are fixed to the first fixed seats 1009 and second fixed seats 1010. Shock-absorbing rods 1001 are rotatably connected to shock-absorbing arms 1012. One end of the shock-absorbing arm 1012 rotates a shock-absorbing wheel 1007. The shock-absorbing wheel 1007 is located inside the track 1004 and connected to the track 1004 to support the track 1004. A shock-absorbing damping mechanism is provided between the shock-absorbing arm 1012 and the chassis shell 1003. This damping structure ensures the stability of the robotic arm during robot operation.

[0075] The robotic arm includes a base 2001, a first motor 2005, a second motor 2006, a first link 2008, a second link 2009, a third link 2010, a fourth link 2011, a counterweight 2012, a fifth link 2013, a third motor 2014, a first rocker arm 2015, a second rocker arm 2016, a triangular link 2017, a first transmission plate 2036, a second transmission plate 2037, and a third transmission plate 2038. The base 2001 is fixed to the chassis housing 1003 by a first washer 2002, a first screw 2003, and a first nut 2004. A first motor 2005, a second motor 2006, and a third motor 2014 on the other side are fixedly mounted on the base 2001 via a second screw 2007 and a first bearing 2032. The first motor 2005 is powered by a first transmission disc 2036, and the first transmission disc 2036 is fixedly connected to a first connecting rod 2008. The first connecting rod 2008 is hinged to the upper part of the base 2001 via a first shoulder screw 2033, a seventh nut 2035, and a second bearing 2034, so that the first connecting rod 2008 can deflect.

[0076] The first connecting rod 2008 is hinged to the second connecting rod 2009 via the seventh screw 2031 and the sixth nut 2030. The cleaning mechanism 3 is installed at one end of the second connecting rod 2009. The third motor 2014 is powered by the third transmission disc 2038, which is fixedly connected to the first rocker arm 2015. The first rocker arm 2015 is hinged to the fourth connecting rod 2011 via the fifth washer 2027, the fifth nut 2028, and the sixth screw 2029. The fourth connecting rod 2011 is hinged to one end of the second connecting rod 2009 via the fourth screw 2021, the third washer 2022, and the third nut 2023.

[0077] There is a gap between the hinge axes of the fourth link 2011 and the second link 2009 and the hinge axes of the first link 2008 and the second link 2009. The third motor 2014 outputs power to make the first rocker arm 2015 drive the fourth link 2011 to move, and the fourth link 2011 pulls the second link 2009 to deflect, thereby adjusting the position of the cleaning mechanism 3.

[0078] A counterweight 2012 is connected to the fourth screw 2021 that connects the fourth link 2011 and the second link 2009. The counterweight 2012 is used to prevent the center of gravity from shifting and causing the structure to tilt and tip over.

[0079] The second motor 2006 is powered by the second transmission disc 2037, which is fixedly connected to the second transmission disc 2037. The second transmission disc 2037 is fixedly connected to the second rocker arm 2016. The second rocker arm 2016 is hinged to the fifth connecting rod 2013 via the fifth screw 2024, the fourth nut 2025, and the fourth washer 2026. The fifth connecting rod 2013 is hinged to the triangular connecting rod 2017 via the third screw 2018, the second washer 2020, and the second nut 2019. The triangular connecting rod 2017 is hinged to the first connecting rod 2008. Simultaneously, the triangular connecting rod 2017 is hinged to the third connecting rod 2010 via the screw 2040 and the eighth nut 2039. The third connecting rod 2010 is connected to the cleaning mechanism 3.

[0080] When the second motor 2006 outputs power, it drives the third link 2010 to move under the action of the fifth link 2013 and the triangular link 2017, thereby causing the sweeping mechanism 3 to deflect.

[0081] The cleaning mechanism 3 includes a fixed frame 3001 connected to one end of the robotic arm 2. The fixed frame 3001 is fixedly connected to a cover 3006 by a tenth screw 3012. The fixed frame 3001 is hinged to one end of the second connecting rod 2009 by a third shoulder screw 3003, a first bolt 3005, and a second connecting rod 2009 by a second shoulder screw 3002 and a second bolt 3004. There is a gap between the hinge axis of the second connecting rod 2009 and the fixed frame 3001 and the hinge axis of the third connecting rod 2010 and the fixed frame 3001.

[0082] The mounting bracket 3001 is fixedly connected to the bearing housing 3008 by the ninth screw 3007 and the ninth nut 3009. An outer spherical ball bearing 3016 is mounted on the bearing housing 3008, and a rotating spindle 3018 is mounted on the outer spherical ball bearing 3016, causing the rotating spindle 3018 to rotate. A rotating brush shaft 3011 is fixedly connected to the rotating spindle 3018 by keys 3017 on both sides. A detachable brush strip 3010 is provided on the rotating brush shaft 3011, and the detachable brush strip 3010 extends spirally on the rotating brush shaft 3011.

[0083] The rotation of the main shaft 3018 can drive the rotation of the rotating brush shaft 3011, which in turn can sweep snow under the action of the detachable brush strip 3010.

[0084] The rotating brush shaft 3011 has multiple sets of spirally extending, circumferentially distributed mounting slots. The detachable brush strip 3010 has a mounting portion that is embedded into the mounting slot, wherein both the mounting portion and the mounting slot have a "T"-shaped cross-section. This allows for the replacement of detachable brush strips 3010 with different materials and adjustment of the mounting direction of the detachable brush strips 3010. Detachable dry brush strips and detachable silicone brush strips can be alternately mounted on the mounting slot, thereby changing the brush strip material to adapt to various cleaning conditions.

[0085] A frameless motor is fixedly connected to a mounting bracket 3001, and the frameless motor housing 3013 is fixed to the mounting bracket 3001. A coupling 3015 is fitted on the rotating spindle 3018, and the coupling 3015 is fixedly connected to the rotating brush shaft 3011 via a key 3017 in the middle. The internal rotor 3014 of the frameless motor is fixedly connected to the coupling.

[0086] When the frameless motor outputs power, it drives the internal rotor 3014 to rotate, which in turn drives the rotating spindle 3018 and the rotating brush shaft 3011 to rotate under the action of the key 3017. The rotating brush shaft 3011 is located on both sides of the coupling 3015.

[0087] Working process or usage method:

[0088] 1. Motor 1002 drives drive wheel 1005, which in turn moves chassis 1 via track 1004. Simultaneously, first motor 2005 outputs power to deflect first link 2008, positioning cleaning mechanism 3 above the photovoltaic panel. At the same time, third motor 2014 outputs power to deflect second link 2009, bringing cleaning mechanism 3 closer to the photovoltaic panel surface. Second motor 2006 then outputs power to move third link 2010, causing cleaning mechanism 3 to deflect to adapt to photovoltaic panels installed at different angles. At this point, detachable brush strip 3010 contacts the photovoltaic panel surface.

[0089] 2. By starting the frameless motor to output power, the internal rotor 3014 of the frameless motor drives the coupling 3015 to rotate, which in turn drives the rotating main shaft 3018 and the rotating brush shaft 3011 to rotate under the action of the key 3017, thus sweeping away the snow on the surface of the photovoltaic panel.

[0090] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A photovoltaic cleaning robot, comprising a chassis (1), a robotic arm (2), and a cleaning mechanism (3), wherein the robotic arm (2) is mounted on the chassis (1), and the cleaning mechanism (3) is disposed at one end of the robotic arm (2), characterized in that: The cleaning mechanism (3) includes: A fixed frame (3001) is connected to one end of the robotic arm (2). A cover (3006) is fixedly connected to the fixed frame (3001). A bearing seat (3008) is fixedly connected to the fixed frame (3001). An outer spherical ball bearing (3016) is installed on the bearing seat (3008). A rotating spindle (3018) is installed on the outer spherical ball bearing (3016), so that the rotating spindle (3018) rotates. A rotating brush shaft (3011) is fixedly connected to the rotating spindle (3018) through keys (3017) on both sides. A detachable brush strip (3010) is provided on the rotating brush shaft (3011). The detachable brush strip (3010) extends spirally on the rotating brush shaft (3011). A frameless motor is fixedly connected to a fixed frame (3001), and the frameless motor housing (3013) is fixed to the fixed frame (3001); a coupling (3015) is sleeved on the rotating spindle (3018), and the coupling (3015) is fixedly connected to the rotating brush shaft (3011) through a key (3017) in the middle; the internal rotor (3014) of the frameless motor is fixedly connected to the coupling (3015); The rotating brush shaft (3011) is located on both sides of the coupling (3015).

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The chassis (1) includes: Chassis shell (1003); Tracks (1004) are provided on the left and right sides of the chassis shell (1003) for driving the chassis shell (1003) to move and travel; The first fixing seat (1009) and the second fixing seat (1010) are disposed on the chassis housing (1003); The shock absorber (1011) is arranged perpendicular to the track travel direction on the first fixed seat (1009) and the second fixed seat (1010); A shock-absorbing arm (1012) is disposed at both ends of the shock-absorbing rod (1011), and a shock-absorbing wheel (1007) for supporting the track (1004) is rotatably connected to one end of the shock-absorbing arm (1012); The motor (1002) is fixedly installed inside the chassis housing (1003); The drive wheel (1005) is connected to the power output end of the motor (1002). The drive wheel (1005) is located inside the track (1004) and is used to drive the track (1004) to move. The battery (1001) is fixedly mounted on the upper part of the chassis housing (1003) and is used to provide power to the motor (1002).

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The robotic arm (2) includes a base (2001) fixed on a chassis housing (1003). A first motor (2005) and a second motor (2006) on the same side and a third motor (2014) on the other side are fixedly installed on the base (2001). The first motor (2005) is powered by a first transmission disk (2036). The first transmission disk (2036) is fixedly connected to a first connecting rod (2008). One end of the first connecting rod (2008) is hinged to the upper part of the base (2001), so that the first connecting rod (2008) can deflect.

4. A photovoltaic cleaning robot according to claim 3, characterized in that: The first link (2008) is hinged to the second link (2009), and the cleaning mechanism (3) is installed at one end of the second link (2009).

5. A photovoltaic cleaning robot according to claim 4, characterized in that: The third motor (2014) is powered by a third transmission disc (2038), and the third transmission disc (2038) is fixedly connected to a first rocker arm (2015). The first rocker arm (2015) is hinged to a fourth connecting rod (2011). The fourth connecting rod (2011) is hinged to one end of the second connecting rod (2009). There is a gap between the hinge axis of the fourth connecting rod (2011) and the second connecting rod (2009) and the hinge axis of the first connecting rod (2008) and the second connecting rod (2009). A counterweight (2012) is hinged at the hinge point connecting the fourth connecting rod (2011) and the second connecting rod (2009).

6. A photovoltaic cleaning robot according to claim 5, characterized in that: The second motor (2006) is powered by a second transmission disc (2037), the second motor (2006) is fixedly connected to the second transmission disc (2037), the second transmission disc (2037) is fixedly connected to a second rocker arm (2016), the second rocker arm (2016) is hinged to a fifth link (2013), the fifth link (2013) is hinged to a triangular link (2017), the triangular link (2017) is hinged to a first link (2008), the triangular link (2017) is hinged to a third link (2010), and the third link (2010) is connected to the cleaning mechanism (3).

7. A photovoltaic cleaning robot according to claim 6, characterized in that: The fixed frame (3001) is hinged to one end of the second link (2009), and there is a gap between the hinge axis of the second link (2009) and the hinge axis of the fixed frame (3001) and the third link (2010) and the fixed frame (3001).

8. A photovoltaic cleaning robot according to claim 7, characterized in that: The rotating brush shaft (3011) has a spirally extending mounting groove, and the detachable brush bar (3010) has a mounting part that is embedded in the mounting groove, wherein both the mounting part and the mounting groove have a "T" shaped cross-section.

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