Cleaning execution mechanism and photovoltaic cleaning equipment

Abstract

The cleaning executing mechanism comprises a frame, a roller brush assembly, a linear driving assembly and a connecting part, the roller brush assembly comprises a sliding beam and a brush roller, the sliding beam is arranged on the frame in a sliding fit mode in the first extension direction, and the brush roller is rotatably arranged below the sliding beam; a roller shaft of the brush roller is arranged in the second extension direction. The linear driving assembly is used for driving the sliding beam to slide back and forth in the first extension direction. The connecting part is connected to the frame through a first elastic buffering mechanism and used for being connected with a mechanical arm arranged on the walking mechanism. According to the cleaning executing mechanism, when a dirty place is met, the sliding beam can be controlled to execute multiple reciprocating motions, so that multiple cleaning motions are achieved, and the problem that cleaning is not in place is effectively solved; and meanwhile, under the action of the first elastic buffer structure, the photovoltaic module can be effectively prevented from being damaged by the cleaning executing mechanism.

Description

Technical Field

[0001] This application relates to the field of photovoltaic operation and maintenance equipment technology, and more specifically, to a cleaning actuator and photovoltaic cleaning equipment. Background Technology

[0002] Photovoltaic modules require regular or irregular cleaning during operation and maintenance, typically accomplished using photovoltaic cleaning equipment. This equipment moves along the outer edge of the photovoltaic module, completing one cleaning cycle with each pass. However, after each cleaning cycle, areas may remain uncleaned, and it's not possible to repeatedly clean heavily soiled areas.

[0003] In summary, how to solve the problem of photovoltaic cleaning equipment failing to clean photovoltaic modules in a timely and thorough manner has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, this application provides a cleaning actuator and photovoltaic cleaning equipment to solve the problem that photovoltaic cleaning equipment cannot clean photovoltaic modules in a timely manner.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A cleaning actuator, comprising:

[0007] The frame has a first extension direction and a second extension direction that are perpendicular to each other, and both the first extension direction and the second extension direction are parallel to the side of the frame that is opposite to the photovoltaic module.

[0008] A roller brush assembly includes a sliding beam and a brush roller. The sliding beam is disposed on the frame in a sliding engagement manner along a first extension direction. The brush roller is rotatably disposed below the sliding beam, and the roller shaft of the brush roller is arranged along a second extension direction.

[0009] A linear drive assembly is disposed on the frame and is used to drive the sliding beam to reciprocate along the first extension direction;

[0010] The connecting component is connected to the frame via a first elastic buffer mechanism and is used to connect to the robotic arm mounted on the walking mechanism.

[0011] In some embodiments of this application, the number of sliding beams is at least one; wherein, when the number of sliding beams is multiple, the multiple sliding beams are arranged sequentially at intervals along the first extension direction, and at least one of the sliding beams is provided with the brush roller.

[0012] In some embodiments of this application, at least one of the sliding beams is provided with a plurality of brush rollers, and the plurality of brush rollers located on the same sliding beam are arranged sequentially at intervals along the first extension direction.

[0013] In some embodiments of this application, the number of brush rollers is multiple and they are arranged sequentially at intervals along the first extension direction, wherein the brushes on two adjacent brush rollers are staggered.

[0014] In some embodiments of this application, the roller brush assembly further includes a brush roller driver disposed on the sliding beam, the brush roller driver being used to drive the brush roller to rotate.

[0015] In some embodiments of this application, the linear drive assembly includes a drive motor, a lead screw, and a slider. The lead screw is rotatably disposed on the frame and arranged along the first extension direction. The slider is disposed on the sliding beam and threadedly engaged with the lead screw. The drive motor is used to drive the lead screw to rotate.

[0016] In some embodiments of this application, the connecting component is configured as a connecting flange, one side of which is connected to the frame via the first elastic buffer mechanism, and the other side of which is connected to the end of the robotic arm via fasteners.

[0017] In some embodiments of this application, the number of the first elastic buffer mechanism is at least two sets, and they are respectively arranged on two opposite sides of the frame in the second extension direction.

[0018] In some embodiments of this application, the frame is constructed as a rectangular frame, the rectangular frame including two parallel and oppositely arranged first frame beams and two parallel and oppositely arranged second frame beams, the first frame beams being arranged along the first extension direction and the second frame beams being arranged along the second extension direction;

[0019] The first frame beam is provided with a slide rail, and the two ends of the sliding beam are respectively slidably engaged with the slide rails provided on the two first frame beams.

[0020] In some embodiments of this application, a second elastic buffer mechanism is provided below each of the two second frame beams so that the cleaning actuator can make flexible contact with the photovoltaic module when it is placed on the photovoltaic module.

[0021] In some embodiments of this application, the end of the second elastic buffer mechanism is provided with a walking wheel.

[0022] Compared to the background description, the aforementioned cleaning actuator includes a frame, a roller brush assembly, a linear drive assembly, and a connecting component. The frame has a first extension direction and a second extension direction that are perpendicular to each other, and both directions are parallel to the side of the frame facing the photovoltaic module. The roller brush assembly includes a sliding beam and a brush roller. The sliding beam is slidably mounted on the frame along the first extension direction, and the brush roller is rotatably mounted below the sliding beam, with its shaft arranged along the second extension direction. The linear drive assembly is mounted on the frame and drives the sliding beam to reciprocate along the first extension direction. The connecting component is connected to the frame via a first elastic buffer mechanism and is used to connect to a robotic arm mounted on a traveling mechanism. In practical applications, this cleaning actuator is placed onto the photovoltaic module via a walking mechanism and a robotic arm. At this point, the bottom of the frame is aligned with the surface of the photovoltaic module, and the brush roller is in contact with the module's surface. A linear drive component then drives a sliding beam to reciprocate along a first extension direction, thereby cleaning the surface of the photovoltaic module with the brush roller beneath it. When encountering heavily soiled areas, the sliding beam can be controlled to perform multiple reciprocating movements, achieving multiple cleaning actions and effectively preventing incomplete cleaning. Furthermore, because the connecting component for the robotic arm on the walking mechanism is connected to the frame via a first elastic buffer mechanism, rigid contact between the cleaning actuator and the photovoltaic module is avoided when the actuator is placed on the module. Under the action of the first elastic buffer structure, the contact force between the actuator and the module becomes a flexible contact force, effectively preventing damage to the photovoltaic module.

[0023] This application also provides a photovoltaic cleaning device, including a walking mechanism, a robotic arm mounted on the walking mechanism, and a cleaning actuator disposed at the end of the robotic arm, wherein the cleaning actuator is the cleaning actuator described in any of the above-described solutions. Since the aforementioned cleaning actuator has the above-mentioned technical effects, the photovoltaic cleaning device having this cleaning actuator should also have the corresponding technical effects, which will not be elaborated further here.

[0024] In some embodiments of this application, the connecting component of the cleaning actuator is connected to the end of the robotic arm via a third elastic buffer mechanism. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of the photovoltaic cleaning equipment provided in the embodiments of this application;

[0027] Figure 2 A schematic diagram of the axonometric structure of the cleaning actuator provided in the embodiments of this application from a top view;

[0028] Figure 3 This is a schematic diagram of the axonal structure of the cleaning actuator provided in the embodiments of this application from a bottom view.

[0029] in, Figures 1-3 middle:

[0030] 1- Cleaning actuator;

[0031] 11-Framework;

[0032] 111 - First frame beam;

[0033] 112 - Second frame beam;

[0034] 113 - Slide rail;

[0035] 12-Roller brush assembly;

[0036] 121-Sliding beam;

[0037] 122 - Brush roller;

[0038] 1221 - Roller seat;

[0039] 1222 - Roller;

[0040] 123 - Brush roller driver;

[0041] 13-Linear drive components;

[0042] 131 - Drive motor;

[0043] 132-Lead Screw;

[0044] 133 - Slider;

[0045] 14-Connecting components;

[0046] 15 - First elastic buffer mechanism;

[0047] 2-Walking mechanism;

[0048] 3-Robotic arm;

[0049] 4- Photovoltaic modules. Detailed Implementation

[0050] The core of this application is to provide a cleaning actuator and photovoltaic cleaning equipment to solve the problem that photovoltaic cleaning equipment cannot clean photovoltaic modules in a timely manner.

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] Reference Figures 1-3 As shown, in one embodiment of this application, a cleaning actuator 1 is provided, including a frame 11, a roller brush assembly 12, a linear drive assembly 13, and a connecting component 14.

[0053] Among them, reference Figure 1 Combination Figure 2 and Figure 3 The frame 11 has a first extension direction and a second extension direction that are perpendicular to each other, and both the first extension direction and the second extension direction are parallel to the side of the frame 11 facing the photovoltaic module 4. When the cleaning actuator 1 is placed on the photovoltaic module 4, the first extension direction can specifically correspond to the length direction of the photovoltaic module 4, and the second extension direction can specifically correspond to the width direction of the photovoltaic module 4, or the arrangement direction of the photovoltaic module 4. The main function of this frame is to support the cleaning-related components of the cleaning actuator 1, such as the roller brush assembly 12, the linear drive assembly 13, and the connecting parts 14.

[0054] Reference Figure 1 Combination Figure 2 and Figure 3 The roller brush assembly 12 includes a sliding beam 121 and a brush roller 122. The sliding beam 121 is mounted on the frame 11 in a sliding fit along a first extension direction. The brush roller 122 is rotatably mounted below the sliding beam 121, and the roller shaft 1222 of the brush roller 122 is arranged along a second extension direction. Specifically, the brush roller 122 may include a roller shaft 1222 and roller shaft seats 1221 located at both ends of the roller shaft 1222. A brush structure is provided on the roller shaft 1222. The roller shaft seats 1221 and the roller shaft 1222 are connected by a rotational connection, which may be, but is not limited to, using bearings. The roller shaft seats 1221 are located on both sides of the sliding beam 121. The roller shaft seats 1221 and the sliding beam 121 can be connected by a separate fixed connection, such as a fastener connection, or by an integral structure, such as welding or integral casting. By designing this structural form, the installation, disassembly and maintenance of the roller shaft are more convenient.

[0055] Reference Figure 1 Combination Figure 2 and Figure 3 The linear drive component 13 is disposed on the frame 11 and is used to drive the sliding beam 121 to slide back and forth along the first extension direction, thereby driving the brush roller 122 to move back and forth along the first extension direction. When the cleaning actuator 1 is placed on the photovoltaic module 4, the brush roller 122 contacts the surface of the photovoltaic module 4, and the cleaning action can be achieved by the reciprocating motion of the brush roller 122.

[0056] Reference Figure 1 Combination Figure 2 and Figure 3 The aforementioned connecting component 14 is mainly used to connect the frame 11 to the robotic arm 3 mounted on the walking mechanism 2, and specifically, the connecting component 14 can be connected to the frame 11 through the first elastic buffer mechanism 15. During the specific cleaning operation, the walking mechanism 2 moves the cleaning actuator 1 to the corresponding side of the working row of the photovoltaic module 4, then the robotic arm 3 adjusts the working position of the cleaning actuator 1 and places it onto the photovoltaic module 4 to perform the cleaning operation. Specifically, the robotic arm 3 can be a multi-joint multi-link mechanism, and the starting end of the robotic arm 3 can be rotatably mounted on the walking mechanism 2. Rotation of the starting end of the robotic arm 3 can adjust the swing angle of the cleaning actuator 1. The multi-joint multi-link mechanism of the robotic arm 3 can achieve spatial posture adjustment of the cleaning actuator 1 through bending, ultimately making the frame 11 of the cleaning actuator 1 relatively matched with the photovoltaic module 4.

[0057] In practical application, the cleaning actuator 1 is placed on the photovoltaic module 4 by the walking mechanism 2 and the robotic arm 3. At this time, the bottom of the frame 11 is opposite to the surface of the photovoltaic module 4, and the brush roller 122 is in contact with the surface of the photovoltaic module 4. Then, the linear drive component 13 drives the sliding beam 121 to slide back and forth along the first extension direction, which drives the brush roller 122 below the sliding beam 121 to clean the surface of the photovoltaic module 4. When encountering a dirty area, the sliding beam 121 can be controlled to perform multiple reciprocating movements, thereby realizing multiple cleaning actions and effectively avoiding the problem of incomplete cleaning. In addition, since the connecting component 14 used to connect with the robotic arm 3 on the walking mechanism 2 is connected to the frame 11 through the first elastic buffer mechanism 15, when the cleaning actuator 1 is placed on the photovoltaic module 4, it can avoid rigid contact between the cleaning actuator 1 and the photovoltaic module 4. Under the action of the first elastic buffer mechanism 15, the contact force between the cleaning actuator 1 and the photovoltaic module 4 becomes a flexible contact force, thereby effectively preventing the cleaning actuator 1 from damaging the photovoltaic module 4.

[0058] It should be noted that the first elastic buffer mechanism 15 mentioned above can be designed as an elastic device (such as a spring, a deformable flexible rubber connector, etc.), an air suspension, or other elastic buffer structure, as long as it can achieve the function of elastic buffering. No further specific limitations are made here.

[0059] It should also be noted that the length of the brushes on the roller 1222 can be designed to be approximately the same as the width of the photovoltaic module 4, making it small and lightweight, and it can be set within the frame 11. Of course, for a larger cleaning area, a longer brush arrangement length can also be selected. In practical applications, those skilled in the art can optimize and determine the corresponding brush arrangement length based on existing experience, which will not be elaborated here. The brush arrangement length can be within the frame 11, or it can be the same as or longer than the width of a single photovoltaic module 4.

[0060] In some specific implementations, the number of sliding beams 121 provided on the upper frame 11 can be one or more (i.e., two or more). When there are multiple sliding beams 121, the multiple sliding beams 121 are arranged sequentially at intervals along the first extension direction, and at least one sliding beam 121 is provided with a brush roller 122. For example, some sliding beams 121 are provided with brush rollers 122, while some sliding beams 121 are not provided with brush rollers 122. This design allows brush rollers 122 to be installed on other sliding beams 121 if the connection position of one sliding beam 121 to the brush roller 122 fails. For another example, at least two sliding beams 121 are designed with brush rollers 122, so that the brush rollers 122 form a double row structure, which helps to improve the cleaning effect.

[0061] In a further embodiment, at least one sliding beam 121 is provided with a plurality of brush rollers 122, and the plurality of brush rollers 122 located on the same sliding beam 121 are arranged sequentially at intervals along the first extension direction. This design makes the movement of each brush roller 122 on the same sliding beam 121 more consistent, and the cleaning effect of a single sliding beam 121 moving once is also improved.

[0062] In other specific implementations, regardless of whether there is one or more sliding beams 121, the number of brush rollers 122 can be designed to be multiple and arranged sequentially at intervals along the first extension direction, wherein the brushes on adjacent brush rollers 122 are staggered. This design can more effectively increase the coverage area of ​​the brushes and improve the comprehensiveness of cleaning.

[0063] In some specific implementations, the roller brush assembly 12 may further include a brush roller driver 123 disposed on the sliding beam 121. The brush roller driver 123 is used to drive the brush roller 122 to rotate. By actively driving the brush roller 122 to rotate, the cleaning effect of the brush roller 122 is improved. Specifically, the roller brush driver 123 can be directly driven by a motor, or it can be driven by a motor through a transmission mechanism, such as a conveyor belt, conveyor chain, gear, or other reduction mechanism. In practical applications, the arrangement can be selected according to actual needs, and no further specific limitations are made here.

[0064] It should be noted that the aforementioned linear drive assembly 13 may specifically include a drive motor 131, a lead screw 132, and a slider 133. The lead screw 132 is rotatably mounted on the frame 11 and arranged along the first extension direction. The slider 133 is mounted on the sliding beam 121 and threadedly engaged with the lead screw 132. The drive motor 131 drives the lead screw 132 to rotate. In actual operation, the drive motor 131 drives the lead screw 132 to rotate, which in turn drives the slider 133 to move linearly along the first extension direction, thereby driving the sliding beam 121 to move linearly along the first extension direction. The threaded engagement between the slider 133 and the lead screw 132 can be designed as a ball screw engagement, which reduces frictional resistance. By designing the linear drive assembly 13 with the aforementioned threaded engagement between the lead screw 132 and the slider 133, the stroke control of the sliding beam 121 becomes more convenient and accurate. It is understood that designing the linear drive component 13 into the above-described structural form is merely an example of an embodiment of this application. In actual applications, it can also be designed into other structural forms of the linear drive component 13, such as a linear motor working in conjunction with a track to achieve linear drive, or a winch and drag mechanism arranged along the first extension direction to achieve the reciprocating motion of the sliding beam 121. The configuration can be selected according to actual needs, and no more specific limitations are made here.

[0065] In some other specific embodiments, the connecting component 14 is configured as a connecting flange. One side of the connecting flange is connected to the frame 11 via a first elastic buffer mechanism 15, and the other side of the connecting flange is connected to the end of the robotic arm 3 via fasteners. For example, the connecting flange is designed with connecting holes, and the end of the robotic arm 3 has a mating flange structure that matches the connecting holes. By designing it as a connecting flange structure, the connection between the connecting component 14 and the end of the robotic arm 3 becomes more convenient.

[0066] In some other specific implementation schemes, refer to Figure 2As shown, the number of the first elastic buffer mechanism 15 can be specifically designed to be at least two sets, and they are respectively arranged on two opposite sides of the frame 11 in the second extension direction. By designing it into this structural form, the elastic buffering capacity of the connecting component 14 relative to both sides of the frame 11 is relatively balanced, and consequently the force acting on the surface of the photovoltaic module 4 will also be relatively balanced, which can reduce the risk of damage to the photovoltaic module 4.

[0067] In some specific implementation plans, refer to Figures 1-3 As shown, the frame 11 can be specifically constructed as a rectangular frame, which may include two parallel and oppositely arranged first frame beams 111 and two parallel and oppositely arranged second frame beams 112. The first frame beams 111 are arranged along a first extension direction, and the second frame beams 112 are arranged along a second extension direction. A slide rail 113 is provided on the first frame beam 111, and the two ends of the sliding beam 121 are respectively slidably engaged with the slide rails 113 provided on the two first frame beams 111. By designing the frame 11 as a rectangular frame structure, the entire frame 11 is more convenient to match with the photovoltaic module 4. It is understood that designing the frame 11 as a rectangular frame structure is merely an example of an embodiment in this application; in actual applications, it can be designed into other shapes, without further specific limitations. It should also be noted that, to prevent the sliding beam 121 from detaching from the slide rail 113, a limiting structure can be designed at both ends of the corresponding slide rail 113.

[0068] In a further implementation scheme, to better prevent the cleaning actuator 1 from causing pressure or impact damage to the photovoltaic module 4 when it is placed on the photovoltaic module 4, a second elastic buffer mechanism can be provided below each of the two second frame beams 112 to ensure that the cleaning actuator 1 makes flexible contact with the photovoltaic module 4 when it is placed on the photovoltaic module 4. It should be noted that the second elastic buffer mechanism can be specifically designed as an elastic device (such as a spring, a deformable flexible rubber connector, etc.), an air suspension, or other elastic buffer structure, as long as it can achieve the function of elastic buffering, no further specific limitations are made here.

[0069] In a further embodiment, the end of the second elastic buffer mechanism may also be provided with a walking wheel, so that the end of the second elastic buffer mechanism comes into contact with the photovoltaic module 4 more smoothly.

[0070] On the other hand, this application also provides a photovoltaic cleaning device, including a walking mechanism 2, a robotic arm 3 mounted on the walking mechanism 2, and a cleaning actuator 1 mounted at the end of the robotic arm 3. The cleaning actuator 1 is the cleaning actuator 1 described in any of the above solutions. Since the aforementioned cleaning actuator 1 has the above-mentioned technical effects, the photovoltaic cleaning device with the cleaning actuator 1 should also have the corresponding technical effects, which will not be elaborated here.

[0071] In a further implementation, a third elastic buffer mechanism can be designed between the connecting component 14 of the cleaning actuator 1 and the end of the robotic arm 3. This third elastic buffer mechanism connects the connecting component 14 to the end of the robotic arm 3, making the connection between the end of the robotic arm 3 and the cleaning actuator 1 a flexible connection. This prevents damage to the photovoltaic module 4 caused by the robotic arm 3 accidentally moving the cleaning actuator 1. It should also be noted that this third elastic buffer mechanism can be specifically designed as an elastic device (such as a spring, a deformable flexible rubber connector, etc.), an air suspension, or other elastic buffer structure, as long as it can achieve the function of elastic buffering. No further specific limitations are made here.

[0072] It should also be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0073] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0074] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0075] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A cleaning actuator, characterized in that, include: The frame (11) has a first extension direction and a second extension direction that are perpendicular to each other, and both the first extension direction and the second extension direction are parallel to the side of the frame (11) that is opposite to the photovoltaic module (4); The roller brush assembly (12) includes a sliding beam (121) and a brush roller (122). The sliding beam (121) is disposed on the frame (11) in a sliding engagement manner along the first extension direction. The brush roller (122) is rotatably disposed below the sliding beam (121), and the roller shaft of the brush roller (122) is arranged along the second extension direction. A linear drive assembly (13) is disposed on the frame (11) and is used to drive the sliding beam (121) to reciprocate along the first extension direction; The connecting component (14) is connected to the frame (11) via the first elastic buffer mechanism (15) and is used to connect to the robotic arm (3) mounted on the walking mechanism (2).

2. The cleaning actuator as described in claim 1, characterized in that, The number of sliding beams (121) is at least one; wherein, when the number of sliding beams (121) is multiple, the multiple sliding beams (121) are arranged sequentially at intervals along the first extension direction, and at least one of the sliding beams (121) is provided with the brush roller (122).

3. The cleaning actuator as described in claim 2, characterized in that, At least one of the sliding beams (121) is provided with a plurality of brush rollers (122), and the plurality of brush rollers (122) located on the same sliding beam (121) are arranged sequentially at intervals along the first extension direction.

4. The cleaning actuator as described in claim 1, characterized in that, The number of brush rollers (122) is multiple and they are arranged sequentially at intervals along the first extension direction, wherein the brushes on two adjacent brush rollers (122) are staggered.

5. The cleaning actuator as described in claim 1, characterized in that, The roller brush assembly (12) further includes a brush roller driver (123) disposed on the sliding beam (121), the brush roller driver (123) being used to drive the brush roller (122) to rotate.

6. The cleaning actuator as described in claim 1, characterized in that, The linear drive assembly (13) includes a drive motor (131), a lead screw (132), and a slider (133). The lead screw (132) is rotatably disposed on the frame (11) and arranged along the first extension direction. The slider (133) is disposed on the sliding beam (121) and threadedly engaged with the lead screw (132). The drive motor (131) is used to drive the lead screw (132) to rotate.

7. The cleaning actuator as described in claim 1, characterized in that, The connecting component (14) is configured as a connecting flange, one side of which is connected to the frame (11) via the first elastic buffer mechanism (15), and the other side of which is connected to the end of the robotic arm (3) via fasteners.

8. The cleaning actuator as described in claim 1, characterized in that, The number of the first elastic buffer mechanism (15) is at least two sets, and they are respectively arranged on two opposite sides of the frame (11) in the second extension direction.

9. The cleaning actuator as described in any one of claims 1-8, characterized in that, The frame (11) is constructed as a rectangular frame, which includes two parallel and oppositely arranged first frame beams (111) and two parallel and oppositely arranged second frame beams (112), the first frame beams (111) being arranged along the first extension direction and the second frame beams (112) being arranged along the second extension direction; The first frame beam (111) is provided with a slide rail (113), and the two ends of the sliding beam (121) are respectively slidably engaged with the slide rails (113) provided on the two first frame beams (111).

10. The cleaning actuator as described in claim 9, characterized in that, A second elastic buffer mechanism is provided below each of the two second frame beams (112) so that the cleaning actuator (1) can make flexible contact with the photovoltaic module (4) when it is placed on the photovoltaic module (4).

11. The cleaning actuator as claimed in claim 10, characterized in that, The second elastic buffer mechanism is equipped with a walking wheel at its end.

12. A photovoltaic cleaning device, comprising a walking mechanism (2), a robotic arm (3) disposed on the walking mechanism (2), and a cleaning execution mechanism (1) disposed at the end of the robotic arm (3), characterized in that, The cleaning actuator (1) is the cleaning actuator as described in any one of claims 1-11.

13. The photovoltaic cleaning equipment as described in claim 12, characterized in that, The connecting part (14) of the cleaning actuator (1) is connected to the end of the robotic arm (3) via a third elastic buffer mechanism.

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