Photovoltaic panel cleaning robot

Abstract

The photovoltaic panel cleaning robot comprises a bearing beam, the two ends of the bearing beam are provided with a walking mechanism and a driven limiting mechanism correspondingly, the walking mechanism comprises a driving part and walking wheels, and the driving part drives the walking wheels to rotate; the driven limiting mechanism, the walking mechanism and the bearing beam are combined to form a concave structure so as to be clamped into the two opposite sides of the photovoltaic panel. The sweeping mechanism comprises a rolling brush, the two ends of the rolling brush are rotationally arranged on the walking mechanism and the driven limiting mechanism, and the rolling brush is in transmission connection with the driving part. The photovoltaic panel cleaning robot is of a cantilever type structure with the active driving mechanism arranged on the single side, movement on the top face of the photovoltaic panel is achieved through the driving part and the walking wheels, the structure is simple, the weight is low, the driven limiting mechanism is matched with the walking mechanism, stable arrangement of the photovoltaic panel cleaning robot on the photovoltaic panel is achieved, and the photovoltaic panel cleaning robot is convenient to use. And the running stability of the cleaning robot is improved.

Description

TECHNICAL FIELD

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

[0002] For large photovoltaic power stations, the surface of the photovoltaic panel will be seriously covered with dust due to the harsh working environment, such as desert area, which will affect the power generation effect of the photovoltaic panel. At present, periodic operation is usually carried out on large-area photovoltaic panels by cleaning robots to maintain the power generation efficiency of the photovoltaic panel. However, the current cleaning robots are usually provided with transmission parts on both sides to drive the cleaning components to pass through and clean the surface of the photovoltaic panel in cooperation with the two opposite sides of the photovoltaic panel. The transmission parts on both sides not only increase the weight of the cleaning robot, which leads to the increase of the load of the photovoltaic panel, but also require high synchronization of the two transmission parts during the cleaning process. When the two transmission parts do not cooperate well, the self-locking and jamming problem is easy to occur. In addition, the structure of the transmission parts on both sides requires that a bridge structure be arranged at both ends of the photovoltaic panel when the cleaning robot passes through two photovoltaic panels arranged at intervals, which will increase the cost of infrastructure construction for large photovoltaic power stations.

[0003] Therefore, how to reduce the cleaning cost of the photovoltaic panel of the photovoltaic power station and improve the operation stability of the cleaning robot is a technical problem to be solved by those skilled in the art. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the purpose of the present application is to provide a photovoltaic panel cleaning robot to reduce the cleaning cost of the photovoltaic panel of the photovoltaic power station and improve the stability of the photovoltaic panel cleaning robot during operation.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] A photovoltaic panel cleaning robot comprises:

[0007] A bearing beam, both ends of the bearing beam are respectively provided with a walking mechanism and a driven limiting mechanism, the walking mechanism comprises a driving part and a walking wheel, the driving part drives the walking wheel to rotate, the driven limiting mechanism, the walking mechanism and the bearing beam are combined to form a recess structure to be clamped into the opposite sides of the photovoltaic panel;

[0008] A cleaning mechanism comprising a roller brush, both ends of the roller brush are rotatably arranged on the walking mechanism and the driven limiting mechanism and are in transmission connection with the driving part.

[0009] Preferably, in the above-mentioned photovoltaic panel cleaning robot, the walking mechanism further comprises a limiting wheel, the axis of the limiting wheel is perpendicular to the axis of the walking wheel, when the walking wheel contacts the top surface of the frame of the photovoltaic panel in the thickness direction, the limiting wheel abuts against one side frame of the photovoltaic panel.

[0010] Preferably, in the above-mentioned photovoltaic panel cleaning robot, at least two walking wheels are arranged at intervals, and the limiting wheels are arranged in a one-to-one correspondence with the walking wheels.

[0011] Preferably, in the above-mentioned photovoltaic panel cleaning robot, the walking mechanism includes an anti-detachment hook, the protruding part of the anti-detachment hook is spaced apart from the walking wheel, and when the walking wheel contacts the top surface of the photovoltaic panel frame in the thickness direction, the protruding part of the anti-detachment hook faces the bottom surface of the photovoltaic panel in the thickness direction and is spaced apart from the bottom surface of the photovoltaic panel in the thickness direction.

[0012] Preferably, in the above-mentioned photovoltaic panel cleaning robot, the driven limiting mechanism includes a support member and a limiting part. The support member and the limiting part are fixedly disposed on the bearing beam. The support member supports one end of the roller brush and rotates with one end of the roller brush. The projection of the limiting part on the edge of the photovoltaic panel covers the edge of the photovoltaic panel, and the distance between the walking mechanism and the limiting part is greater than the length of the photovoltaic panel that they cross.

[0013] Preferably, in the above-mentioned photovoltaic panel cleaning robot, the limiting part is a plurality of rollers and / or limiting blocks.

[0014] Preferably, the photovoltaic panel cleaning robot further includes a support mechanism disposed between the walking mechanism and the driven limiting mechanism. The support mechanism includes a connector and an intermediate wheel rotatably disposed on the connector. The connector is mounted on the bearing beam, and the intermediate wheel is used to contact the top surface of the photovoltaic panel in its thickness direction.

[0015] Preferably, in the above-mentioned photovoltaic panel cleaning robot, the support mechanism is disposed on one or both sides of the bearing beam, and at least one set of the support mechanism is disposed along the length direction of the bearing beam.

[0016] Preferably, in the above-mentioned photovoltaic panel cleaning robot, a number of sets of assembly holes are provided at intervals along the length direction on one side of the supporting beam, and each set of assembly holes includes at least two mounting holes arranged at intervals along the thickness direction of the supporting beam; the mounting holes are waist-shaped holes, and the connector has a mating hole, and the connector is fixed by mating with the mounting hole through the mating hole.

[0017] Preferably, in the above-mentioned photovoltaic panel cleaning robot, the supporting beam is provided with an induction switch and a windproof mechanism. The induction switch is communicatively connected to the drive unit to provide feedback on the change of the drive unit's operating state when the guide mark is identified. The windproof mechanism is used to connect with the base at the stop position to lock the photovoltaic panel cleaning robot.

[0018] As can be seen from the above technical solution, the photovoltaic panel cleaning robot provided in this disclosure has a walking mechanism and a driven limiting mechanism respectively set at opposite ends of the supporting beam. Among them, only the walking mechanism is equipped with a drive unit to reduce the structural complexity of the photovoltaic panel cleaning robot. Specifically, the walking mechanism is equipped with a drive unit and walking wheels. The walking wheels are used to contact the top surface of the photovoltaic panel frame in the thickness direction, and the drive unit is used to drive the walking wheels to rotate, thereby realizing the operation on the photovoltaic panel. The walking mechanism drives the driven limiting mechanism to move synchronously through the supporting beam. The driven limiting mechanism, the walking mechanism, and the supporting beam form a concave structure to lock into opposite sides of the photovoltaic panel, thereby preventing the photovoltaic panel cleaning robot from falling off the photovoltaic panel during the operation of the walking mechanism and improving the operational stability of the photovoltaic panel cleaning robot. Unlike existing technologies, the above structure reduces the overall weight and structural complexity of the photovoltaic panel cleaning robot by setting the drive unit on one side. The single-sided drive allows the load-bearing beam and the driven limiting mechanism to form a cantilever structure relative to the walking mechanism. When the photovoltaic panel cleaning robot needs to pass through the gap between two photovoltaic panels, a bridge needs to be set on the movement path of the walking mechanism to meet the passage requirements of the photovoltaic panel cleaning robot. For large-area photovoltaic power stations, this reduces the cost of setting up the bridge and the cost of cleaning the photovoltaic panels. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is a schematic diagram of the structure of the photovoltaic panel cleaning robot provided in this disclosure;

[0021] Figure 2 This is a schematic diagram of the walking mechanism;

[0022] Figure 3 This is a schematic diagram of the driven limit mechanism;

[0023] Figure 4 This shows the cleaning status of the photovoltaic panel cleaning robot on the photovoltaic panel;

[0024] Figure 5 A schematic diagram of a driven limit mechanism in which the limiting part is a single roller;

[0025] Figure 6 This is a structural schematic diagram of the support component in the driven limit mechanism;

[0026] Figure 7A schematic diagram of a driven limit mechanism in which the limiting part consists of two rollers;

[0027] Figure 8 A schematic diagram of a driven limit mechanism in which the limiting part is a single limit block;

[0028] Figure 9 This is a structural diagram of the supporting mechanism;

[0029] Figure 10 A side view of the supporting mechanism;

[0030] Figure 11 A front view of the supporting structure;

[0031] Figure 12 This is a schematic diagram of the assembly structure of the support mechanism and the load-bearing beam.

[0032] in:

[0033] 10 - Load-bearing beam; 110 - Assembly hole system; 120 - Mounting hole;

[0034] 20-Walking mechanism; 210-Drive unit; 220-Walking wheel; 230-Limit wheel; 240-Anti-detachment hook; 250-Connecting block;

[0035] 30 - Driven limiting mechanism; 310 - Support component; 320 - Limiting part; 3210 - Roller; 3220 - Limiting block;

[0036] 40 - Cleaning mechanism; 410 - Roller brush;

[0037] 50 - Support mechanism; 510 - Connector; 5110 - Docking hole; 520 - Intermediate wheel;

[0038] 60 - Induction switch; 70 - Windproof mechanism; 80 - Photovoltaic panel. Detailed Implementation

[0039] The core of this application is to disclose a photovoltaic panel cleaning robot to reduce the cleaning cost of photovoltaic panels in photovoltaic power plants and improve the stability of the operation of the photovoltaic panel cleaning robot.

[0040] To enable those skilled in the art to better understand the present application, embodiments of the present application will be described below with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the utility model described in the claims. Additionally, the complete content of the structures represented in the following embodiments is not limited to those necessary for the solution of the utility model described in the claims.

[0041] like Figure 1As shown, this disclosure provides a photovoltaic panel cleaning robot, which mainly includes a load-bearing beam 10, a walking mechanism 20, a driven limiting mechanism 30, and a cleaning mechanism 40. The load-bearing beam 10 is the main frame of the entire robot, which supports and connects various components. Under conditions where weight requirements are high, it can be made of high-strength aluminum alloy material to balance structural strength and lightweight requirements.

[0042] like Figure 1 As shown, the supporting beam 10 is provided with a walking mechanism 20 and a driven limiting mechanism 30 at both ends in its length direction. The walking mechanism 20 is a structure used to drive the photovoltaic panel cleaning robot to run on the photovoltaic panel 80. It should be noted that in some embodiments of this disclosure, the walking mechanism 20 is fixed to the supporting beam 10 by a connecting block 250. The connecting block 250 is a triangular structure with two mutually perpendicular structural surfaces that are respectively attached to the walking mechanism 20 and the supporting beam 10. Holes are opened on the two surfaces and the walking mechanism 20 and the supporting beam 10 are fixed by connecting parts 510 such as screws or bolts.

[0043] Specifically, such as Figure 2 As shown, the walking mechanism 20 includes a drive unit 210 and walking wheels 220. The walking wheels 220 are used to directly contact the top surface of the frame of the photovoltaic panel 80 in the thickness direction. They can be made of highly wear-resistant rubber material to reduce the risk of scratching the frame structure of the photovoltaic panel 80 while having good grip and anti-slip performance, thus ensuring that the robot moves smoothly on the photovoltaic panel 80. The drive unit 210 can be a DC motor to provide power for the rotation of the walking wheels 220. The high speed of the motor is converted into the low speed and high torque output of the walking wheels 220 through a reduction mechanism, thereby achieving a stable walking function.

[0044] Based on the above structure, such as Figure 3 and Figure 6 As shown, the driven limiting mechanism 30 receives the transmission effect of the walking mechanism 20 through the supporting beam 10, enabling it to move synchronously along the photovoltaic panel 80 following the walking mechanism 20. It should be noted that the driven limiting mechanism 30 and the supporting beam 10 form a cantilever structure based on the walking mechanism 20. The power input of the entire structure is achieved solely through the walking mechanism 20. Compared to existing technologies, this structure, which sets power components at both ends of the cleaning robot, not only reduces the structural complexity and weight cost of the cleaning robot, but also, when the cleaning robot provided in this disclosure needs to pass through the gap between two photovoltaic panels 80, only a bridge is needed to provide a path for the walking mechanism 20. The driven limiting mechanism 30 can pass synchronously through the gap between the two photovoltaic panels 80 in a cantilever form, thereby reducing the cost of setting up the bridge and the cleaning cost of the photovoltaic panels 80.

[0045] It should also be noted that the driven limiting mechanism 30, together with the walking mechanism 20 and the supporting beam 10, forms a recessed structure, preferably a U-shaped structure, which is inverted and set on the photovoltaic panel 80. This structure can be locked into the opposite sides of the photovoltaic panel 80. While the walking mechanism 20 is in close contact with the photovoltaic panel 80 and moves relative to it, the driven limiting mechanism 30 provides safety for the cleaning robot. When the cleaning robot moves sideways or deviates during the cleaning process, the driven limiting mechanism 30 can contact one side of the frame structure of the photovoltaic panel 80, effectively limiting the cleaning robot's operation perpendicular to the photovoltaic panel 80, reducing the risk of the cleaning robot falling off the photovoltaic panel 80, and ensuring the stability and reliability of the cleaning operation.

[0046] It should also be noted that for the photovoltaic panel 80 structure in a horizontal position, the traveling mechanism 20 and the driven limiting mechanism 30 can be freely set at opposite ends of the photovoltaic panel 80, and if... Figure 4 As shown, for the photovoltaic panel 80 structure in an inclined state, the walking mechanism 20 is higher in the vertical direction than the driven limiting mechanism 30 to ensure that the walking mechanism 20 can maintain close contact with the photovoltaic panel 80 under the action of gravity, so as not to cause the photovoltaic panel cleaning robot to fall off the photovoltaic panel 80, while ensuring that the walking wheel 220 can run smoothly.

[0047] In addition, the cleaning mechanism 40 includes a roller brush 410. The two ends of the roller brush 410 are rotatably mounted on the walking mechanism 20 and the driven limiting mechanism 30, respectively, and are connected to the drive unit 210 for transmission, so that it can rotate around its axis under the action of the drive unit 210. When the walking wheel 220 contacts the top surface of the frame of the photovoltaic panel 80 in the thickness direction and moves along the surface of the photovoltaic panel 80 under the action of the drive unit 210, the roller brush 410 is pressed against the light-receiving surface of the photovoltaic panel 80 with a certain clamping force, and rotates under the action of the drive unit 210 to achieve cleaning of the surface of the photovoltaic panel 80. It should be noted that, for the walking wheel 220 and roller brush 410 in this embodiment, the drive unit 210 can be equipped with two drive units, which are respectively connected to the walking wheel 220 and roller brush 410. The two drive units can be started and stopped independently to achieve independent adjustment of the walking wheel 220 and roller brush 410. The photovoltaic panel cleaning robot then has the operating condition of independent movement of the walking wheel 220 and independent rotation of the roller brush 410. In some other embodiments, the drive unit 210 can also be equipped with only one drive unit, which is simultaneously connected to both the walking wheel 220 and roller brush 410. When this drive unit is activated, the walking wheel 220 and roller brush 410 operate synchronously, meaning the photovoltaic panel cleaning robot has a synchronous operating state of walking wheel 220 and roller brush 410. It should be further noted that the roller brush 410 can be made of high-density nylon bristles to have good flexibility and wear resistance, effectively removing dust, bird droppings, fallen leaves, and other debris from the surface of the photovoltaic panel 80 during the cleaning robot's operation.

[0048] Furthermore, to improve the stability of the photovoltaic panel cleaning robot during operation, the walking mechanism 20 of the photovoltaic panel cleaning robot provided in this embodiment is also equipped with a limiting wheel 230 to abut against the end of the photovoltaic panel 80. It should be noted that the axis of the limiting wheel 230 is perpendicular to the axis of the walking wheel 220, so that when the walking wheel 220 contacts the top surface of the frame of the photovoltaic panel 80 in the thickness direction, the limiting wheel 230 can contact the end frame structure of the photovoltaic panel 80 perpendicular to its light-receiving surface, forming a lateral constraint mechanism. This enhances the stability of the robot on the photovoltaic panel 80 and prevents the robot from sliding or deviating laterally due to external forces or its own inertia during cleaning. At the same time, the limiting wheel 230 can always adhere to the frame structure of the photovoltaic panel 80 under the action of gravity. Combined with its own rolling action, it can also serve as the walking structure of the photovoltaic panel cleaning robot, and synchronously achieve rolling motion based on the photovoltaic panel 80 with the walking wheel 220.

[0049] It should also be noted that, considering the protective function of the photovoltaic panel 80, in some embodiments of this disclosure, the limiting wheel 230 is made of a highly elastic material, which can provide a certain buffering effect when in contact with the frame of the photovoltaic panel 80, avoiding damage to the frame of the photovoltaic panel 80 due to hard impact. Furthermore, to improve the adaptability of the photovoltaic panel cleaning robot to photovoltaic panels 80 of different sizes and shapes in the embodiments of this disclosure, the axial length of the limiting wheel 230 is greater than the frame of the photovoltaic panel 80, to ensure the limiting function and adapt to the structure of photovoltaic panels 80 of different sizes.

[0050] To further optimize the above technical solution, in the photovoltaic panel cleaning robot provided in this embodiment, at least two walking wheels 220 are arranged at intervals. This increases the contact area between the walking mechanism 20 and the photovoltaic panel 80 and increases the number of contact points, thereby improving the stability of the walking mechanism 20 during operation on the surface of the photovoltaic panel 80. Furthermore, through the dispersing effect of multiple walking wheels 220, the force exerted by the photovoltaic panel cleaning robot on the photovoltaic panel 80 can be evenly distributed to the positions of each walking wheel 220, thereby reducing the pressure on the surface of the photovoltaic panel 80 and protecting the photovoltaic panel 80.

[0051] Meanwhile, the limiting wheels 230 are set one-to-one with the traveling wheels 220. It should be noted that the one-to-one correspondence here specifically means that the number of limiting wheels 230 and traveling wheels 220 is the same, and each traveling wheel 220 has a limiting wheel 230 with a structure perpendicular to its axis. Furthermore, a single set of corresponding limiting wheels 230 and traveling wheels 220 are located on the same plane structure, so that the traveling function of the traveling wheel 220 and the limiting function of the limiting wheel 230 correspond to each other, further reducing the risk of deviation of the photovoltaic panel cleaning robot.

[0052] Considering that stable contact between the walking mechanism 20 and the photovoltaic panel 80 is fundamental to the cleaning function of the photovoltaic panel cleaning robot, in order to further improve the contact stability between the walking mechanism 20 and the photovoltaic panel 80, in some embodiments of this disclosure, an anti-detachment hook 240 is provided in the walking mechanism 20 to cooperate with the walking wheel 220 to achieve a stable connection with the photovoltaic panel 80. Specifically, the anti-detachment hook 240 is L-shaped and includes a protruding structure, and the protruding part of the anti-detachment hook 240 is spaced apart from the walking wheel 220. When the walking wheel 220 contacts the top surface of the frame of the photovoltaic panel 80 in the thickness direction, the protruding part of the anti-detachment hook 240 faces the bottom surface of the photovoltaic panel 80 in the thickness direction and is spaced apart from the bottom surface of the photovoltaic panel 80 in the thickness direction. During normal operation of the photovoltaic panel cleaning robot, the extended part of the anti-detachment hook 240 will not contact the bottom surface of the photovoltaic panel 80 in its thickness direction, thus not affecting the smooth operation of the photovoltaic panel cleaning robot. However, when the cleaning robot is affected by strong winds or abnormal driving, and there is a risk of slipping or even falling off the photovoltaic panel 80, the anti-detachment hook 240 can form a safety structure. That is, the anti-detachment hook 240 can contact the bottom surface of the photovoltaic panel 80 in its thickness direction in time, thereby playing a blocking and limiting role, preventing the cleaning robot from completely detaching from the photovoltaic panel 80 and avoiding serious economic losses.

[0053] Furthermore, the distance between the anti-detachment hook 240 and the bottom surface of the photovoltaic panel 80 in its thickness direction is determined according to the operating conditions. This ensures that the anti-detachment hook 240 can function effectively when needed, without interfering with the movement of the cleaning robot during normal cleaning. Specifically, when the cleaning robot is moving normally, the anti-detachment hook 240 will not contact the bottom surface of the photovoltaic panel 80 in its thickness direction, thus avoiding any impact on the robot's movement efficiency due to additional friction. Only when the cleaning robot experiences abnormal slippage will the anti-detachment hook 240 contact the bottom surface in its thickness direction to provide protection.

[0054] Furthermore, the driven limiting mechanism 30 in the photovoltaic panel cleaning robot provided in this embodiment specifically includes a support member 310 and a limiting part 320. Both the support member 310 and the limiting part 320 are fixed on the supporting beam 10. The support member 310 is used for assembling the roller brush 410, so that the roller brush 410 has two connection points at both ends of its length direction with the support member 310 and the walking mechanism 20, thus avoiding the problem of the roller brush 410 falling due to the cantilever structure with a single point connection. The limiting part 320 is fixed on the supporting beam 10 to cooperate with the walking mechanism 20 to protect the entire photovoltaic panel cleaning robot from falling. It should be noted that the support member 310 and the limiting part 320 can be an integral structure, fixed on the supporting beam 10 in a modular structure, which improves the ease of assembly and avoids assembly errors between the two; at the same time, the support member 310 and the limiting part 320 can also be separate structures, which are independently assembled on the supporting beam 10, so that both have lower maintenance and replacement costs. It should also be noted that the limiting part 320 is used to protect the photovoltaic panel cleaning robot. After being fixedly installed on the supporting beam 10, its projection at the edge of the photovoltaic panel 80 needs to cover the edge of the photovoltaic panel 80 so that the limiting part 320 has sufficient extension length to promptly abut against the edge of the photovoltaic panel 80 when the photovoltaic panel cleaning robot tilts, preventing the photovoltaic panel cleaning robot from falling off the photovoltaic panel 80. In a specific embodiment of this disclosure, the limiting part 320 is located on the side of the support member 310 facing away from the roller brush 410 to improve the structural compactness of the photovoltaic panel cleaning robot. It should also be noted that the distance between the walking mechanism 20 and the limiting part 320 is greater than the length of the photovoltaic panel 80 that they span. This design ensures that during the operation of the photovoltaic panel cleaning robot, when the walking mechanism 20 is in close contact with the photovoltaic panel 80 and relative movement occurs, the limiting part 320 will not contact the frame of the photovoltaic panel 80, nor will it generate friction that would affect the smooth operation of the photovoltaic panel cleaning robot. Consequently, when the photovoltaic panel cleaning robot crosses the gap between two photovoltaic panels 80, there is no need to set up a passage bridge for the driven limiting mechanism 30, reducing cleaning costs. Only in the event of unexpected situations such as deflection of the photovoltaic panel cleaning robot will the limiting part 320 contact the frame of the photovoltaic panel 80 to keep the photovoltaic panel cleaning robot stably positioned on the photovoltaic panel 80 and maintain the operating state of the preset route, thereby improving the operational stability of the photovoltaic panel cleaning robot.

[0055] Furthermore, to improve the operational stability and service life of the cleaning robot, based on the above embodiments, such as... Figure 5 and Figure 7As shown, the limiting part 320 can be a roller 3210 structure. When the limiting part 320 adopts a roller 3210, the roller 3210 can roll on the side of the photovoltaic panel 80, thereby limiting the robot while reducing the friction between the robot and the frame of the photovoltaic panel 80. The rolling contact method not only reduces wear on the frame of the photovoltaic panel 80, but also makes the robot move more smoothly and improves cleaning efficiency. It should also be noted that one or more limiting parts 320 with roller 3210 structure can be provided to cooperate in limiting the robot.

[0056] Similarly, as Figure 8 As shown, the limiting part 320 can also adopt a limiting block 3220 structure, which achieves the limiting function through rigid contact with the frame of the photovoltaic panel 80. The shape and size of the limiting block 3220 can be designed according to the specific situation of the frame of the photovoltaic panel 80 to ensure that it can firmly lock the cleaning robot and prevent it from moving laterally. When the cleaning robot needs to perform emergency stops or other special operations, the limiting block 3220 can provide additional support and limiting to ensure that the robot does not slide or deviate laterally. It should also be noted that one or more limiting parts 320 of the limiting block 3220 structure can be provided to cooperate in limiting.

[0057] Furthermore, it should be noted that the limiting part 320 can also adopt a combination of roller 3210 and limiting block 3220. By leveraging the complementary advantages of both, the stability and reliability of the limiting can be further improved. For example, when the robot is moving normally, roller 3210 plays the main guiding and limiting role; while when the robot needs to perform emergency stops or other special operations, limiting block 3220 can provide additional support and limiting, ensuring that the robot does not slide laterally or deviate, thereby further improving the stability and reliability of the robot in complex environments.

[0058] Considering the risk of collapse in the middle area of ​​the supporting beam 10 for photovoltaic panel cleaning robots with large spans, the photovoltaic panel cleaning robot provided in this embodiment also includes a support mechanism 50 disposed between the walking mechanism 20 and the driven limiting mechanism 30. Specifically, as shown in the example... Figure 8 and Figure 9 As shown, the support mechanism 50 includes a connector 510 and an intermediate wheel 520 rotatably mounted on the connector 510, wherein, as Figure 10 and Figure 11As shown, the connector 510 is used for assembly and fixation with the supporting beam 10, while the intermediate wheel 520 is used to contact the top surface of the photovoltaic panel 80 in its thickness direction to further improve the robot's support stability and cleaning effect on the photovoltaic panel 80. Specifically, in the actual cleaning process, the cleaning robot needs to move smoothly on the surface of the photovoltaic panel 80 while bearing the effects of its own weight, cleaning reaction force, and external environmental forces. The intermediate wheel 520 provides an additional intermediate fulcrum for the cleaning robot on the photovoltaic panel 80, thereby reducing the burden on the walking wheel 220 and the driven limiting mechanism 30. It not only improves the stability of the robot during movement but also effectively reduces the pressure on the top surface of the photovoltaic panel 80 in its thickness direction, avoiding damage to the surface of the photovoltaic panel 80 due to excessive pressure.

[0059] To further optimize the above technical solution, the support mechanism 50 can be set on one side of the bearing beam 10 or on both sides of the bearing beam 10 to expand the width span of the photovoltaic panel cleaning robot. At the same time, one or more sets of support mechanisms 50 can be set along the length of the bearing beam 10, which can be selected according to the length of the bearing beam 10. For the bearing beam 10 with a large span, the number of support mechanisms 50 can be appropriately increased to reduce the risk of falling in the upper part of the bearing beam 10.

[0060] In order to enable the support mechanism 50 to have an adjustable function, in some embodiments of this disclosure, such as Figure 1 and Figure 12As shown, at least a number of sets of assembly holes 110 are provided at intervals along the length of one side of the supporting beam 10. Each set of assembly holes 110 can realize the assembly of the support mechanism 50, so that the support mechanism 50 can be installed in the length of the supporting beam 10 and the number of installations can be selected. At the same time, based on the position adjustment of the support mechanism 50 along the length of the supporting beam 10, each set of assembly holes 110 is provided with at least two mounting holes 120 arranged at intervals along the thickness of the supporting beam 10. Specifically, the mounting holes 120 adopt an oblong hole design so that the connector 510 can be adjusted within the range of the oblong hole. Correspondingly, the connector 510 is provided with a mating hole 5110 to mate with and fix it to the mounting hole 120. It should be noted that the number of assembly hole system 110 and the number of mounting holes 120 in a single assembly hole system 110 in the above embodiment can be adaptively adjusted according to the size of the bearing beam 10 to meet the adjustment requirements of the support mechanism (50). At the same time, for the connector 510, two rows of docking holes 5110 can be opened, so that the connector 510 can be docked and fixed with the mounting holes 120 through one or two rows of docking holes 5110. By docking with different numbers and different positions of mounting holes 120, the support mechanism 50 can adjust its position in the direction perpendicular to the photovoltaic panel 80 to change the contact effect between the intermediate wheel 520 and the photovoltaic panel 80. This allows the photovoltaic panel cleaning robot to adaptively adjust the auxiliary support effect of the intermediate wheel 520 according to the size and installation method of the photovoltaic panel 80, further improving the versatility of the photovoltaic panel cleaning robot.

[0061] It should be noted that a slide rail can also be provided on the bearing beam 10 along its length to replace the waist-shaped hole structure. The connector 510 is slidably set on the slide rail for position adjustment and locked when the preset position is reached to maintain a stable state. Similarly, the position adjustment of the connector 510 in the thickness direction of the bearing beam 10 can also be achieved by using a slide rail structure to improve the convenience of the adjustment process.

[0062] Furthermore, in some embodiments of this disclosure, the photovoltaic panel cleaning robot also includes a sensor switch 60 and a windproof mechanism 70 to provide the robot with richer auxiliary functions. Specifically, the sensor switch 60 is communicatively connected to the drive unit 210 to adjust the movement of the drive unit 210. The sensor switch 60 uses a high-precision sensor to accurately identify guide markers set on the photovoltaic panel 80. These markers can be magnetic strips, optical marks, or obstacle plate structures. When the cleaning robot approaches the guide markers during cleaning, the sensor switch 60 sends a signal back to the drive unit 210. The drive unit 210 adjusts the robot's running speed and direction or stops running according to a preset program, thereby improving the intelligence level of the photovoltaic panel cleaning robot. The windproof mechanism 70 is used to connect to the base at the stopping position, realizing the locking function of the cleaning robot when it stops. When there is significant wind or other external force, the windproof mechanism 70, through its mechanical connection with the base, can securely lock the cleaning robot in its parking position, preventing it from moving or tipping over due to external forces. This not only protects the cleaning robot itself but also avoids potential safety risks to surrounding equipment or personnel.

[0063] The terms "first," "second," "left side," and "right side," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units may not be defined in the listed steps or units, but may include steps or units not listed.

[0064] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic panel cleaning robot, characterized in that, include: A supporting beam (10) is provided at both ends of which a walking mechanism (20) and a driven limiting mechanism (30) are respectively provided. The walking mechanism (20) includes a driving part (210) and a walking wheel (220). The driving part (210) drives the walking wheel (220) to rotate. The driven limiting mechanism (30), the walking mechanism (20) and the supporting beam (10) are combined to form a recessed structure to be inserted into the opposite sides of the photovoltaic panel (80). The cleaning mechanism (40) includes a roller brush (410), the two ends of which are rotatably mounted on the walking mechanism (20) and the driven limiting mechanism (30) and are connected to the driving unit (210) in a transmission manner.

2. The photovoltaic panel cleaning robot as described in claim 1, characterized in that, The walking mechanism (20) also includes a limiting wheel (230), the axis of which is perpendicular to the axis of the walking wheel (220). The walking wheel (220) contacts the top surface of the frame of the photovoltaic panel (80) in the thickness direction, and the limiting wheel (230) abuts against one side frame of the photovoltaic panel (80).

3. The photovoltaic panel cleaning robot as described in claim 2, characterized in that, At least two of the walking wheels (220) are spaced apart, and the limiting wheels (230) are arranged in a one-to-one correspondence with the walking wheels (220).

4. The photovoltaic panel cleaning robot as described in claim 1, characterized in that, The walking mechanism (20) includes an anti-detachment hook (240). The extended portion of the anti-detachment hook (240) is spaced apart from the walking wheel (220). When the walking wheel (220) contacts the top surface of the frame of the photovoltaic panel (80) in the thickness direction, the extended portion of the anti-detachment hook (240) faces the bottom surface of the photovoltaic panel (80) in the thickness direction and is spaced apart from the bottom surface of the photovoltaic panel (80) in the thickness direction.

5. The photovoltaic panel cleaning robot as described in claim 1, characterized in that, The driven limiting mechanism (30) includes a support member (310) and a limiting part (320). The support member (310) and the limiting part (320) are fixedly mounted on the bearing beam (10). The support member (310) supports one end of the roller brush (410) and rotates with one end of the roller brush (410). The projection of the limiting part (320) on the frame of the photovoltaic panel (80) covers the frame of the photovoltaic panel (80), and the distance between the walking mechanism (20) and the limiting part (320) is greater than the length of the photovoltaic panel (80) that they cross.

6. The photovoltaic panel cleaning robot as described in claim 5, characterized in that, The limiting part (320) comprises a plurality of rollers (3210) and / or limiting blocks (3220).

7. The photovoltaic panel cleaning robot as described in claim 1, characterized in that, It also includes a support mechanism (50) disposed between the walking mechanism (20) and the driven limiting mechanism (30). The support mechanism (50) includes a connector (510) and an intermediate wheel (520) rotatably disposed on the connector (510). The connector (510) is mounted on the bearing beam (10). The intermediate wheel (520) is used to contact the top surface of the photovoltaic panel (80) in its thickness direction.

8. The photovoltaic panel cleaning robot as described in claim 7, characterized in that, The support mechanism (50) is disposed on one or both sides of the bearing beam (10), and at least one set of the support mechanism (50) is disposed in the length direction of the bearing beam (10).

9. The photovoltaic panel cleaning robot as described in claim 7, characterized in that, The supporting beam (10) has several sets of assembly hole systems (110) spaced apart along its length on one side. Each set of assembly hole systems (110) includes at least two mounting holes (120) spaced apart along the thickness direction of the supporting beam (10). The mounting holes (120) are waist-shaped holes. The connector (510) has a butt hole (5110) and the connector is fixed by butt hole (5110) with the mounting hole (120).

10. The photovoltaic panel cleaning robot as described in claim 1, characterized in that, The load-bearing beam (10) is provided with an induction switch (60) and a windproof mechanism (70). The induction switch (60) is communicatively connected to the drive unit (210) to provide feedback to the drive unit (210) to change its operating state when the guide mark is identified. The windproof mechanism (70) is used to connect with the base at the stop position to lock the photovoltaic panel cleaning robot.

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