Modularized photovoltaic cleaning crawler

Abstract

The utility model relates to the technical field of photovoltaic equipment cleaning, solves the problem that the cleaning efficiency is affected on photovoltaic panels with different sizes due to the fact that components of a photovoltaic cleaning robot are inconvenient to disassemble and replace, and particularly discloses a modularized photovoltaic cleaning crawler which comprises a machine body, a brush head mechanism and a water supply mechanism. The brush head mechanism is connected to two opposite sides of the machine body; the water supply mechanism is connected between the machine body and the brush head mechanism; the machine body comprises a frame, a power source module and crawler belt assemblies, the power source module is arranged in the frame, and the crawler belt assemblies are connected to the two sides of the frame; a T-shaped support is arranged on the brush head mechanism, a connecting pin groove is formed in the T-shaped support, a main pin matched with the connecting pin groove is arranged on the frame, and a fixing pin is further connected between the T-shaped support and the frame. The automatic walking cleaning device is used for automatic walking cleaning of the photovoltaic panel, is provided with a rolling brush connecting structure with the brush head convenient to replace, and can flexibly adapt to high-efficiency cleaning of photovoltaic panels of different sizes.

Description

Technical Field

[0001] This utility model relates to the field of packaging anti-counterfeiting technology, and in particular to a modular photovoltaic cleaning tracked vehicle. Background Technology

[0002] Cleaning photovoltaic (PV) panels is a crucial aspect of the operation and maintenance of photovoltaic power plants, playing a vital role in ensuring panel performance and extending their lifespan. Studies show that accumulated dust can reduce the power generation efficiency of solar panels by 17% to 25%. Regular cleaning, such as cleaning the surface of solar panels every 20 to 30 days, can increase power generation by an average of approximately 50%.

[0003] However, photovoltaic panels in solar power plants are typically installed at high positions, making cleaning operations inherently dangerous. Manual cleaning is not only cumbersome, costly, and inefficient, but also struggles to guarantee cleaning quality. Traditional cleaning methods are no longer sufficient for current market demands, and conventional cleaning robots can only guarantee cleaning efficiency on photovoltaic panels of certain sizes. Purchasing different models of cleaning robots for different panel sizes would incur significant costs. Therefore, researching and developing a dedicated cleaning robot for photovoltaic power plants that allows for easy component replacement and can efficiently clean photovoltaic panels of various sizes is a pressing issue for the industry. Utility Model Content

[0004] To address the problem in existing photovoltaic cleaning robots where disassembling and replacing components is inconvenient, thus affecting cleaning efficiency on photovoltaic panels of different sizes, this invention provides a modular photovoltaic cleaning tracked vehicle.

[0005] The technical solution adopted in this utility model is:

[0006] A modular photovoltaic cleaning tracked vehicle includes a body, a brush head mechanism, and a water supply mechanism. The brush head mechanism is connected to opposite sides of the body, and the water supply mechanism is connected between the body and the brush head mechanism.

[0007] The machine body includes a frame, a power source module, and a track assembly. The power source module is located inside the frame, and the track assembly is connected to both sides of the frame. The brush head mechanism is provided with a T-shaped bracket, and the T-shaped bracket has a connecting pin groove. The frame is provided with a master pin that cooperates with the connecting pin groove. A fixing pin is also connected between the T-shaped bracket and the frame.

[0008] The fixing pin is used to fix the brush head mechanism to the body, and the main pin is used to rotate and limit the body and brush head mechanism and move outward along the connecting pin groove to separate the body and brush head when the fixing pin is pulled out.

[0009] Furthermore, the track assembly is provided with walking tracks connected to both sides of the machine body, and at least two sets of suspension assemblies are connected between the walking track on one side and the frame; the suspension assemblies are used to apply pressure to the walking track to make the walking track fit with the photovoltaic panel.

[0010] Furthermore, the suspension assembly includes a suspension plate and a plate bracket. The suspension plate is connected to the frame through the plate bracket. The bottom surface of the suspension plate fits against the inner wall of the track. A buffer spring is also connected between the plate bracket and the frame.

[0011] The suspension pressure plate is used to apply pressure to the track in a planar area, so that the track is in contact with the photovoltaic panel in the area of ​​the suspension pressure plate; the buffer spring is used to absorb the impact transmitted from the track to the suspension pressure plate and the pressure plate bracket.

[0012] Furthermore, the track assembly is equipped with a drive motor, which is located inside the frame. The drive motor is connected to the power source module via a power supply line. The drive motor is connected to a drive wheel located at one end of the track assembly. The drive wheel is connected to a driven wheel at the other end of the track assembly via the walking track. The walking track is provided with a raised guide rail, and the drive wheel and the driven wheel are provided with guide rail grooves that cooperate with the raised guide rail.

[0013] Furthermore, the brush head mechanism includes a brush head frame, a bristle roller brush, and a water spray nozzle. The bristle roller brush is disposed on the brush head frame, and a brush head cover covering the outside of the bristle roller brush is connected to the brush head frame. The water spray nozzle is disposed inside the brush head cover and is connected to a water supply component. The water supply component is connected to the machine body and is used for connecting to an external water source mechanism.

[0014] Furthermore, the water supply assembly is equipped with a rotary joint, which is located on the machine body. One end of the rotary joint is connected to the spray nozzle through a water supply pipe, and the other end of the rotary joint is used to connect to an external water source mechanism.

[0015] Furthermore, a scraper assembly is connected to the brush head mechanism on one side of the machine body, and the scraper assembly is used to scrape off residual water stains on the surface of the photovoltaic panel.

[0016] Furthermore, multiple anti-fall sensors are provided on both sides of the machine body. These anti-fall sensors are used to prevent the machine from falling while suspended in the air by detecting the surrounding environment.

[0017] The beneficial effects of this utility model are:

[0018] The body and brush head mechanism of this invention are connected by a T-shaped bracket, a main pin, and a fixing pin. This structure ensures a stable connection while facilitating the disassembly of the brush head mechanism. Different sized brush heads can be replaced to adapt to photovoltaic panels of different sizes, ensuring cleaning efficiency. When disassembly is required, the fixing pin connecting the body and brush head mechanism on the T-shaped bracket is pulled out, and the main pin is controlled to move outward along the connecting pin groove on the T-shaped bracket to separate the body and brush head mechanism. A different sized brush head can then be replaced and reconnected to complete the brush head replacement. This disassembly structure facilitates equipment maintenance, transportation, and handling. It allows for rapid assembly after transportation of components, facilitating rapid deployment in various application scenarios and significantly improving the applicability and work efficiency of the equipment. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the tracked vehicle of this utility model;

[0020] Figure 2 for Figure 1 A partial view at point A in the middle;

[0021] Figure 3 This is a front view of the tracked vehicle of this utility model;

[0022] Figure 4 This is a top view of the tracked vehicle of this utility model;

[0023] Figure 5 This is a bottom view of the tracked vehicle of this utility model;

[0024] Figure 6 for Figure 5 A partial view at point B in the middle;

[0025] Figure 7 This is a schematic diagram of the tracked vehicle and its replaceable brush head mechanism according to the present invention;

[0026] Figure 8 for Figure 7 A partial view at point C.

[0027] Figure label:

[0028] 1. Body; 11. Frame; 12. Cover assembly; 13. Power source module; 14. Track assembly; 141. Walking track; 142. Suspension pressure plate; 143. Pressure plate bracket; 144. Buffer spring; 145. Drive motor; 146. Drive wheel; 147. Driven wheel; 148. Raised guide rail; 15. Kingpin; 16. Fall protection sensor;

[0029] 2. Brush head mechanism; 21. T-shaped bracket; 22. Connecting pin groove; 23. Fixing pin; 24. Brush head frame; 25. Brush roller; 26. Brush head cover; 27. Spray nozzle;

[0030] 3. Water supply mechanism; 31. Rotary joint; 32. Water supply pipe. Detailed Implementation

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Example 1

[0033] A modular photovoltaic clean tracked vehicle, such as Figure 1 , Figure 5 , Figure 6 and Figure 8 As shown, the device includes a body 1, a brush head mechanism 2, and a water supply mechanism 3. The brush head mechanism 2 is connected to opposite sides of the body 1, and the water supply mechanism 3 is connected between the body 1 and the brush head mechanism 2. The body 1 includes a frame 11, a power source module 13, and a track assembly 14. The power source module 13 is located inside the frame 11, and the track assembly 14 is connected to both sides of the frame 11. The brush head mechanism 2 is provided with a T-shaped bracket 21, and the T-shaped bracket 21 has a connecting pin groove 22. The frame 11 is provided with a main pin 15 that cooperates with the connecting pin groove 22. A fixing pin 23 is also connected between the T-shaped bracket 21 and the frame 11. The fixing pin 23 is used to fix the brush head mechanism 2 and the body 1, and the main pin 15 is used to rotate and limit the body 1 and the brush head mechanism 2, and when the fixing pin 23 is pulled out, it moves outward along the connecting pin groove 22 to separate the body 1 and the brush head.

[0034] The main body 1 and the brush head mechanism 2 of this invention are connected by a T-shaped bracket 21, a main pin 15, and a fixing pin 23. This structure ensures a stable connection while facilitating the disassembly of the brush head mechanism 2. Different sized brush heads can be replaced to adapt to photovoltaic panels of different sizes, ensuring cleaning efficiency. When disassembly is required, the fixing pin 23 connecting the main body 1 and the brush head mechanism 2 on the T-shaped bracket 21 is pulled out, and the main pin 15 is controlled to move outward along the connecting pin groove 22 on the T-shaped bracket 21 to separate the main body 1 and the brush head mechanism 2. Then, a different sized brush head can be replaced and the connection restored to complete the brush head replacement. This disassembly structure facilitates the maintenance, transportation, and handling of the equipment. It allows for rapid assembly after transportation of components, facilitating rapid deployment in various application scenarios and significantly improving the applicability and work efficiency of the equipment.

[0035] In a preferred embodiment, the water supply mechanism 3 is also detachably connected to the body 1. For example, the body 1 is connected to the water supply source via a bolted connector. The power source module 13 can use a rechargeable lithium battery and has a built-in detachable and replaceable battery installation mechanism. When the robot's battery power gradually runs out, the user can easily remove the old battery and quickly install a brand new spare battery, which greatly improves the robot's practicality and ensures that it can work continuously without interruption, thereby meeting the user's needs for long-term use. The user does not need to worry about the machine stopping due to the battery running out, and can focus more on completing the task, improving work efficiency. It also further improves the modularity of this utility model. When equipment failure occurs during operation and needs to be transferred, the components can be disassembled for transportation, making the operation easier. The modular structure described above can be detachable and connected using bolts, pins, snap-fit ​​connections, etc., which can be flexibly selected and applied directly based on existing technology. This structure allows the photovoltaic cleaning tracked vehicle of this utility model to easily handle narrow passages or assembly in limited spaces. The weight of each disassembled part is moderate, making it easy to handle manually and also suitable for rapid transfer using small transport vehicles. In addition, the modular design greatly improves the product's scalability and provides convenience for product expansion and upgrades.

[0036] The device of this invention can also be equipped with a low battery reminder function, which can notify users in time when the battery is low, preventing the robot from suddenly stopping during operation. This function ensures that the robot can work continuously during operation and will not stop midway due to the battery running out, thereby improving the reliability of the robot and the user experience.

[0037] The dual-brush head structure of this invention allows the equipment to clean the photovoltaic panel twice in a single cleaning operation, further improving the cleaning effect. The rear brush head thoroughly scrapes away any residual water stains on the solar panel surface, ensuring a more thorough cleaning. This structure not only improves cleaning efficiency but also effectively reduces the potential damage of water stains to the solar panel, extending its service life. A clean photovoltaic panel surface allows for better sunlight absorption, thereby improving overall power generation efficiency. Preferably, the brush head mechanism 2 can be selected and replaced according to the size of the photovoltaic panel, for example... Figure 7 As shown, there is a set of installed brush head mechanisms 2 and a set of matching replaceable brush head mechanisms 2 on both sides of the machine body. The matching replaceable brush head mechanisms 2 need to be removed from the installed brush head mechanisms 2 and then connected to the machine body 1 for use. Preferably, two sets of roller brushes with lengths of 1.4 meters and 1.8 meters can be used for disassembly and replacement in different scenarios. Under normal working conditions, it is better to select one of the brush head mechanisms 2 of the same size to be set on both sides of the machine body for better cleaning effect. For the specific disassembly and installation process, please refer to the disassembly and assembly process between the machine body 1 and the brush head mechanism 2 in this embodiment.

[0038] Example 2

[0039] Based on the foregoing embodiments, such as Figure 3 As shown, to ensure that the walking track 141 can fit well against the walking surface and enhance the walking stability of the cleaning robot, the track assembly 14 is provided with walking tracks 141 connected to both sides of the body 1. At least two sets of suspension components are connected between the walking track 141 on one side and the frame 11. The suspension components are used to apply pressure to the walking track 141 to make the walking track 141 fit against the photovoltaic panel. The walking track 141 in this embodiment is longer than the robot tracks in the prior art, so that at least two sets of suspension components can be set on one side, which enhances the walking stability and also improves the obstacle crossing function of the tracked vehicle of this utility model.

[0040] Preferably, the suspension assembly includes a suspension pressure plate 142 and a pressure plate bracket 143. The suspension pressure plate 142 is connected to the frame 11 through the pressure plate bracket 143. The bottom surface of the suspension pressure plate 142 fits against the inner wall of the track 141. A buffer spring 144 is also connected between the pressure plate bracket 143 and the frame 11. The suspension pressure plate 142 is used to apply pressure to the track 141 in a planar area, so that the track 141 fits against the photovoltaic panel in the area of ​​the suspension pressure plate 142. The buffer spring 144 is used to absorb the impact transmitted from the track 141 to the suspension pressure plate 142 and the pressure plate bracket 143.

[0041] The photovoltaic cleaning robot of this invention features suspension components distributed on both sides of the tracks. Each suspension component consists of a pair of suspension plates 142 connected by a suspension system. These plates can flexibly adjust to different terrains, increasing the contact area between the tracks and the solar panels to maintain optimal grip and traction, thus enhancing the tracked vehicle's climbing ability and stability. The structural arrangement of each suspension plate 142 and buffer spring 144 effectively absorbs impact forces when the tracks 141 encounter uneven ground, reducing vibration and damage to the entire mechanical structure. The paired suspension plates 142 better distribute weight, ensuring the tracks maintain stable grip even in complex terrain, enabling the robot to operate stably on tilted solar panels with a maximum tilt angle of over 20 degrees, thus enhancing its adaptability.

[0042] As a preferred embodiment, the photovoltaic cleaning tracked vehicle of this utility model can be equipped with remote control function, such as using remote control technology, so that the operator can make precise control within a range of 100 meters away from the machine, resulting in a better user experience, simple and intuitive operation, and greatly simplifying the operation process. Through this embodiment, the robot can effectively reduce its dependence on human labor, reduce labor costs, and thus save expenses for users.

[0043] Example 3

[0044] Based on the foregoing embodiments, such as Figure 2 , Figure 3 and Figure 5 As shown, the track assembly 14 is equipped with a drive motor 145, which is located inside the frame 11. The drive motor 145 is connected to the power source module 13 via a power supply line. The drive motor 145 is connected to a drive wheel 146 located at one end of the track assembly 14. The drive wheel 146 is connected to a driven wheel 147 at the other end of the track assembly 14 via a walking track 141. The walking track 141 is provided with a raised guide rail 148. The drive wheel 146 and the driven wheel 147 are provided with guide rail grooves that cooperate with the raised guide rail 148.

[0045] The track assembly 14 provides the robot with greater adaptability and stability to cope with various complex and changing terrain conditions. Drive wheels 146 and driven wheels 147 are paired and distributed on both sides of the track. The walking power is provided by a walking motor, with the power source module 13 installed inside the robot body. This motor drives the drive wheels 146 and driven wheels 147, allowing the walking track 141 to move smoothly and efficiently on the photovoltaic panel through friction. Compared to other motion systems, the track assembly 14 has a larger contact area with the photovoltaic panel, enabling the robot to move stably on steep slopes and maintain good stability even in complex terrain conditions. The guide rails ensure the stability of the drive wheels 146, driven wheels 147, and walking track 141 during operation. The middle section of the walking track 141 is equipped with corresponding raised guide rails 148, which effectively prevents the walking track 141 from derailing in complex terrain or during vigorous movement. With the above-mentioned structural design, the stability and reliability of the walking track 141 of this utility model are significantly improved, thereby ensuring the normal operation of the equipment under various working conditions.

[0046] In a preferred embodiment, a correction assembly can be connected to the shaft of the driven wheel 147, and the correction assembly is equipped with an adjusting bolt. By adjusting the bolt, the shaft of the driven wheel 147 can be finely adjusted, thereby finely adjusting the tension of the track 141 and thus affecting the direction of travel. This function realizes the fine adjustment of the deviation of the travel trajectory, while the main correction function can be achieved by controlling and adjusting the speed of the travel motor.

[0047] Example 4

[0048] Based on the foregoing embodiments, such as Figures 5-8 As shown, the brush head mechanism 2 includes a brush head frame 24, a bristle roller brush 25, and a water spray nozzle 27. The bristle roller brush 25 is disposed on the brush head frame 24, and a brush head cover 26 covering the outside of the bristle roller brush 25 is connected to the brush head frame 24. The water spray nozzle 27 is disposed inside the brush head cover 26 and is connected to a water supply component. The water supply component is connected to the body 1 and is used to connect to an external water source mechanism.

[0049] When the equipment is in the cleaning process, the drive motor 145 drives the brush 25 to rotate at high speed. The brush 25 will not damage the photovoltaic panel components, and the brush can efficiently remove surface dirt and dust. The water nozzle 27 can spray out a fan-shaped water mist to form a water curtain, which adheres the water flow to the surface of the photovoltaic panel. The dirt is washed away by the impact of high-pressure water and the flow of water. Together with the brush 25, a more thorough cleaning effect is achieved. The brush head cover 26 around the brush 25 can block the dust and dirt during the cleaning process and prevent it from splashing to other places and affecting the cleaning effect.

[0050] Preferably, such as Figure 3 , Figure 4 As shown, the water supply assembly is equipped with a rotary joint 31, which is mounted on the machine body 1. One end of the rotary joint 31 is connected to the water nozzle 27 via a water supply pipe, and the other end is used to connect to an external water source mechanism. The rotary joint 31 allows for quick assembly and disassembly between the tracked vehicle and the water source mechanism. For example, a threaded connection can be established between the rotary joint 31 and the machine body 1. During assembly, the rotary joint 31 is installed on the surface of the machine body 1 via the threaded rotation, and then connected to the water source mechanism's pipe to supply water to the water nozzle 27, thus achieving rapid separation of the equipment from the water source mechanism.

[0051] Example 5

[0052] Based on the aforementioned embodiments, to clean the surface of the photovoltaic panel from rainwater, sewage, or water sprayed during machine cleaning, ensuring the smoothness of the photovoltaic panel surface and improving the solar energy absorption effect, such as... Figure 3As shown, a scraper assembly is connected to the brush head mechanism 2 on the body 1. The scraper assembly can be used to scrape off residual water stains on the surface of the photovoltaic panel. As a preferred embodiment, scraper assemblies can be provided on both sides of the brush head mechanism 2.

[0053] The scraper assembly in this embodiment can also be configured as a detachable structure as described in the previous embodiments, facilitating maintenance, replacement, and transportation. The scraper assembly not only improves cleaning efficiency but also effectively reduces the potential damage of water stains to the solar panels, extending their lifespan. The use of a scraper also improves the photoelectric conversion efficiency of the solar panels; a clean surface allows for better absorption of sunlight, thereby enhancing overall power generation efficiency.

[0054] Example 6

[0055] Based on the aforementioned embodiments, in order to further improve the safety performance of the robot, such as... Figure 5 As shown, multiple anti-fall sensors 16 are installed on both sides of the robot body 1. These sensors prevent the robot from falling due to suspension by detecting the surrounding environment. The anti-fall sensors 16 can be, for example, ultrasonic sensors, laser sensors, infrared sensors, etc. These sensors can monitor the surrounding environment in real time and promptly detect potential obstacles and hazards. The anti-fall operating system used in conjunction with the robot effectively prevents falls, ensuring the robot's safe operation on photovoltaic panels of various heights and slopes. This function can also be manually disabled by the user for passage in narrow areas. Users can flexibly control the device's operating status according to actual conditions, ensuring smooth operation even in limited spaces. Furthermore, the robot can be equipped with an anti-misoperation operating system to minimize the risk of accidents during use: when the system detects the device approaching the photovoltaic panel boundary, the remote control operation is immediately locked to prevent further misoperation. Simultaneously, the robot automatically retreats and returns to a safe area, effectively preventing the risk of the device falling due to misoperation. This function not only improves operational safety and reliability but also provides users with a more reassuring user experience.

[0056] For specific selection of the anti-drop sensor 16, please refer to the following models:

[0057] The F77 series ultrasonic sensors are designed to resist strong light interference and are suitable for environments with high reflectivity, such as photovoltaic panels. Their low-power design extends robot battery life and supports real-time edge detection. By transmitting and receiving ultrasonic signals, they detect the suspended state of the photovoltaic panel edge and trigger anti-fall commands.

[0058] The ToF laser ranging module calculates distance by measuring the reflection time of a laser pulse. It is highly accurate, has a fast response, and is suitable for edge detection in complex terrain.

[0059] The GP2Y0A21YK0F infrared sensor detects obstacles or edges using the principle of infrared reflection and is low in cost.

[0060] The embodiments described above merely illustrate specific implementations of this utility model, and while the descriptions are detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A modular photovoltaic cleaning tracked vehicle, characterized in that, It includes a body, a brush head mechanism, and a water supply mechanism. The brush head mechanism is connected to opposite sides of the body, and the water supply mechanism is connected between the body and the brush head mechanism. The machine body includes a frame, a power source module, and a track assembly. The power source module is located inside the frame, and the track assembly is connected to both sides of the frame. The brush head mechanism is provided with a T-shaped bracket, and the T-shaped bracket has a connecting pin groove. The frame is provided with a master pin that cooperates with the connecting pin groove. A fixing pin is also connected between the T-shaped bracket and the frame. The fixing pin is used to fix the brush head mechanism and the machine body. The master pin is used to rotate and limit the machine body and the brush head mechanism, and when the fixing pin is pulled out, it moves outward along the connecting pin groove to separate the machine body and the brush head.

2. A modular photovoltaic cleaning track vehicle according to claim 1, wherein, The track assembly is provided with walking tracks connected to both sides of the machine body, and at least two sets of suspension components are connected between the walking track on one side and the frame; the suspension components are used to apply pressure to the walking track to make the walking track fit with the photovoltaic panel.

3. A modular photovoltaic cleaning track vehicle according to claim 2, wherein, The suspension assembly includes a suspension plate and a plate bracket. The suspension plate is connected to the frame through the plate bracket. The bottom surface of the suspension plate fits against the inner wall of the track. A buffer spring is also connected between the plate bracket and the frame. The suspension pressure plate is used to apply pressure to the track in a planar area, so that the track is in contact with the photovoltaic panel in the area of ​​the suspension pressure plate; the buffer spring is used to absorb the impact transmitted from the track to the suspension pressure plate and the pressure plate bracket.

4. The modular photovoltaic cleaning track vehicle of claim 1, wherein, The track assembly is equipped with a drive motor, which is located inside the frame. The drive motor is connected to the power source module via a power supply line. The drive motor is connected to a drive wheel located at one end of the track assembly. The drive wheel is connected to a driven wheel at the other end of the track assembly via a walking track. The walking track has raised guide rails, and the drive wheel and driven wheel have guide rail grooves that cooperate with the raised guide rails.

5. The modular photovoltaic cleaning track vehicle of claim 1, wherein, The brush head mechanism includes a brush head frame, a bristle roller brush, and a water spray nozzle. The bristle roller brush is disposed on the brush head frame, and a brush head cover covering the outside of the bristle roller brush is connected to the brush head frame. The water spray nozzle is disposed inside the brush head cover and is connected to a water supply component. The water supply component is connected to the machine body and is used for connecting to an external water source mechanism.

6. A modular photovoltaic cleaning track vehicle according to claim 5, wherein, The water supply component is equipped with a rotary joint, which is located on the machine body. One end of the rotary joint is connected to the water nozzle through a water supply pipe, and the other end of the rotary joint is used to connect to an external water source mechanism.

7. The modular photovoltaic cleaning track vehicle of claim 1, wherein, A scraper assembly is connected to the brush head mechanism on one side of the machine body. The scraper assembly is used to scrape off residual water stains on the surface of the photovoltaic panel.

8. The modular photovoltaic cleaning track vehicle of claim 1, wherein, Multiple anti-fall sensors are installed on both sides of the machine body. These sensors are used to prevent the machine from falling while suspended in the air by detecting the surrounding environment.

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