Photovoltaic cleaning robot

Abstract

A photovoltaic cleaning robot comprises a main beam, a brush and a moving assembly, a first machine head and a second machine head are arranged at the two ends of the main beam in the length direction respectively, and the brush is arranged below the main beam; the moving assembly comprises a driving wheel set and a driven wheel set and is suitable for driving the main beam to move. The driving wheel set is arranged on the first machine head and is in driving connection with a first driving motor, the driven wheel set is arranged on the second machine head, and the position of the first machine head and / or the second machine head relative to the main beam is adjustable. According to the photovoltaic cleaning robot, the main structures of the photovoltaic cleaning robot are all arranged on the main beam, a single-beam structure is formed, and the good weight reduction effect can be achieved. And meanwhile, the position of the first machine head and / or the position of the second machine head are / is adjustable, so that the photovoltaic cleaning robot can adapt to photovoltaic modules of different sizes, and the application scene is wider. Moreover, for the photovoltaic modules in the same project, the photovoltaic cleaning robot can have better obstacle crossing and climbing ability by finely adjusting the distance between the first machine head and the second machine head, and the flexibility is good.

Description

Photovoltaic cleaning robot Technical Field

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

[0002] Currently, most 1P cleaning robots on the market are driven by a single motor (planetary motor) through a transmission device. The advantage of this device is its low cost, but the disadvantage is that there are too many gear transmission units. On the one hand, this makes the overall structure of the photovoltaic cleaning robot heavier, requiring more manpower or mechanical assistance during installation, and the excessive number of gear transmission units also wastes assembly time. On the other hand, the stopping of the cleaning robot is a hard limit, which is subject to impact. Long-term use can easily damage the transmission unit. Moreover, the entire transmission structure is placed in a gearbox. If a leak occurs in one place, the entire mechanism is exposed to the risk of dust and water ingress, resulting in high manual maintenance costs.

[0003] In addition, most 1P cleaning robots on the market are not adjustable in length, which makes them unable to adapt to photovoltaic modules of different sizes. Especially for some non-standard sized photovoltaic modules or different layouts in different projects, cleaning robots of different lengths need to be customized, which limits their use and makes them less flexible.

[0004] Therefore, improvements are needed to the structure of the cleaning robot to enhance its performance. Summary of the Invention

[0005] The purpose of this application is to provide a photovoltaic cleaning robot that is lighter and has a wider range of applications, can adapt to photovoltaic modules of different sizes, and has improved obstacle crossing and hill climbing capabilities.

[0006] The technical solution provided by this utility model is as follows:

[0007] A photovoltaic cleaning robot includes:

[0008] The main beam has a first machine head and a second machine head at its two ends along its length.

[0009] A brush, wherein the brush is disposed below the main beam;

[0010] The moving component includes a drive wheel assembly and a driven wheel assembly, adapted to drive the main beam to move;

[0011] The active wheel assembly is located at the first machine head and is connected to a first drive motor; the driven wheel assembly is located at the second machine head, and the positions of the first machine head and / or the second machine head relative to the main beam are adjustable.

[0012] In some embodiments, there are two sets of drive wheel assemblies, each driving one of the two first drive motors, and the two sets of drive wheel assemblies are distributed at both ends of one side of the main beam along its length; and,

[0013] The number of driven wheel sets is two, and they are distributed at both ends on the other side of the main beam along its length.

[0014] In some embodiments, the drive wheel assembly includes a first drive wheel and a second drive wheel. The first drive wheel is adapted to abut against the photovoltaic surface of the photovoltaic module to be cleaned, and the second drive wheel is adapted to abut against the side of the photovoltaic module to be cleaned. Furthermore, the power output end of the first drive motor is provided with a dual-output shaft linkage gearbox, and the two output shafts of the dual-output shaft linkage gearbox are respectively driven and connected to the first drive wheel and the second drive wheel.

[0015] and

[0016] The driven wheel assembly includes a first driven wheel and a second driven wheel. The first driven wheel is adapted to abut against the photovoltaic surface of the photovoltaic module to be cleaned, and the second driven wheel is adapted to abut against the side of the photovoltaic module to be cleaned. Furthermore, the second machine head is equipped with a dual-output shaft non-linked gearbox, and the two output shafts of the dual-output shaft non-linked gearbox are respectively connected to the first driven wheel and the second driven wheel.

[0017] In some embodiments, the first driven wheel and the first driving wheel on the same side of the main beam along its length are connected by a transmission rod.

[0018] In some embodiments, the brush is a rolling brush, and one end of the brush is connected to the first machine head;

[0019] The main beam is provided with a first connecting part at the end away from the first machine head, and the other end of the brush is connected to the first connecting part. A second drive motor is installed on the first connecting part, and the second drive motor is driven to drive the brush to rotate.

[0020] In some embodiments, a plurality of adjustment holes distributed along the length direction are provided on the side wall of one end of the main beam. The first machine head or the second machine head can be selectively installed on the main beam through any of the adjustment holes in order to adjust the installation position of the first machine head or the second machine head on the main beam.

[0021] In some embodiments, the photovoltaic cleaning robot further includes a locking assembly disposed on the main beam for locking the photovoltaic cleaning robot onto the docking bracket of the docking station;

[0022] The locking assembly includes a locking block, a push rod, and a push rod motor. The locking block has a through hole. The push rod and the locking block are installed on the same side of the main beam, and the push rod and the through hole are coaxial. The push rod motor is used to drive the push rod to move along the length direction. The main beam has a second connecting part, and the push rod and the push rod motor are installed on the main beam via the second connecting part.

[0023] The docking bracket has an opening. When the photovoltaic cleaning robot docks at the docking station, the opening and the through hole are coaxial. The push rod passes through the opening and the through hole to lock the photovoltaic cleaning robot to the docking bracket.

[0024] In some embodiments, the main beam is provided with a sensing device on at least one side corresponding to the locking assembly, for sensing the docking status of the photovoltaic cleaning robot.

[0025] In some embodiments, the first head is provided with an anti-detachment hook below the brush; and / or, the top of the brush is provided with a cover.

[0026] In some embodiments, the photovoltaic cleaning robot further includes:

[0027] The control box is used to control the operation of the first drive motor and the push rod motor;

[0028] and / or

[0029] A photovoltaic panel, located on top of the main beam, is used to power the photovoltaic cleaning robot.

[0030] The technical advantages of this application are as follows:

[0031] 1. In this application, the photovoltaic cleaning robot adopts a single-beam structure, resulting in a lighter overall weight and easier installation. Furthermore, the positions of the first and / or second cleaning heads are adjustable, allowing users to adjust the distance between them for different projects. This enables the photovoltaic cleaning robot to adapt to photovoltaic modules of different sizes, making it widely applicable, especially for non-standard sized photovoltaic modules. In addition, for photovoltaic modules within the same project, fine-tuning the distance between the first and second cleaning heads can improve the robot's obstacle-crossing and hill-climbing capabilities, enhancing its flexibility.

[0032] 2. This application employs two first drive motors to drive two sets of active wheel assemblies respectively, increasing the obstacle-crossing and slope-climbing capabilities of the photovoltaic cleaning robot. Simultaneously, the brush is driven separately by a second drive motor, and different cleaning effects can be achieved by adjusting the speed of the second drive motor. Compared to existing single-motor control, using three small motors (two first drive motors and one second drive motor) for separate driving results in only a slight increase in cost but enables more diverse control and better performance. Moreover, because all three small motors are directly driven, the transmission efficiency is higher and energy saving is greater, resulting in a longer battery life for the photovoltaic cleaning robot.

[0033] 3. In this application, when the first drive motor drives the first drive wheel and the second drive wheel to rotate, the transmission structure on them is sealed as a separate structure in the corresponding double output shaft linkage gearbox, without disassembly, thus ensuring its sealing performance. Moreover, if a leak occurs in a certain place, the entire mechanism will not face the risk of dust or water ingress.

[0034] 4. This application includes a locking component on the main beam, which can lock the photovoltaic cleaning robot onto the docking bracket of the docking station, facilitating stable docking of the photovoltaic cleaning robot and preventing positional deviation. Simultaneously, this application also includes a sensing device on the main beam, which can be used to confirm whether the photovoltaic cleaning robot has docked correctly, facilitating automatic docking and locking of the photovoltaic cleaning robot. Attached Figure Description

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0036] Figure 1 is a three-dimensional structural diagram of the photovoltaic cleaning robot provided in one embodiment of this application in one state;

[0037] Figure 2 is a three-dimensional structural diagram of the photovoltaic cleaning robot provided in one embodiment of this application in another state;

[0038] Figure 3 is a three-dimensional structural diagram of the first machine head and the drive wheel assembly provided in one embodiment of this application;

[0039] Figure 4 is a three-dimensional structural diagram of the second machine head and driven wheel assembly provided in one embodiment of this application;

[0040] Figure 5 is a front view of the photovoltaic cleaning robot provided in one embodiment of this application;

[0041] Figure 6 is a magnified view of part A shown in Figure 5;

[0042] Figure 7 is a three-dimensional structural diagram of the photovoltaic cleaning robot provided in one embodiment of the present application in another state;

[0043] Figure 8 is a magnified view of part B shown in Figure 7.

[0044] Explanation of icon numbers:

[0045] 100. Main beam; 110. First machine head; 111. Anti-disengagement hook; 120. Second machine head; 121. Clearance hole; 130. First connecting part; 140. Adjustment hole; 150. Second connecting part; 160. Sensing device; 170. Control box; 180. Photovoltaic panel;

[0046] 210. Brush; 220. Second drive motor;

[0047] 310. Drive wheel assembly; 311. First drive wheel; 312. Second drive wheel; 313. First drive motor; 314. Dual-output shaft linkage gearbox; 320. Driven wheel assembly; 321. First driven wheel; 322. Second driven wheel; 323. Dual-output shaft non-linkage gearbox; 330. Transmission rod;

[0048] 400. Locking assembly; 410. Locking block; 411. Through hole; 420. Push rod; 430. Push rod motor;

[0049] 500, docking bracket; 510, opening. Detailed Implementation

[0050] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0052] To keep the drawings concise, each drawing only schematically shows the parts relevant to this application, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of the components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0053] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0054] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0055] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of the various components of this application are relative rather than absolute. These descriptions are appropriate when these components are in the positions shown in the drawings. If the description of the positions of these components changes, these directional indications also change accordingly.

[0056] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0057] According to a specific embodiment provided in this application, referring to Figure 1, a photovoltaic cleaning robot, particularly a 1P photovoltaic cleaning robot, includes a main beam 100, a brush 210, and a moving component. Both the brush 210 and the moving component are disposed on the main beam 100, and the moving component is used to drive the photovoltaic cleaning robot to move. The brush 210 is used to clean the photovoltaic modules to be cleaned during the movement. Preferably, the brush 210 is disposed below the main beam 100.

[0058] Specifically, the main beam 100 has a first machine head 110 and a second machine head 120 at both ends along its length. The moving component includes a drive wheel assembly 310 and a driven wheel assembly 320. The drive wheel assembly 310 of the moving component is located at the first machine head 110 and is connected to a first drive motor 313. The driven wheel assembly 320 is located at the second machine head 120.

[0059] In this embodiment, the main structure of the photovoltaic cleaning robot is set on the main beam 100, forming a single beam structure, which can achieve a good weight reduction effect, making the overall weight of the photovoltaic cleaning robot lighter and easier to install on the photovoltaic bracket that needs to be cleaned. It also has lower strength requirements for the photovoltaic bracket and is highly practical.

[0060] Preferably, the positions of the first head 110 and / or the second head 120 relative to the main beam 100 are adjustable, thereby changing the distance between the driving wheel assembly 310 and the driven wheel assembly 320. This allows the photovoltaic cleaning robot to move and clean on photovoltaic modules of different sizes, broadening its applicability. Especially for non-standard sized photovoltaic modules or different layouts in different projects, only the positions of the first head 110 and / or the second head 120 need to be adjusted for direct use, eliminating the need for custom-made photovoltaic cleaning robots of the corresponding sizes, significantly reducing costs. Furthermore, for photovoltaic modules within the same project, the obstacle-crossing and hill-climbing capabilities of the photovoltaic cleaning robot can be improved by fine-tuning the distance between the first head 110 and the second head 120, making the photovoltaic cleaning robot more flexible.

[0061] Referring to Figures 2 and 4, in actual production, the adjustment of the first head 110 and / or the second head 120 will not affect the length of the brush 210. That is, the first head 110 and / or the second head 120 are provided with clearance holes 121 for avoiding the brush 210. Thus, no matter where the first head 110 and / or the second head 120 are installed in the length direction of the main beam 100, the clearance holes 121 on them can avoid the brush 210, and there will be no structural interference. The structural design is more reasonable.

[0062] In one example embodiment, referring to Figures 5 and 6, a plurality of adjustment holes 140 distributed along the length direction are provided on the side wall of the main beam 100. Position adjustment is achieved by assembling the first machine head 110 and / or the second machine head 120 into different adjustment holes 140. Specifically, if the positions of the first machine head 110 and the second machine head 120 relative to the main beam 100 are adjustable, then a plurality of adjustment holes 140 distributed along the length direction are provided on the side walls at both ends of the main beam 100, allowing the user to flexibly adjust the positions of the first machine head 110 and the second machine head 120. If only the position of the first machine head 110 or the second machine head 120 relative to the main beam 100 is adjustable, then the main beam 100 has several adjustment holes 140 distributed along the length direction on the side wall of one end along the length direction. One of the first machine head 110 and the second machine head 120 is flexibly installed on the main beam 100 through different adjustment holes 140, while the other of the first machine head 110 and the second machine head 120 is fixedly and non-adjustably on the end of the main beam 100 away from the end with the adjustment holes 140.

[0063] In actual production, other structural settings, such as slide rail slider assemblies, can also be used to achieve adjustable positions for the first head 110 and / or the second head 120. These will not be elaborated upon here, as they are all within the scope of this application. Furthermore, considering that in actual use, adjusting the position of only one head (the first head 110 or the second head 120) can change the distance between the driving wheel assembly 310 and the driven wheel assembly 320, this application preferably allows only the position of the first head 110 or the second head 120 to be adjustable.

[0064] Specifically, referring to Figures 1 to 4, there are two sets of active wheel assemblies 310, each driving one of two first drive motors 313. Driven by these two first drive motors 313, the obstacle-crossing and slope-climbing capabilities of the photovoltaic cleaning robot are effectively increased. The first drive motors 313 are brushless motors, and the two sets of active wheel assemblies 310 are preferably distributed at both ends on one side of the main beam 100 along its length. Conversely, there are two sets of driven wheel assemblies 320, distributed at both ends on the other side of the main beam 100 along its length.

[0065] In this embodiment, since the driven wheel assembly on the second machine head 120 is not equipped with a drive motor, it is preferable to use the second machine head 120 as a position-adjustable structure, which makes adjustment more convenient. That is, the first machine head 110 is fixed to one end of the main beam 100, and the side wall of the main beam 100 away from the first machine head 110 is provided with a plurality of adjustment holes 140 distributed along the length direction. The second machine head 120 can be selectively installed on the main beam 100 through the required adjustment holes 140.

[0066] Further, referring to Figure 3, the active wheel assembly 310 includes a first active wheel 311 and a second active wheel 312. The first active wheel 311 is adapted to abut against the photovoltaic surface of the photovoltaic module to be cleaned, mainly used to realize the movement of the photovoltaic cleaning robot. The second active wheel 312 is adapted to abut against the side of the photovoltaic module to be cleaned, mainly serving a guiding role, enabling the photovoltaic cleaning robot to move along the extension direction of the photovoltaic module. Conversely, referring to Figure 4, the driven wheel assembly 320 includes a first driven wheel 321 and a second driven wheel 322. The first driven wheel 321 is adapted to abut against the photovoltaic surface of the photovoltaic module to be cleaned, and the second driven wheel 322 is adapted to abut against the side of the photovoltaic module to be cleaned. This helps to improve the stability of the photovoltaic cleaning robot's movement on the photovoltaic module, making its obstacle-crossing and slope-climbing ability better.

[0067] In this embodiment, referring to Figure 7, the power for both the first driven wheel 321 and the second driven wheel 322 originates from the driving wheel assembly 310. The first driving wheel 311 and the first driven wheel 321 on the same side of the main beam 100 along its length are connected by a transmission rod 330. This facilitates the synchronization of the first driving wheel 311 and the first driven wheel 321, enabling synchronous movement of both ends of the main beam 100 and reducing the possibility of movement jamming or even jamming due to asynchronous movement on both sides of the main beam 100. The transmission rod 330 is a telescopic rod to match the adjustable position of the second machine head 120.

[0068] Furthermore, referring to Figure 3, the first head 110 located below the brush 210 can also be equipped with an anti-detachment hook 111, which is more conducive to the stable movement of the photovoltaic cleaning robot on the photovoltaic module, ensuring that the photovoltaic cleaning robot will not accidentally fall off due to changes in the angle of the photovoltaic module or mechanical failure during operation, reducing the risk of equipment damage and reducing safety hazards.

[0069] Preferably, referring to Figure 3, the power output end of the first drive motor 313 is equipped with a dual-output shaft linkage gearbox 314. The two output shafts of the dual-output shaft linkage gearbox 314 are respectively connected to the first drive wheel 311 and the second drive wheel 312. In this case, the transmission structure used by each first drive motor 313 to drive the corresponding first drive wheel 311 and second drive wheel 312 can be sealed as an independent part in the gearbox without disassembly, ensuring good sealing. Moreover, if a leak occurs in any part, the entire mechanism will not face the risk of dust or water ingress. The structural design is more reasonable and practical. The dual-output shaft linkage gearbox 314 contains multiple gears. Through the meshing transmission between the multiple gears, the driving force of the first drive motor 313 is output to the two output shafts of the dual-output shaft linkage gearbox 314, realizing the linkage of the two output shafts.

[0070] Conversely, referring to Figure 4, the second machine head 120 is equipped with a dual-output shaft non-linked gearbox 323, and the two output shafts of the dual-output shaft non-linked gearbox 323 are respectively connected to the first driven wheel 321 and the second driven wheel 322.

[0071] In actual production, the brush 210 can be a translational brush, meaning that when the photovoltaic cleaning robot moves, the brush 210 moves along with it, cleaning the photovoltaic modules through the translational motion of the brush 210. Alternatively, the brush 210 can also be a rolling brush, where the brush 210 rotates around its own axis when the photovoltaic cleaning robot moves with it, achieving a better cleaning effect.

[0072] In one specific embodiment, referring to Figures 1 and 2, a first connecting portion 130 is provided at one end of the main beam 100. A second drive motor 220 is installed on the first connecting portion 130. The second drive motor 220 is driven and connected to the brush 210 to drive the brush 210 to rotate. Since a first machine head 110 is fixed at one end of the main beam 100, the second drive motor 220 can be installed at the end of the main beam 100 away from the first machine head 110, which can also play a role in balancing the counterweight. At this time, one end of the brush 210 is connected to the first machine head 110, the first connecting portion 130 is located at the end of the main beam 100 away from the first machine head 110, and the other end of the brush 210 is connected to the first connecting portion 130. The second drive motor 220 on the first connecting portion 130 drives the brush 210 to rotate. Preferably, the second drive motor 220 is a brushless motor, and the top of the brush 210 can also preferably be provided with a cover to provide a certain degree of protection.

[0073] In this embodiment, the brush 210 is driven solely by the second drive motor 220. Different cleaning effects can be achieved by adjusting the rotation speed of the second drive motor 220, resulting in higher cleaning efficiency and greater flexibility. Furthermore, in existing technologies, most photovoltaic cleaning robots use single-motor control, meaning a single large motor (planetary motor) controls both the robot's movement and the brush 210's rotation. This embodiment, however, uses three small motors (two first drive motors 313 and one second drive motor 220, all brushless) to drive both the robot's movement and the brush 210's rotation. This results in only a slight increase in cost but also enables more diverse control methods and better performance. In addition, because all three small motors are directly driven, the transmission efficiency is higher, saving more energy and extending the robot's battery life.

[0074] In one example embodiment, referring to Figures 2, 7, and 8, the photovoltaic cleaning robot further includes a locking assembly 400, which is disposed on the main beam 100 to lock the photovoltaic cleaning robot onto the docking bracket 500 of the docking station. Specifically, the locking assembly 400 includes a locking block 410, a push rod 420, and a push rod motor 430. The locking block 410 has a through hole 411. The push rod 420 and the locking block 410 are mounted on the same side of the main beam 100, and the through hole 411 on the push rod 420 and the locking block 410 are coaxial. The push rod motor 430 is used to drive the push rod 420 to move along its length. The main beam 100 has a second connecting part 150, through which the push rod 420 and the push rod motor 430 are mounted on the main beam 100. In contrast, the docking bracket 500 is provided with an opening 510. When the photovoltaic cleaning robot docks at the docking station, the opening 510 and the through hole 411 on the locking block 410 are coaxial. At this time, the push rod motor 430 drives the push rod 420 to pass through the opening 510 and the through hole 411, which can lock the photovoltaic cleaning robot to the docking bracket 500, realize the stable docking of the photovoltaic cleaning robot, and prevent the position from shifting.

[0075] Preferably, the main beam 100 is provided with a sensing device 160 on at least one side corresponding to the locking component 400, which can be used to confirm whether the photovoltaic cleaning robot has stopped in place. After confirming that the photovoltaic cleaning robot has stopped completely, the push rod motor 430 drives the push rod 420 to lock, which is conducive to realizing the automatic stopping and locking of the photovoltaic cleaning robot.

[0076] In one example embodiment, referring to FIG7, the main beam 100 is provided with a sensing device 160 on the side corresponding to the locking component 400 and on the side opposite to the locking component 400, and the sensing devices 160 on both sides are arranged symmetrically.

[0077] Specifically, referring to Figure 1, the photovoltaic cleaning robot also includes a control box 170, which can be used to control the operation of the first drive motor 313, the second drive motor 220, and the push rod motor 430 to achieve fully automated cleaning and docking of the photovoltaic cleaning robot. In addition, the photovoltaic cleaning robot may also include a photovoltaic panel 180, which is located on the top of the main beam 100 and can convert light energy into electrical energy and output it to the control box 170, the first drive motor 313, the second drive motor 220, and the push rod motor 430, thereby improving the battery life of the photovoltaic cleaning robot.

[0078] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0079] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this application. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A photovoltaic cleaning robot, characterized in that, include: The main beam has a first machine head and a second machine head at its two ends along its length, respectively; a brush is located below the main beam; and a moving assembly includes a drive wheel assembly and a driven wheel assembly, adapted to move the main beam. The drive wheel assembly is located at the first machine head and is connected to a first drive motor; the driven wheel assembly is located at the second machine head, and the positions of the first machine head and / or the second machine head relative to the main beam are adjustable.

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The number of driving wheel sets is two, which are respectively driven and connected to the two first drive motors, and the two driving wheel sets are distributed at both ends on one side of the main beam along its length; and the number of driven wheel sets is two, which are distributed at both ends on the other side of the main beam along its length.

3. The photovoltaic cleaning robot according to claim 2, characterized in that, The drive wheel assembly includes a first drive wheel and a second drive wheel. The first drive wheel is adapted to abut the photovoltaic surface of the photovoltaic module to be cleaned, and the second drive wheel is adapted to abut the side of the photovoltaic module to be cleaned. Furthermore, the power output end of the first drive motor is equipped with a dual-output shaft linkage gearbox, the two output shafts of which are respectively driven and connected to the first drive wheel and the second drive wheel. The driven wheel assembly includes a first driven wheel and a second driven wheel. The first driven wheel is adapted to abut the photovoltaic surface of the photovoltaic module to be cleaned, and the second driven wheel is adapted to abut the side of the photovoltaic module to be cleaned. Furthermore, the second machine head is equipped with a dual-output shaft non-linkage gearbox, the two output shafts of which are respectively connected to the first driven wheel and the second driven wheel.

4. The photovoltaic cleaning robot according to claim 3, characterized in that, The first driven wheel and the first driving wheel, which are on the same side of the main beam along its length, are connected by a transmission rod.

5. The photovoltaic cleaning robot according to any one of claims 1-4, characterized in that, The brush is a rolling brush, with one end of the brush connected to the first machine head; the main beam has a first connecting part at the end away from the first machine head, and the other end of the brush is connected to the first connecting part. A second drive motor is installed on the first connecting part, and the second drive motor is driven connected to the brush to drive the brush to rotate.

6. The photovoltaic cleaning robot according to any one of claims 1-5, characterized in that, The main beam has a plurality of adjustment holes distributed along its length on one end of its sidewall. The first machine head or the second machine head can be selectively installed on the main beam through any of the adjustment holes in order to adjust the installation position of the first machine head or the second machine head on the main beam.

7. The photovoltaic cleaning robot according to any one of claims 1-5, characterized in that, Also includes: A locking assembly, located on the main beam, is used to lock the photovoltaic cleaning robot onto the docking bracket of the docking station. The locking assembly includes a locking block, a push rod, and a push rod motor. The locking block has a through hole. The push rod and the locking block are installed on the same side of the main beam, and the push rod and the through hole are coaxial. The push rod motor is used to drive the push rod to move along its length. The main beam has a second connecting part, and the push rod and the push rod motor are installed on the main beam via the second connecting part. The docking bracket has an opening. When the photovoltaic cleaning robot docks at the docking station, the opening and the through hole are coaxial, and the push rod passes through the opening and the through hole to lock the photovoltaic cleaning robot onto the docking bracket.

8. The photovoltaic cleaning robot according to claim 7, characterized in that, The main beam is equipped with a sensing device on at least one side corresponding to the locking assembly, for sensing the docking status of the photovoltaic cleaning robot.

9. The photovoltaic cleaning robot according to any one of claims 1-5, characterized in that, The first head is provided with an anti-detachment hook located below the brush; and / or, the top of the brush is provided with a cover.

10. The photovoltaic cleaning robot according to claim 7, characterized in that, Also includes: A control box is used to control the operation of the first drive motor and the push rod motor; and / or a photovoltaic panel is located on the top of the main beam to provide power to the photovoltaic cleaning robot.

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