Disk brush photovoltaic cleaning robot based on lelo triangle principle

Abstract

The utility model belongs to photovoltaic cleaning technical field, concretely relates to a disc brush photovoltaic cleaning robot based on lorel triangle principle. The disc brush photovoltaic cleaning robot based on lorel triangle principle includes: frame, is used for installing on photovoltaic board, a plurality of cleaning components are installed on the frame. Wherein the cleaning component includes lorel triangle disc brush, through the transmission structure of cleaning component, the rotation area shape of the brush after lorel triangle disc brush rotation is square, a plurality of lorel triangle disc brush work together, and its cleaning area is connected as rectangle, so that the brush can cover the whole surface of photovoltaic board when rotating, guarantee the cleaning effect of photovoltaic board corner, edge.

Description

Technical Field

[0001] This utility model belongs to the field of photovoltaic cleaning technology, specifically relating to a disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle. Background Technology

[0002] Because photovoltaic equipment is exposed to the natural environment for a long time, its surface will inevitably accumulate dust, dirt, bird droppings and other shading substances. If these deposits are not removed in time, they will form an optical barrier layer, which will significantly reduce the effective absorption rate of solar radiation on the surface of the module, thus leading to a decrease in photoelectric conversion efficiency. Therefore, it is necessary to clean the surface of photovoltaic modules regularly.

[0003] For cleaning photovoltaic modules, especially centralized photovoltaic power stations, various cleaning robots have emerged. For example, patent CN221553209U discloses a photovoltaic cleaning robot. The cleaning brush of this patent has a disc structure, and its length can be adjusted by sliding blocks connected to both sides of the machine body. It is also equipped with clamping blocks to clamp the photovoltaic panels on the fixing slot, ensuring that the cleaning robot is stable and does not easily slip.

[0004] However, such cleaning robots have the following problems: The cleaning brush adopts a conventional disc structure. Although the disc brush has a larger cleaning range compared to the roller brush, its working area is circular due to the circular design of the disc brush. Since the photovoltaic panel is a rectangular assembly, the disc brush cannot cover and clean the four corners and some edges of the photovoltaic module due to the limitations of its own installation position or the photovoltaic panel frame. Even if the disc brush can move to the corners of the photovoltaic panel, it may be supported by the photovoltaic panel frame, causing the disc brush to be supported by the edges and not be able to make good contact with the photovoltaic panel surface, thus affecting the cleaning effect. Utility Model Content

[0005] The purpose of this invention is to provide a disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle, in order to solve the technical problem that the existing circular disc brush cannot cover and clean the four corners and some edge areas of photovoltaic modules.

[0006] This application provides a disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle. The disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle includes:

[0007] A rack for mounting on photovoltaic panels;

[0008] Several cleaning components are mounted on the frame; among them

[0009] The cleaning component includes:

[0010] The second motor is fixed on the frame;

[0011] The first rotating shaft is connected to the output shaft of the second motor, and a first gear is fixed on it;

[0012] The second rotating shaft is arranged parallel to the first rotating shaft, and a second gear that meshes with the first gear is fixed on it;

[0013] A rotating shaft linkage block, the two ends of which are rotatably connected to the first rotating shaft and the second rotating shaft respectively;

[0014] The Reuleaux triangular brush is fixed to the end of the second rotating shaft.

[0015] In one embodiment of this application, the top of the frame has several through holes;

[0016] A motor mounting cover is fixed to the through hole;

[0017] The second motor is fixed to the motor mounting cover.

[0018] In one embodiment of this application, mounting slots are provided at both ends of the frame;

[0019] The mounting slot is equipped with a walking component for moving on the photovoltaic panel.

[0020] In one embodiment of this application, the walking component includes:

[0021] The driving wheel and the first driven wheel are located at the bottom of the mounting groove to abut against the bottom surface of the photovoltaic panel;

[0022] Auxiliary wheels, positioned on the side of the mounting groove, are used to abut against the side of the photovoltaic panel; and

[0023] Several second driven wheels are disposed on the top surface of the mounting groove to abut against the top surface of the photovoltaic panel.

[0024] In one embodiment of this application, a square hole is vertically opened at the top of the mounting groove, an electric push rod is fixed in the square hole, a second driven wheel sleeve is connected to the end of the electric push rod, and a second driven wheel is hinged on the second driven wheel sleeve.

[0025] In one embodiment of this application, a first motor is provided on both sides of the frame for driving the corresponding drive wheel.

[0026] In one embodiment of this application, the photovoltaic cleaning robot further includes: a plurality of stain recognition modules;

[0027] The stain recognition module includes:

[0028] The base plate is mounted on the frame;

[0029] The camera module is vertically fixed on the base plate, with its camera protruding from the base plate.

[0030] In one embodiment of this application, the stain recognition module further includes:

[0031] The motor bracket is fixed to the base plate;

[0032] The third motor is mounted on a motor bracket; among which...

[0033] The base plate is provided with an arc-shaped through groove, and the output shaft of the third motor is connected to a cleaning brush head that passes through the arc-shaped through groove via a crank rocker mechanism. The cleaning brush head is used to clean the camera of the camera module.

[0034] In one embodiment of this application, the disk brush photovoltaic cleaning robot further includes: a plurality of pressure sensing modules;

[0035] The pressure sensing module includes:

[0036] The upper end of the slide rod is slidably inserted into the slide groove at the bottom of the frame, and a pressure sensor is fixed at the upper end of the slide rod.

[0037] The spring has its upper and lower ends abutting against the frame and the pressure sensor, respectively.

[0038] The pulley is fixed to the lower end of the slide bar.

[0039] In one embodiment of this application, a locking block is provided at the lower opening of the slide groove;

[0040] A limit ring is provided on the slide rod and located inside the slide groove.

[0041] The beneficial effects of this utility model are:

[0042] Unlike existing technologies, this application provides a photovoltaic cleaning robot based on the Reuleaux triangle principle. This photovoltaic cleaning robot includes: a frame for mounting on a photovoltaic panel; and several cleaning components mounted on the frame. The cleaning components include Reuleaux triangle brushes. Through the transmission structure of the cleaning components, the rotating area of ​​the brush after rotation is square. When several Reuleaux triangle brushes work together, their cleaning area connects to form a rectangle, thus ensuring that the brushes can cover the entire surface of the photovoltaic panel when rotating, guaranteeing effective cleaning of the corners and edges of the photovoltaic panel.

[0043] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description and the accompanying drawings.

[0044] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0045] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the structure of the disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle of this utility model;

[0047] Figure 2 This is another structural schematic diagram of the disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle of this utility model;

[0048] Figure 3 for Figure 2 Enlarged view of a portion of point A in the middle;

[0049] Figure 4 This is a schematic diagram of the frame structure of this utility model;

[0050] Figure 5 This is a schematic diagram of the frame structure of this utility model from another angle;

[0051] Figure 6 This is a schematic diagram of the cleaning component structure of this utility model;

[0052] Figure 7 This is a schematic diagram of the stain recognition module structure of this utility model;

[0053] Figure 8 This utility model Figure 2 Enlarged view of a section at point B in the middle;

[0054] Figure 9 This is a schematic diagram of the installation of the pressure sensing module of this utility model.

[0055] The meanings of the labels in the diagram are as follows:

[0056] 100 is the frame, 110 is the mounting slot, 111 is the first motor, 112 is the driving wheel, 113 is the first driven wheel, 114 is the auxiliary wheel, 115 is the electric push rod, 116 is the second driven wheel sleeve, 117 is the second driven wheel, 118 is the through hole, 119 is the motor mounting cover, 120 is the slide groove, and 121 is the locking block;

[0057] 200 is the sweeping component, 210 is the second motor, 211 is the coupling, 212 is the first rotating shaft, 213 is the first gear, 214 is the rotating shaft linkage block, 215 is the first elastic retaining ring, 216 is the second rotating shaft, 217 is the second gear, 218 is the second elastic retaining ring, and 219 is the Reuleaux triangular disc brush.

[0058] 310 is the stain recognition module, 311 is the camera module, 312 is the motor bracket, 313 is the third motor, 314 is the crank rocker mechanism, 315 is the cleaning brush head, 316 is the base plate, 317 is the arc-shaped through groove, 321 is the pulley, 322 is the slide rod, 323 is the spring, 324 is the pressure sensor, and 325 is the limit ring. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0060] This application provides a disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle, which will be described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0061] See Figure 1 , Figure 2 and Figure 6 In one embodiment, the Reuleaux triangle-based photovoltaic cleaning robot includes: a frame 100 for mounting on a photovoltaic panel; and several cleaning components 200 mounted on the frame. Each cleaning component 200 includes: a second motor 210 fixed to the frame 100; a first rotating shaft 212 connected to the output shaft of the second motor 210, with a first gear 213 fixed thereon; a second rotating shaft 216 parallel to the first rotating shaft 212, with a second gear 217 meshing with the first gear 213 fixed thereon; a rotating shaft linkage block 214, with both ends rotatably connected to the first rotating shaft 212 and the second rotating shaft 216 respectively; and a Reuleaux triangle-based brush 219 fixed to the end of the second rotating shaft 216.

[0062] In this embodiment, the top of the Reuleaux triangular disc brush 219 is shaped like a Reuleaux triangle, and its bristles are evenly fixed on the entire Reuleaux triangular disc brush 219, and the distribution pattern is also Reuleaux triangular. When the second motor 210 works, it drives the first rotating shaft 212 and the first gear 213 to rotate together, which in turn drives the second gear 217 and the second rotating shaft 216, which mesh with the first gear 213, to rotate. Due to the restriction of the rotating shaft linkage block 214, when the second gear 217 and the second rotating shaft 216 rotate together, while they are performing their own rotational motion, they will also perform a circumferential motion around the first rotating shaft 212. Finally, the rotational motion of the second rotating shaft 216 combined with the circumferential motion makes the working area of ​​the Reuleaux triangular disc brush 219 fixed under the second rotating shaft 216 square after rotation.

[0063] In this embodiment, multiple Reuleaux triangular disc brushes 219 can be arranged along the length of the frame 100 to form a rectangular cleaning area.

[0064] Optional, see Figure 4 and Figure 5 As a method of fixing the second motor 210, the top of the frame 100 has several through holes 118; a motor mounting cover 119 is fixed to the through holes 118; the second motor 210 is fixed to the motor mounting cover 119. Optionally, the motor mounting cover 119 can be fixed to the frame 100 by bolts.

[0065] For details, see Figure 6 The output shaft of the second motor 210 passes through the rear end of the motor mounting cover 119, and a coupling 211 can be installed at its end. The lower end of the coupling 211 is connected to a first rotating shaft 212. The first rotating shaft 212 can be a stepped shaft that is thinner at the top and thicker at the bottom. A first gear 213 is fixed at the end of the first rotating shaft 212. A rotating shaft linkage block 214 is sleeved on the first rotating shaft 212. The lower part of the rotating shaft linkage block 214 is supported by the shoulder of the first rotating shaft 212, and the upper part is limited by a first elastic retaining ring 215 that is snapped onto the first rotating shaft 212, thereby achieving the axial positioning of the rotating shaft linkage block 214 on the first rotating shaft 212. A second rotating shaft 216 is sleeved on the other side of the rotating shaft linkage block 214. The second rotating shaft 216 is a stepped shaft with a thicker top and a thinner bottom. The shoulder of the second rotating shaft 216 is supported by the rotating shaft linkage block 214. A second elastic retaining ring 218 is snapped into the middle of the second rotating shaft 216, and the top of the second elastic retaining ring 218 abuts against the bottom of the rotating shaft linkage block 214, thereby realizing the axial positioning of the second rotating shaft 217. A second gear 217 is fixedly connected to the second rotating shaft 216. The second gear 217 meshes with the first gear 213. The end of the second rotating shaft 216 is connected to the top center of the Reuleaux triangular disc brush 219.

[0066] In this embodiment, the frame 100 is further provided with mounting slots 110 at both ends; a walking component for moving on the photovoltaic panel is provided in the mounting slots 110.

[0067] Optional, see Figures 1 to 4 The walking assembly includes: a driving wheel 112 and a first driven wheel 113, which are disposed at the bottom of the mounting groove 110 and used to abut against the bottom surface of the photovoltaic panel; an auxiliary wheel 114, which is disposed on the side of the mounting groove 110 and used to abut against the side of the photovoltaic panel; and a plurality of second driven wheels 117, which are disposed on the top surface of the mounting groove 110 and used to abut against the top surface of the photovoltaic panel.

[0068] Specifically, when the cleaning robot is mounted on a photovoltaic module, the mounting slot 110 can be used to fit over both ends of the photovoltaic panel. The drive wheel 112 and the first driven wheel 113 abut against the bottom surface of the photovoltaic panel, the auxiliary wheel 114 abuts against the side surface of the photovoltaic panel, and the second driven wheel 117 abuts against the top surface of the photovoltaic panel. The drive wheel 112 can be driven by a first motor 111, which is mounted on the side of the frame 100. The first motor 111 can be connected to a reducer, and the output shaft of the reducer can pass through the frame 100 and connect to the drive wheel 112. Of course, in other embodiments, the drive wheel 112 can also be connected to the motor via chain drive, belt drive, etc., which will not be elaborated here.

[0069] In this embodiment, to accommodate photovoltaic panels of different thicknesses or to facilitate adjustment of the installation pressure of the frame 100 on the photovoltaic panels, the second driven wheel 117 can be height-adjustable. See details below. Figure 3 The top of the mounting groove 110 is vertically provided with a square hole, and an electric push rod 115 is fixed in the square hole. The end of the electric push rod 115 is connected to a second driven wheel sleeve 116, and a second driven wheel 117 is hinged on the second driven wheel sleeve 116.

[0070] In this embodiment, the extension and retraction of the electric push rod 115 can drive the lifting and lowering of the second driven wheel 117; the second driven wheel 117, in conjunction with the support of the drive wheel 112 and the first driven wheel 113, can ensure that the photovoltaic module is pressed tightly when the cleaning robot is mounted.

[0071] Further, see Figure 2 and Figure 9 To facilitate the detection of the pressure of the second driven wheel 117 on the photovoltaic panel, several pressure sensing modules 320 can also be provided on the frame 100. The pressure sensing module 320 includes: a slide rod 322, the upper end of which is slidably inserted into a slide groove at the bottom of the frame 100, and a pressure sensor 324 is fixed at the upper end of the slide rod 322; a spring 323, the upper and lower ends of which respectively abut against the frame 100 and the pressure sensor 324; and a pulley 321, which is fixed at the lower end of the slide rod 322.

[0072] Optionally, a locking block 121 is provided at the lower opening of the slide groove 120; a limiting ring 325 is provided on the slide rod 322 and located inside the slide groove. The cooperation of the locking block 121 and the limiting ring 325 can prevent the slide rod 322 from being pulled out of the slide groove 120.

[0073] In this embodiment, the pressure sensor 324 can detect the pressure of the spring 323, thereby obtaining the pressure value of the second driven wheel 117 on the photovoltaic panel. The pressure sensor 324 can be a commercially available pressure sensor, which will not be described in detail here.

[0074] In some optional application scenarios, when the cleaning robot is mounted on the photovoltaic module, the pulley 321 is pushed upward by the photovoltaic panel to push the slide bar 322. The pressure sensor 324 can monitor the pressure value of the second driven wheel 117 on the photovoltaic panel in real time. This data can be transmitted back to the control system for reference and judgment of the adjustment action of the electric push rod 115.

[0075] Further, see Figure 2 , Figure 7 and Figure 8 To facilitate the collection of dirt information on photovoltaic panels, the rack 100 can also be equipped with several dirt recognition modules 310. The dirt recognition module 310 includes: a base plate 316, which is installed on the rack 100; and a camera module 311, which is vertically fixed on the base plate 316 and whose camera protrudes from the base plate 316, and can be used to collect dirt information on the photovoltaic panels in real time.

[0076] Furthermore, to facilitate cleaning of the camera module 311, the stain recognition module 310 also includes: a motor bracket 312 fixed on the base plate 316; a third motor 313 mounted on the motor bracket 312; wherein the base plate 316 is provided with an arc-shaped through groove 317, and the output shaft of the third motor 313 is connected to a cleaning brush head 315 passing through the arc-shaped through groove 317 via a crank rocker mechanism 314, the cleaning brush head 315 being used to clean the camera of the camera module 311.

[0077] In this embodiment, the exposed surface of the base plate 316 can be flush with the bottom surface of the frame 100. The cleaning brush head 315 can swing within the angle range of the arc-shaped through groove 317 with the rocker arm of the crank rocker mechanism 314. The height of the brush bristles of the cleaning brush head 315 is consistent with the height of the camera of the camera module 311, and its swing range covers the entire camera. When the dust on the surface of the photovoltaic module is stirred up by the cleaning action during operation, the dust adsorbed on the camera can be removed by the cleaning brush head 315, preventing the working field of view of the camera from being blocked and ensuring the normal operation of the stain recognition module 310.

[0078] In some optional application scenarios, the stain recognition module 310 can also be linked with the first motor 111 that drives the drive wheel 112. When it detects bird droppings, mud, or other hard-to-clean stains on the photovoltaic panel, it can transmit a signal to the control system to reduce the speed of the first motor 111, thereby reducing the moving speed of the cleaning robot and extending the cleaning time of the Reuleaux triangular brush 219 for that area to ensure the cleaning effect. When there are no hard-to-clean stains on the surface of the photovoltaic panel, the speed of the first motor 111 returns to the initial set value, and the cleaning robot moves at the initial start speed.

[0079] It should be noted that all the devices (parts whose specific structures are not specified) selected in this application are general standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0080] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0081] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0083] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] In addition, the functional units in the various embodiments of this utility model can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0085] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification.

Claims

1. A disc brush photovoltaic cleaning robot based on the Reuleaux triangle principle, characterized in that, include: A rack (100) is used for mounting on a photovoltaic panel; Several cleaning components (200) are mounted on the frame; in The cleaning assembly (200) includes: The second motor (210) is fixed on the frame (100); The first rotating shaft (212) is connected to the output shaft of the second motor (210), and a first gear (213) is fixed on it. The second rotating shaft (216) is arranged parallel to the first rotating shaft (212), and a second gear (217) that meshes with the first gear (213) is fixed on it. The rotating shaft linkage block (214) is rotatably connected at both ends to the first rotating shaft (212) and the second rotating shaft (216), respectively; The Reuleaux triangular brush (219) is fixed to the end of the second rotating shaft (216).

2. The photovoltaic cleaning robot with a disc brush according to claim 1, characterized in that, The top of the frame (100) has several through holes (118). A motor mounting cover (119) is fixed on the through hole (118); The second motor (210) is fixed on the motor mounting cover (119).

3. The photovoltaic cleaning robot with a disc brush according to claim 1, characterized in that, Both ends of the frame (100) are provided with mounting slots (110); The mounting slot (110) is provided with a walking component for moving on the photovoltaic panel.

4. The photovoltaic cleaning robot with a disc brush according to claim 3, characterized in that, The walking component includes: The driving wheel (112) and the first driven wheel (113) are disposed at the bottom of the mounting groove (110) to abut against the bottom surface of the photovoltaic panel; An auxiliary wheel (114) is disposed on the side of the mounting groove (110) to abut against the side of the photovoltaic panel; and Several second driven wheels (117) are disposed on the top surface of the mounting groove (110) to abut against the top surface of the photovoltaic panel.

5. The photovoltaic cleaning robot with a disc brush according to claim 4, characterized in that, The top of the mounting groove (110) has a square hole vertically opened, and an electric push rod (115) is fixed in the square hole. The end of the electric push rod (115) is connected to a second driven wheel sleeve (116), and a second driven wheel (117) is hinged on the second driven wheel sleeve (116).

6. The photovoltaic cleaning robot with a disc brush according to claim 4, characterized in that, The frame (100) is provided with a first motor (111) on both sides for driving the corresponding drive wheel (112).

7. The photovoltaic cleaning robot with a disc brush according to claim 1, characterized in that, Also includes: Several stain recognition modules (310); The stain recognition module (310) includes: The base plate (316) is mounted on the frame (100); The camera module (311) is vertically fixed on the base plate (316), and its camera protrudes from the base plate (316).

8. The photovoltaic cleaning robot with a disc brush according to claim 7, characterized in that, The stain recognition module (310) also includes: The motor bracket (312) is fixed on the base plate (316); The third motor (313) is mounted on the motor bracket (312); among which An arc-shaped through groove (317) is provided on the base plate (316). The output shaft of the third motor (313) is connected to a cleaning brush head (315) that passes through the arc-shaped through groove (317) via a crank rocker mechanism (314). The cleaning brush head (315) is used to clean the camera of the camera module (311).

9. The photovoltaic cleaning robot with a disc brush according to claim 4, characterized in that, Also includes: Several pressure sensing modules (320); The pressure sensing module (320) includes: The upper end of the slide rod (322) is slidably inserted into the slide groove (120) at the bottom of the frame (100), and a pressure sensor (324) is fixed at the upper end of the slide rod (322). The spring (323) has its upper and lower ends abutting against the frame (100) and the pressure sensor (324) respectively. The pulley (321) is fixed to the lower end of the slide bar (322).

10. The photovoltaic cleaning robot with a disc brush according to claim 9, characterized in that, A locking block (121) is provided at the lower opening of the slide (120). A limiting ring (325) is provided on the slide rod (322) and located in the slide groove.

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