A large inclination photovoltaic cleaning robot

Abstract

The utility model relates to photovoltaic cleaning robot technical field discloses a big inclination photovoltaic cleaning robot, and the robot includes the car body, cleaning device, walking device, negative pressure adsorption device and mechanical suspension, negative pressure adsorption device adjusts and maintains adsorption, and the mechanical suspension contains rotatable swing cantilever and suspension roller, first, start negative pressure adsorption device and make the mechanical suspension and withdraw, and the robot climbs along photovoltaic board longitudinal direction, after reaching the top, rotate the direction, and lower swing cantilever to the vertical position brake locking, make the suspension roller hang up on the photovoltaic board along, finally, close negative pressure fan, switch to the mechanical suspension bearing state, and the robot executes cleaning along photovoltaic board transverse rolling, and the utility model replaces the continuous negative pressure adsorption with the mechanical suspension, and the safety under the big inclination working condition is obviously reduced energy consumption and promotes.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning robot technology, specifically a large-angle photovoltaic cleaning robot. Background Technology

[0002] Photovoltaic power generation devices utilize the photovoltaic effect of semiconductor materials to absorb solar energy and convert it into electrical energy. Photovoltaic panels are one of the core components of these devices. Since photovoltaic panels are installed outdoors year-round, a large amount of dust and debris inevitably accumulates on their surfaces. If this dust and debris are not cleaned in a timely manner, the efficiency of the photovoltaic panels in absorbing solar energy will decrease.

[0003] With the widespread application of photovoltaic power generation technology, large-angle photovoltaic panels are often used in some application scenarios, such as high-slope roofs, mountain slopes, and high-latitude regions. A large angle generally refers to a tilt angle greater than 30° for the photovoltaic panel. Traditional photovoltaic cleaning equipment is mainly designed for flat or shallow tilt scenarios, facing numerous problems under large-angle conditions. Existing wheeled or tracked robots rely on their own weight and friction to maintain posture, and are prone to slippage or tipping when the tilt angle exceeds 30°. To solve the cleaning problem of large-angle photovoltaic panels, current automated cleaning equipment for large-angle photovoltaic panels uses negative pressure adsorption robots. Chinese utility model patent publication number CN118631158A discloses a photovoltaic cleaning robot capable of climbing steep slopes, including a control unit, a body with cleaning units, and several adsorption units controlled by the control unit. Each adsorption unit includes a floating plate, a negative pressure fan for creating negative pressure between the floating plate and the surface to be cleaned, and a pressure sensor for detecting the adsorption state between the floating plate and the surface to be cleaned. By adding several liftable adsorption units to the tracked climbing structure, additional climbing support is provided, enabling free movement and cleaning work on larger slopes, with a maximum climbing angle of 45 degrees.

[0004] However, existing negative pressure adsorption cleaning robots generally rely on a negative pressure adsorption device that operates continuously at high power to provide adhesion. While this method can meet basic climbing requirements, the prolonged full-load operation of the fan causes a sharp decrease in the equipment's battery life. Utility Model Content

[0005] This invention addresses the technical problems existing in the prior art by providing a large-tilt photovoltaic cleaning robot. To solve the problems of continuous high energy consumption and slippage risk of large-tilt photovoltaic cleaning robots, a structure combining negative pressure adsorption and mechanical suspension is proposed, which balances operational safety and battery life.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a large-angle photovoltaic cleaning robot, comprising a robot body and a cleaning device and a walking device installed on the robot body. The robot body is also equipped with at least one negative pressure adsorption device and a mechanical suspension. The negative pressure adsorption device is used to maintain the adhesion between the robot body and the photovoltaic panel through negative pressure adsorption. The negative pressure adsorption device includes a negative pressure fan, a negative pressure sensor, and a floating suction cup. The floating suction cup is fixed to the bottom of the robot body by a floating mechanism, and the floating suction cup and the surface of the photovoltaic panel to be cleaned form a negative pressure cavity. The negative pressure fan is used to generate negative pressure between the floating suction cup and the surface to be cleaned, causing them to adhere to each other. The negative pressure sensor is used to monitor the negative pressure cavity. The mechanical suspension includes a fixed cantilever, a swing cantilever, a drive motor, an absolute encoder, and suspension rollers. The fixed cantilever is fixedly connected to the robot body, and the swing cantilever is rotatably connected to the fixed cantilever. Suspension rollers are installed at the end of the swing cantilever. The drive motor drives the swing cantilever to rotate along the fixed cantilever. The absolute encoder monitors the rotation angle of the swing cantilever. The system also includes a control unit, which is electrically connected to the negative pressure sensor and the absolute encoder. The control unit receives the air pressure signal from the negative pressure sensor and dynamically adjusts the power of the negative pressure fan. The control unit also receives the angle signal from the absolute encoder and controls the start / stop and braking actions of the drive motor. The drive motor is used to drive the swing cantilever to switch between a first state parallel to the photovoltaic panel and a second state perpendicular to the photovoltaic panel. When the swing cantilever is in the second state, the suspension roller is configured to be attached to the upper edge of the photovoltaic panel. Specifically, in the first state, the swing cantilever is parallel to the plane of the photovoltaic panel, and the axis of the suspension roller is parallel to the plane of the photovoltaic panel and does not contact the upper edge of the photovoltaic panel. In the second state, the swing cantilever is perpendicular to the plane of the photovoltaic panel, the axis of the suspension roller is perpendicular to the plane of the photovoltaic panel, and the outer circumferential surface of the suspension roller is attached to the upper edge of the photovoltaic panel.

[0007] Using the above technical solution, when cleaning large-angle photovoltaic panels, this photovoltaic cleaning robot first enters the climbing and adsorption stage. The control unit starts the negative pressure fan, so that the floating suction cup forms a negative pressure adsorption with the photovoltaic panel. The negative pressure sensor monitors the air pressure in real time and dynamically adjusts the fan power to maintain the adsorption force. The mechanical suspension maintains the first state, the swing arm is horizontal, and the suspension rollers detach from the photovoltaic panel. After reaching the top of the photovoltaic panel, the state is switched. When the robot reaches the top of the photovoltaic panel, the control unit drives the motor to lower the swing arm. The absolute encoder provides real-time feedback on the swing arm angle. When the vertical position is detected, the brake is immediately locked, and the suspension rollers are precisely engaged with the upper edge of the photovoltaic panel. Finally, in the lateral energy-saving operation stage, the control unit turns off the negative pressure fan and switches to mechanical suspension bearing. The robot moves laterally along the upper edge of the photovoltaic panel through the walking device, the rollers roll and guide, and the cleaning device performs the cleaning operation.

[0008] A further aspect of this invention is that two mechanical suspensions are symmetrically arranged along the centerline of the robot body along its length, and the fixed cantilever arms of the two mechanical suspensions are distributed on both sides of the robot body along its length.

[0009] A further aspect of this invention is that the two swing arms of the mechanical suspension are simultaneously retracted towards each other in the first state, and simultaneously lowered vertically outwards in the second state.

[0010] A further aspect of this invention is that the drive motor is mounted on the fixed cantilever, the motor shaft of the drive motor is coaxially and fixedly connected to the rotation shaft of the swing cantilever, the suspension roller is mounted on the swing cantilever through a roller bracket, and the absolute encoder is coaxially connected to the motor shaft of the drive motor to detect the rotation angle of the motor shaft in real time and convert it into the swing angle of the swing cantilever.

[0011] A further aspect of this invention is that the width of the suspended roller is greater than the width of the upper edge of the photovoltaic panel.

[0012] A further aspect of this invention is that the drive motor is a DC brushed motor with a brake.

[0013] A further aspect of this invention is that three negative pressure adsorption devices are provided, and the three negative pressure adsorption devices are evenly distributed along the length of the robot body at the bottom of the robot body. A multi-negative pressure redundancy scheme is adopted. When passing through the gaps of photovoltaic panels, as long as the pressure inside one negative pressure adsorption device is normal, the photovoltaic cleaning robot can be guaranteed to operate normally, which greatly improves the adaptability of the photovoltaic cleaning robot to the on-site environment.

[0014] A further aspect of this invention is that the negative pressure fan and the negative pressure sensor are fixed on the bottom plate of the robot body, the suction port of the negative pressure fan is located in the negative pressure cavity formed between the floating suction cup and the robot body, and a protective perforated plate is provided between the suction port of the negative pressure fan and the negative pressure cavity, and the detection head of the negative pressure sensor is located in the negative pressure cavity.

[0015] A further aspect of this invention is that the floating mechanism includes a fixed support and a flexible material edging. The upper periphery of the floating suction cup is covered with a flexible edging, and the upper end of the edging is installed on the bottom of the robot body through the fixed support, allowing the floating suction cup to float and move relative to the fixed support in three dimensions. After the negative pressure fan is turned on, the floating mechanism can both adhere to the photovoltaic panel and passively lift it without obstructing the operation of the photovoltaic robot when there are obstacles or foreign objects on the photovoltaic panel.

[0016] A further aspect of this invention is that the bottom of the floating suction cup is provided with an upwardly inclined flange, which facilitates the floating suction cup crossing the gaps in the photovoltaic panel.

[0017] A further aspect of this invention is that the negative pressure fan is a 350W high-suction DC brushless fan.

[0018] In practical use, this invention first places the photovoltaic cleaning robot on a steeply tilted photovoltaic panel, with the robot's direction of travel aligned with the longitudinal direction of the panel. The control unit then activates the negative pressure fan, creating a negative pressure chamber between the floating suction cup and the surface of the photovoltaic panel to be cleaned. A negative pressure sensor monitors the air pressure data within this chamber, and the output power of the negative pressure fan is dynamically adjusted based on this data to maintain suction force. The control unit controls the mechanical suspension to maintain the first state: the drive motor controls the swing arm to remain parallel to the photovoltaic panel plane, the suspension rollers are disengaged from the upper edge of the photovoltaic panel, and the photovoltaic cleaning robot climbs from bottom to top along the longitudinal direction of the photovoltaic panel through the walking device; Secondly, when the photovoltaic robot reaches the top edge of the photovoltaic panel, the photovoltaic cleaning robot rotates 90° at a differential speed. The direction of travel of the photovoltaic cleaning robot is consistent with the lateral direction of the photovoltaic panel. The control unit controls the drive motor to lower the swing arm, and the rotation angle of the swing arm is detected in real time by an absolute encoder. When the absolute encoder detects that the swing cantilever is perpendicular to the photovoltaic panel plane, it controls the drive motor to stop and activates the braking function, and the suspension roller is attached to the upper edge of the photovoltaic panel; Finally, the control unit shuts down the negative pressure fan, and the photovoltaic cleaning robot relies entirely on its mechanical suspension and walking mechanism for propulsion. The suspended rollers roll along the upper edge of the photovoltaic panel, and the photovoltaic cleaning robot moves laterally along the photovoltaic panel to perform cleaning operations.

[0019] When the negative pressure sensor detects that the air pressure of at least one negative pressure adsorption device meets the standard, the walking device continuously drives the photovoltaic cleaning robot to move.

[0020] Compared with the prior art, the beneficial effects of this utility model are: This invention utilizes a negative pressure adsorption device to ensure the normal climbing of a photovoltaic cleaning robot on steeply tilted photovoltaic panels. When the robot reaches the top of the photovoltaic panel, it is suspended by the mechanical suspension rollers along the upper edge of the panel. At this point, the negative pressure adsorption device can be turned off, and the photovoltaic cleaning robot operates with the assistance of the mechanical suspension. After the climbing phase, the high-power negative pressure fan is turned off, and the robot is supported only by the mechanical suspension, extending its runtime. The redundant design of the negative pressure adsorption device and the floating suction cup structure ensure continuous adsorption when the robot crosses gaps in the photovoltaic panel. The suspension rollers roll along the edge of the photovoltaic panel to guide the robot, preventing the mechanical suspension structure from getting stuck when the photovoltaic cleaning robot moves laterally. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a bottom view of the photovoltaic cleaning robot of this utility model; Figure 2 This is a top view of the photovoltaic cleaning robot of this utility model; Figure 3 This is a left view of the photovoltaic cleaning robot of this utility model; Figure 4 This is a perspective view of the photovoltaic cleaning robot of this utility model; Figure 5 This is a schematic diagram of the mechanical suspension structure of the photovoltaic cleaning robot of this utility model; Figure 6 This is a schematic diagram of the negative pressure device structure of the photovoltaic cleaning robot of this utility model; Figure 7 This utility model Figure 6 Enlarged schematic diagram of the structure at point A in the middle.

[0023] In the diagram, 1. Robot body; 2. Cleaning device; 3. Walking device; 4. Mechanical suspension; 5. Negative pressure adsorption device; 41. Fixed cantilever; 42. Swinging cantilever; 43. Roller bracket; 44. Suspension roller; 45. Drive motor; 46. Absolute encoder; 47. Rotating shaft; 51. Base plate; 52. Negative pressure fan; 53. Negative pressure sensor; 54. Protective perforated plate; 55. Floating suction cup; 56. Fixed support; 57. Edge binding. Detailed Implementation

[0024] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0025] Example 1 like Figures 1-7 As shown, this embodiment provides a large tilt angle photovoltaic cleaning robot, including a robot body 1 and a cleaning device 2 and a walking device 3 installed on the robot body 1. The robot body 1 is also equipped with at least one negative pressure adsorption device 5 and a mechanical suspension 4.

[0026] The robot body 1, cleaning device 2, and walking device 3 are all existing technologies. For example... Figure 2 As shown in the attached diagram, the left-right direction represents the length of the robot body 1, and the up-down direction represents its width. Two walking devices 3 are symmetrically arranged on both sides of the robot body 1 along its width. Each walking device 3 includes a drive wheel, a driven wheel, and a track. The drive wheel and driven wheel are rotatably connected to both sides of the robot body 1 along its width, and are connected via the track drive. The drive wheel is driven by a motor. A cleaning device 2 is located on one or both sides of the robot body 1 along its length. The cleaning device 2 includes a brush roller frame, a brush roller, and a brush roller motor. The brush roller is mounted on the brush roller frame and rotated by the brush roller motor to clean the photovoltaic panel surface.

[0027] The robot body 1 is also equipped with vision devices and ranging devices to enable the automated operation of the photovoltaic cleaning robot.

[0028] like Figure 6 , Figure 7As shown, the negative pressure adsorption device 5 is used to maintain the adhesion between the robot body 1 and the photovoltaic panel through negative pressure adsorption. The negative pressure adsorption device 5 includes a negative pressure fan 52, a negative pressure sensor 53, and a floating suction cup 55. The floating suction cup 55 is fixed to the bottom of the robot body 1 by a floating mechanism. The cross-section of the floating suction cup 55 can be circular or square. The bottom of the floating suction cup 55 is provided with an upwardly inclined flange to facilitate the floating suction cup 55 crossing the gaps of the photovoltaic panel. In this embodiment, the cross-section of the floating suction cup 55 is square. The floating suction cup 55 and the surface of the photovoltaic panel to be cleaned form a negative pressure cavity. The negative pressure fan 52 is used to generate negative pressure between the floating suction cup 55 and the surface to be cleaned, causing them to adhere to each other. The negative pressure sensor 53 is used to monitor the air pressure in the negative pressure cavity.

[0029] The negative pressure fan 52 and the negative pressure sensor 53 are fixed on the base plate 51 of the robot body 1. The suction port of the negative pressure fan 52 is located in the negative pressure cavity formed between the floating suction cup 55 and the robot body 1. A protective perforated plate 54 is provided between the suction port of the negative pressure fan 52 and the negative pressure cavity. The protective perforated plate 54 prevents large particles of garbage from entering the negative pressure fan 52 and affecting the operation of the negative pressure fan 52. The detection head of the negative pressure sensor 53 is located in the negative pressure cavity.

[0030] The floating mechanism includes a fixed support 56 and a flexible material edging 57. The upper periphery of the floating suction cup 55 is covered with a flexible edging 57. The upper end of the edging 57 is fixed to the bottom of the robot body 1 by bolts through the fixed support 56, allowing the floating suction cup 55 to float and move relative to the fixed support 56 in three dimensions. After the negative pressure fan 52 is turned on, the floating mechanism can ensure that it is sealed and adsorbed on the photovoltaic panel, and can also be passively lifted without hindering the operation of the photovoltaic robot when there are obstacles or foreign objects on the photovoltaic panel.

[0031] In this embodiment, the negative pressure fan 52 is a 350W high-suction DC brushless fan.

[0032] In this preferred embodiment, such as Figure 1 As shown, three negative pressure adsorption devices 5 are provided. The three negative pressure adsorption devices 5 are evenly distributed at the bottom of the robot body 1 along the length direction of the robot body 1. The multi-negative pressure redundancy scheme is adopted. When passing through the gap of the photovoltaic panel, as long as the pressure inside one negative pressure adsorption device 5 is normal, the photovoltaic cleaning robot can be guaranteed to operate normally, which greatly improves the adaptability of the photovoltaic cleaning robot to the on-site environment.

[0033] In this preferred embodiment, such as Figure 2As shown, two mechanical suspensions 4 are symmetrically arranged along the centerline of the robot body 1 in the length direction. The fixed cantilever arms 41 of the two mechanical suspensions 4 are distributed on both sides of the robot body 1 in the length direction. The swinging cantilever arms 42 of the two mechanical suspensions 4 are synchronously retracted towards each other in the first state, and synchronously lowered vertically outward in the second state.

[0034] like Figure 5 As shown, the mechanical suspension 4 includes a fixed cantilever 41, a swing cantilever 42, a drive motor 45, an absolute encoder 46, and suspension rollers 44, as follows. Figure 2 As shown, the fixed cantilever 41 is fixedly connected to one side of the robot body 1 in the width direction, that is, when the robot body 1 moves along the transverse direction of the photovoltaic panel, the fixed cantilever 41 is located above the robot body 1. Figure 5 As shown, the fixed cantilever 41 is a strip plate, fixed to the robot body 1 by bolts. The drive motor 45 is mounted on the fixed cantilever 41, and the swing cantilever 42 is rotatably connected to the fixed cantilever 41. Specifically, the motor shaft of the drive motor 45 is coaxially and fixedly connected to the rotation shaft 47 of the swing cantilever 42. The suspension roller 44 is mounted on the swing cantilever 42 through a roller bracket 43. The roller bracket 43 consists of two support rods fixedly arranged along the length of the swing cantilever 42. The ends of the two support rods are respectively connected to the two ends of the rotation shaft 47 of the suspension roller 44 through bearings. The absolute encoder 46 is coaxially connected to the motor shaft of the drive motor 45 or the rotation shaft 47 of the swing cantilever 42, and detects the rotation angle of the motor shaft or the rotation shaft 47 in real time and converts it into the swing angle of the swing cantilever 42. The swing cantilever 42, coaxially connected to the motor shaft of the drive motor 45, is equipped with a suspension roller 44. The width of the suspension roller 44 is greater than the width of the upper edge of the photovoltaic panel. The drive motor 45 is used to drive the swing arm 42 to rotate along the fixed arm 41. The absolute encoder 46 is used to monitor the rotation angle of the swing arm 42. Preferably, the drive motor 45 is a DC brushed motor with a brake, which has a built-in reducer. In this embodiment, the absolute encoder 46 is coaxially connected to the output shaft of the reducer of the drive motor 45.

[0035] The photovoltaic cleaning robot also includes a control unit, which is electrically connected to the negative pressure sensor 53 and the absolute encoder 46 respectively. The control unit receives the air pressure signal from the negative pressure sensor 53 and dynamically adjusts the power of the negative pressure fan 52. The control unit receives the angle signal from the absolute encoder 46 and controls the start, stop and braking actions of the drive motor 45.

[0036] The mechanical suspension 4 of the photovoltaic cleaning robot of this utility model has two states: a first state and a second state (i.e., a retracted state and a working state). In the retracted state, the swing arm 42 is parallel to the plane of the photovoltaic panel, and the axis of the suspension roller is parallel to the plane of the photovoltaic panel and does not contact the upper edge of the photovoltaic panel. In the working state, the swing arm 42 is perpendicular to the plane of the photovoltaic panel, the axis of the suspension roller is perpendicular to the plane of the photovoltaic panel, and the outer circumferential surface of the suspension roller is attached to the upper edge of the photovoltaic panel.

[0037] Through the above technical solution, when cleaning large-angle photovoltaic panels, this photovoltaic cleaning robot first enters the climbing and adsorption stage. The control unit starts the negative pressure fan 52, so that the floating suction cup 55 forms a negative pressure adsorption with the photovoltaic panel. The negative pressure sensor 53 monitors the air pressure in real time and dynamically adjusts the fan power to maintain the adsorption force. The mechanical suspension 4 remains in the first state, the swing arm 42 is horizontal, and the suspension rollers detach from the photovoltaic panel. After reaching the top of the photovoltaic panel, the state is switched. When the robot reaches the top of the photovoltaic panel, the control unit drives the motor 45 to lower the swing arm 42. The absolute encoder 46 provides real-time feedback on the swing arm angle. When the vertical position is detected, the robot immediately brakes and locks. The suspension rollers 44 are precisely attached to the upper edge of the photovoltaic panel. Finally, in the horizontal energy-saving operation stage, the control unit turns off the negative pressure fan 52 and switches to the mechanical suspension 4 for full load bearing. The robot moves laterally along the upper edge of the photovoltaic panel through the walking device 3. The suspension rollers roll and guide, and the cleaning device 2 performs the cleaning operation.

[0038] When cleaning large-angle photovoltaic panels with a narrow longitudinal width, only one photovoltaic cleaning robot is needed. The roller brush of the cleaning device 2 can completely cover the longitudinal width of the photovoltaic panel when the robot moves laterally.

[0039] The working principle of this utility model is as follows: First, the photovoltaic cleaning robot is placed on a photovoltaic panel with a large tilt angle. The direction of travel of the photovoltaic cleaning robot is consistent with the longitudinal direction of the photovoltaic panel. The control unit starts the negative pressure fan 52, so that the floating suction cup 55 and the surface of the photovoltaic panel to be cleaned form a negative pressure chamber. The air pressure data in the negative pressure chamber is monitored by the negative pressure sensor 53. Based on the air pressure data in the negative pressure chamber, the control unit dynamically adjusts the output power of the negative pressure fan 52 through a PID algorithm. If the air pressure is lower than the threshold, the control unit increases the fan power through the PID algorithm, and vice versa, to maintain the suction force. This utility model can achieve the above technical solution by using the existing PID algorithm, and will not be described further in this patent.

[0040] The control unit controls the mechanical suspension 4 to maintain the first state: the drive motor 45 controls the swing arm 42 to remain parallel to the photovoltaic panel plane, the suspension roller 44 is disengaged from the upper edge of the photovoltaic panel, and the photovoltaic cleaning robot climbs from bottom to top along the longitudinal direction of the photovoltaic panel through the walking device 3. Secondly, when the photovoltaic robot reaches the upper edge of the photovoltaic panel, the photovoltaic cleaning robot rotates 90° at a differential speed. The direction of travel of the photovoltaic cleaning robot is consistent with the lateral direction of the photovoltaic panel. The control unit controls the drive motor 45 to lower the swing arm 42, and the rotation angle of the swing arm 42 is detected in real time by the absolute encoder 46. When the absolute encoder 46 detects that the swing arm 42 is perpendicular to the photovoltaic panel plane, the control drive motor 45 stops and the braking function is activated, and the suspension roller 44 is attached to the upper edge of the photovoltaic panel. Finally, the control unit shuts down the negative pressure fan 52, and the photovoltaic cleaning robot relies entirely on the mechanical suspension 4 for load-bearing and the walking device 3 for propulsion. The suspended roller 44 rolls along the upper edge of the photovoltaic panel, and the photovoltaic cleaning robot moves in the lateral direction of the photovoltaic panel to perform cleaning operations.

[0041] When the negative pressure sensor 53 detects that the air pressure of at least one negative pressure adsorption device 5 meets the standard, the walking device 3 continuously drives the photovoltaic cleaning robot to move.

[0042] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A photovoltaic cleaning robot with a large tilt angle, characterized in that: The system includes a robot body (1) and a cleaning device (2) and a walking device (3) installed on the robot body (1). The robot body (1) is also equipped with a negative pressure adsorption device (5) and a mechanical suspension (4). The negative pressure adsorption device (5) is used to maintain the adhesion between the robot body (1) and the photovoltaic panel through negative pressure adsorption. The mechanical suspension (4) includes a fixed cantilever (41), a swing cantilever (42), a drive motor (45), and a suspension roller (44). The fixed cantilever (41) is fixedly connected to the robot body (1), and the swing cantilever (42) is rotatably connected to the fixed cantilever (41). The end of the swing cantilever (42) is equipped with a suspension roller (44). The drive motor (45) is used to drive the swing cantilever (42) to rotate along the fixed cantilever (41). The drive motor (45) is used to drive the swing arm (42) to switch between a first state parallel to the photovoltaic panel and a second state perpendicular to the photovoltaic panel. When the swing arm (42) is in the second state, the suspension roller (44) is configured to be attached to the upper edge of the photovoltaic panel.

2. The large-tilt-angle photovoltaic cleaning robot according to claim 1, characterized in that: Two mechanical suspensions (4) are symmetrically arranged along the centerline of the robot body (1) along its length direction. The fixed cantilever (41) of the two mechanical suspensions (4) is distributed on both sides of the robot body (1) along its length direction. The swing cantilever (42) of the two mechanical suspensions (4) are synchronously retracted towards each other in the first state and synchronously lowered vertically relative to each other in the second state. Three negative pressure adsorption devices (5) are provided. The three negative pressure adsorption devices (5) are evenly distributed at the bottom of the robot body (1) along its length direction.

3. The large-tilt-angle photovoltaic cleaning robot according to claim 2, characterized in that: The first state is that the swing cantilever (42) is parallel to the plane of the photovoltaic panel, and the axis of the suspension roller (44) is parallel to the plane of the photovoltaic panel and does not contact the upper edge of the photovoltaic panel; the second state is that the swing cantilever (42) is perpendicular to the plane of the photovoltaic panel, the axis of the suspension roller (44) is perpendicular to the plane of the photovoltaic panel, and the outer circumferential surface of the suspension roller (44) is attached to the upper edge of the photovoltaic panel.

4. The large-tilt-angle photovoltaic cleaning robot according to claim 1, characterized in that: The drive motor (45) is mounted on the fixed cantilever (41). The motor shaft of the drive motor (45) is coaxially and fixedly connected to the rotating shaft (47) of the swing cantilever (42). The suspension roller (44) is mounted on the swing cantilever (42) through the roller bracket (43). The mechanical suspension (4) also includes an absolute encoder (46). The absolute encoder (46) is coaxially connected to the output shaft of the drive motor (45) or the rotating shaft (47) of the swing cantilever (42).

5. A large-tilt-angle photovoltaic cleaning robot according to claim 4, characterized in that: The drive motor (45) is a DC brushed motor with brake.

6. A large-tilt-angle photovoltaic cleaning robot according to any one of claims 1-5, characterized in that: The negative pressure adsorption device (5) includes a negative pressure fan (52), a negative pressure sensor (53), and a floating suction cup (55). The floating suction cup (55) is fixed to the bottom of the robot body (1) by a floating mechanism. The floating suction cup (55) and the surface to be cleaned of the photovoltaic panel form a negative pressure cavity. The negative pressure fan (52) is used to generate negative pressure between the floating suction cup (55) and the surface to be cleaned so that they are adsorbed. The negative pressure sensor (53) is used to monitor the air pressure in the negative pressure cavity.

7. A large-tilt-angle photovoltaic cleaning robot according to claim 6, characterized in that: The negative pressure fan (52) and negative pressure sensor (53) are fixed on the base plate (51) of the robot body (1). The suction port of the negative pressure fan (52) is located in the negative pressure cavity formed between the floating suction cup (55) and the robot body (1). A protective perforated plate (54) is provided between the suction port of the negative pressure fan (52) and the negative pressure cavity. The detection head of the negative pressure sensor (53) is located in the negative pressure cavity.

8. A large-tilt-angle photovoltaic cleaning robot according to claim 7, characterized in that: The floating mechanism includes a fixed support (56) and a flexible material edging (57). The upper periphery of the floating suction cup (55) is covered with a flexible edging (57), and the upper end of the edging (57) is installed at the bottom of the robot body (1) through the fixed support (56).

9. A large-tilt-angle photovoltaic cleaning robot according to claim 8, characterized in that: The negative pressure fan (52) is a high-suction DC brushless fan.

10. A large-tilt-angle photovoltaic cleaning robot according to claim 8, characterized in that: It also includes a control unit, which is electrically connected to the negative pressure sensor (53) and the absolute encoder (46) respectively. The control unit receives the air pressure signal from the negative pressure sensor (53) and dynamically adjusts the power of the negative pressure fan (52). The control unit receives the angle signal from the absolute encoder (46) and controls the start, stop and braking actions of the drive motor (45).

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