CN114918168A - Photovoltaic board cleaning machines people - Google Patents

Abstract

The invention relates to a photovoltaic panel cleaning robot. The photovoltaic panel cleaning robot includes a box body, a crawling mechanism, an environmental monitoring device, a cleaning device, a power supply and a control system. A plurality of crawling mechanisms are symmetrically arranged on both sides of the box body. An environmental monitoring device is arranged above, and a cleaning device is arranged in front of the box. The crawling mechanism, the environmental monitoring device, and the cleaning device are all connected to the power supply and the control system, and the power supply and the control system are arranged in the box. The present invention solves the problems of difficulty in cleaning the current photovoltaic panels, low cleaning efficiency and potential safety hazards.

Description

A photovoltaic panel cleaning robot

technical field

The invention relates to the technical field of cleaning robots, in particular to a photovoltaic panel cleaning robot.

Background technique

Nowadays, with the continuous improvement of environmental protection requirements, the clean way of generating electricity through photovoltaic panels is more and more advocated, and the scale of photovoltaic power generation is also expanding. It is often covered with dust, especially in winter, there will be a lot of snow on the surface, so the surface of photovoltaic panels needs frequent maintenance. However, at present, the cleaning of photovoltaic panels is still dominated by manual cleaning, with high labor costs, slow cleaning speed, and high labor intensity. It poses a great risk to the personal safety of the staff.

The current stage of photovoltaic panel cleaning includes manual cleaning, high-pressure water gun cleaning and large cleaning vehicle cleaning. Manual cleaning efficiency is low, labor costs are high, and there are potential safety hazards; high-pressure water gun cleaning consumes a lot of water, and excessive water pressure may damage the photovoltaic panels. After cleaning, water stains will remain on the surface of the photovoltaic panels, which will affect the power generation efficiency, and may freeze in winter. Ice will seriously weaken the power generation efficiency. Large-scale cleaning trucks have complex structures, high costs, and their size is easily limited by the site.

SUMMARY OF THE INVENTION

The present invention proposes a photovoltaic panel cleaning robot, which aims to solve the problems of current photovoltaic panel cleaning difficulties, low cleaning efficiency and potential safety hazards.

To achieve the above object, the present invention adopts the following technical solutions:

A photovoltaic panel cleaning robot, the photovoltaic panel cleaning robot includes a box body, a crawling mechanism, an environmental monitoring device, a cleaning device, a power supply and a control system, a plurality of crawling mechanisms are symmetrically arranged on both sides of the box body, and a plurality of crawler mechanisms are arranged above the box body. The environmental monitoring device is provided with a cleaning device in front of the box. The crawling mechanism, the environmental monitoring device and the cleaning device are all connected to the power supply and the control system, and the power supply and the control system are arranged in the box.

Further, the cleaning device lifting motor of the cleaning device is fixed on the lower chassis of the box body, the cleaning device lifting motor is connected with an intermediate gear, the intermediate gear is meshed with the cleaning device rotating gear, and the cleaning device rotating gear is fixed on the rotating shaft of the cleaning device, The rotating shaft of the cleaning device is fixed on the lower chassis of the box, the shoulders on both sides of the rotating shaft of the cleaning device are fixed with cleaning arms, a pipeline is opened inside the cleaning arm, one end of the pipeline is connected with a water pump, and the water pump is fixed on the lower chassis of the box, and the pipeline The other end is connected with a cleaning liquid nozzle, the cleaning liquid nozzle is fixed above the cleaning brush suspension bracket, the cleaning brush suspension bracket is fixed at the front end of the cleaning arm, the cleaning brush suspension bracket is fixed with a cleaning brush holder, and the lower surface of the cleaning brush holder is fixed with a The cleaning brush, the water pump, the lifting motor of the cleaning device and the cleaning liquid spray head are all electrically connected with the power supply, and the lifting motor and the cleaning liquid spray head of the cleaning device are connected with the electrical signal of the robot controller of the control system.

Further, the cleaning brush holder of the cleaning device is also provided with a heating rod fixing frame, and a heating rod heater is installed at both ends of the heating rod fixing frame, a heating rod is installed on the heating rod heater, and the heating rod heater is connected to a power supply. Electrical connection, the heating rod heater is connected with the electrical signal of the robot controller of the control system.

Further, the crawling leg steering gear of the crawling mechanism is installed on the upper chassis, and is connected with one end of the thigh U-shaped connecting piece through the crawling leg steering gear disk, and the other end of the thigh U-shaped connecting piece is connected with the thigh steering gear disk, The thigh servo is fixed at one end of the thigh plate under the thigh shell, the other end of the thigh plate is fixed with the calf servo, the calf servo plate on the calf servo is connected with the calf U-shaped connector, and the lower leg U-shaped connector is fixedly connected to the calf The outer shell, the calf shell is fixed with a sucker trachea holder, the sucker trachea holder is fixed and penetrates the sucker trachea, one end of the sucker trachea is connected with the vacuum pump, the vacuum pump is fixed on the lower chassis, the other end of the sucker trachea is connected with the vacuum sucker, the vacuum sucker It is arranged outside the bottom end of the calf shell. The crawling leg servo, thigh servo and calf servo are all connected with the power supply, 24-way servo board and the robot controller of the control system. The vacuum pump is connected with the power supply and the robot controller of the control system. Electrical signal connection.

Further, the environmental monitoring device includes a camera and an ultrasonic range finder, the camera is mounted on the camera fixing seat, the camera rotating gear on the connecting rod of the camera fixing seat meshes with the camera steering gear, and the camera steering gear is fixed on the camera steering gear, The camera servo is fixed on the upper chassis of the box body; the ultrasonic range finder is installed on a pair of supports, and is fixed on the upper chassis through the supports, the camera and the ultrasonic range finder are electrically connected with the power supply, and the camera and ultrasonic The range finder is connected with the electric signal of the robot controller of the control system.

The beneficial effects of the present invention are:

This cleaning robot can be adsorbed on the surface of the photovoltaic panel, walk through the crawling mechanism, and then use the cleaning device to continuously clean the photovoltaic panel without leaving water stains. In winter, the heating rod on the cleaning device can also complete the snow and ice removal work. . The robot is small in size and can reach every edge of the photovoltaic panel to ensure accurate and thorough cleaning, reduce the risk of manual operations, improve work efficiency, and will not damage the surface of the photovoltaic panel.

Each crawling mechanism of the photovoltaic panel cleaning robot of the present invention has 3 degrees of freedom, namely, the whole crawling mechanism rotates around the axis perpendicular to the ground, the part below the thigh rotates around the axis horizontal to the ground, and the lower leg rotates around the axis horizontal to the ground, so the whole robot rotates around the axis horizontal to the ground. With 24 degrees of freedom, the robot can move flexibly, and the crawling mechanism adopts the principle of vacuum adsorption, so that the cleaning robot can be firmly adsorbed on the photovoltaic panel for safe and reliable work.

The cleaning liquid in the cleaning device can de-icing and de-oiling, and the water jet after being pressurized by the cleaning liquid nozzle has a large impact force, which is conducive to cleaning. The cleaning device can be lifted and dropped, which can not only avoid obstacles, but also can be compressed when cleaning Enhance the cleaning effect on the surface of the photovoltaic panel. The internal water pump can be connected to the external water source through a water pipe, so that the robot does not need to carry cleaning liquid, which not only reduces the weight, but also does not need to change the water in the middle; the robot adopts an external cleaning device, which can make the robot The entire surface can be cleaned without having to reach the edge of the photovoltaic panel, increasing the safety of the robot's work.

Description of drawings

Figure 1 is a schematic structural diagram of a cleaning robot;

Figure 2 is a schematic structural diagram of the cleaning robot after removing the casing;

3 is a schematic diagram of the internal structure of the cleaning robot;

4 is a schematic structural diagram of a cleaning robot cleaning device;

Fig. 5 is the appearance schematic diagram of cleaning robot crawling mechanism;

6 is a schematic diagram of the internal structure of the cleaning robot crawling mechanism;

7 is a schematic structural diagram of a cleaning robot environment monitoring device;

Figure 8 is a schematic diagram of the movement gait of the cleaning robot.

Labels in the figure: 0, box, 1, shell, 2, crawling mechanism, 3, environmental monitoring device, 4, cleaning device, 5, gyroscope, 6, voltage regulator electronic components 7, 24-way steering gear board, 8, Robot controller, 9. Fixing plate, 10, Upper chassis, 11, Crawling leg steering gear, 12, Crawling leg steering gear, 13, Crawling leg steering gear mount, 14, Fixed pump print, 15, Vacuum pump, 16 , Lower chassis, 17, Body protective shell, 18, Water pump, 19, Power supply, 20, Cleaning device lifting motor, 21, Cleaning device lifting motor base, 22, Intermediate gear holder, 23, Intermediate gear, 24, Cleaning device Fixing seat, 25, Cleaning arm, 26, Pipe, 27, Cleaning device rotating shaft, 28, Cleaning device rotating gear, 29, Cleaning fluid nozzle holder, 30, Cleaning fluid nozzle, 31, Cleaning equipment fixing shaft, 32, Cleaning brush Holder, 33, Cleaning Brush, 34, Heating Rod Holder, 35, Heating Rod Heater, 36, Heating Rod, 37, Cleaning Brush Hanging Bracket, 38, Cleaning Fluid Launcher, 39, U-shaped Thigh Connector, 40 , thigh shell, 41, calf U-shaped connector, 42, calf shell, 43, servo fixed print, 44, thigh servo plate, 45, thigh servo, 46, thigh plate, 47, calf servo, 48 , calf servo plate, 49, suction cup air pipe, 50, suction cup air pipe holder, 51, suction cup connecting bolt, 52, vacuum suction cup, 53, camera mount, 54, camera, 55, ultrasonic rangefinder, 56, support , 57, camera servo mount, 58, camera servo, 59, camera servo gear, 60, camera rotation gear.

Detailed ways

The specific embodiments of the present invention are described below to facilitate those skilled in the art to understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Such changes are obvious within the spirit and scope of the present invention as defined and determined by the appended claims, and all inventions and creations utilizing the inventive concept are within the scope of protection.

As shown in FIG. 1, a photovoltaic panel cleaning robot includes a box body 0, a crawling mechanism 2, an environmental monitoring device 3, a cleaning device 4, a power supply 19 and a control system. The two sides of the box body 0 are symmetrical A plurality of crawling mechanisms 2 are arranged, an environmental monitoring device 3 is arranged above the box body 0, and a cleaning device 4 is arranged in front of the box body 0. The crawling mechanism 2, the environmental monitoring device 3, and the cleaning device 4 are all connected to the power supply 19 and the control system. The power supply 19 and the control system are arranged in the box 0 .

As shown in FIGS. 2 and 3 , the box 0 is composed of an upper chassis 10 , a lower chassis 16 , a fuselage protective shell 17 and an outer shell 1 , the fuselage protective shell 17 is fixed between the upper chassis 10 and the lower chassis 16 , and the upper chassis 10 above the fixed casing 1 to form a box structure. As shown in FIG. 3 , in this embodiment, between the upper chassis 10 and the lower chassis 16 of the robot, a cleaning device holder 24 of the cleaning device 4, a cleaning device lifting motor 20 of the cleaning device 4, four vacuum pumps 15, a power supply 19, Two water pumps 18 and eight crawling mechanisms 2, the cleaning device fixing seat 24 and the cleaning device lifting motor 20 of the cleaning device 4 are installed at the front end of the lower chassis 16, and the power supply 19 is installed in the center of the robot lower chassis 16 to supply power to each electrical device , there are two vacuum pumps 15 on both sides of the power supply 19, the vacuum pumps 15 are fixed on the lower chassis 16 with a fixed pump print 14, and two water pumps 18 are installed at the end of the lower chassis 16 for the cleaning device 4. 30 water supply, the crawling structure 2 is installed between the upper chassis 10 and the lower chassis 16 through the thigh U-shaped connector 39, the thigh U-shaped connector 39 is connected with the crawling leg steering gear plate 11, and the crawling leg steering gear plate 11 It is installed on the creeping leg steering gear 12, and the creeping leg steering gear 12 is installed on the upper chassis 10 through the creeping leg steering gear fixing seat 13. Therefore, under the driving of the creeping leg steering gear 12, the entire creeping leg steering gear 2 can realize the winding perpendicular to the ground. Rotation of the axis.

The control system includes 24 steering gear boards 7, voltage regulator electronic components 6, gyroscopes 5, and robot controller 8. The robot controller 8 and voltage regulator electronic components 6 are fixed on the upper chassis 10 through the fixing plate 9, and the robot controller 8 It is used to process the signals sent by the environmental monitoring device 3 , control the suction and exhaust of the suction cups 52 by the vacuum pump 15 , and control the switch of the water pump 18 . The gyroscope 5 and the 24-way steering gear plate 7 are respectively located on both sides of the fixed plate 9 and are fixed on the upper chassis 10. In this embodiment, the gyroscope 5 is installed on the left side of the fixed plate 9, and the 24-way steering gear plate 7 is installed on the fixed plate. On the right side of 9, the 24-way steering gear board 7 is used to control the working status of the camera steering gear 58, crawling leg steering gear 12, thigh steering gear 45 and calf steering gear 47 on the robot. of remote control.

As shown in Figures 1-4, the robot of the present invention adopts an overhanging cleaning device, which enables the robot to clean the entire surface without reaching the edge of the photovoltaic panel, thereby increasing the safety of the robot's work. The cleaning device 4 includes a water pump 18 , a cleaning device lifting motor 20 , a cleaning arm 25 , a cleaning device rotating shaft 27 , a cleaning liquid spray head 30 , a cleaning equipment fixing shaft 31 and a cleaning brush 33 . The cleaning device lifting motor 20 of the cleaning device 4 is fixed on the lower chassis 16 of the box body 0 through the cleaning device lifting motor base 21, and the cleaning device lifting motor 20 is connected with the intermediate gear 23 through the intermediate gear fixing seat 22, and the intermediate gear 23 meshes There is a cleaning device rotating gear 28, the cleaning device rotating gear 28 and the intermediate gear 23 and the gears on the cleaning device lifting motor 20 are parallel gears, so the cleaning device 4 can be lifted and lowered under the driving of the cleaning device lifting motor 20. The cleaning device rotating gear 28 is fixed on the cleaning device rotating shaft 27, the cleaning device rotating shaft 27 is installed on the cleaning device fixing seat 24, the cleaning device fixing seat 24 is fixed on the lower chassis 16, and the two shoulders of the cleaning device rotating shaft 27 are fixed on the cleaning arm In the round hole at the rear end of 25, a pipe 26 is opened inside the cleaning arm 25, so that the cleaning liquid can flow from the pipe 26 in the cleaning arm 25. One end of the pipe 26 is connected with the water pump 18 to receive the cleaning liquid sent by the water pump 18. It is fixed on the rear end of the lower chassis 16 of the box body 0, and the other end of the pipe 26 is connected with a cleaning liquid spray head 30, which supplies water to the cleaning liquid spray head 30. The cleaning liquid spray head 30 is fixed to the cleaning brush suspension bracket 3 through the cleaning liquid launching platform 38 for cleaning. Above the liquid launching platform 38, the cleaning liquid spray head 30 has a certain pressurization effect to enhance the cleaning ability. The cleaning brush suspension bracket 37 is fixed to the front end of the cleaning arm 25 through the cleaning equipment fixing shaft 31, the cleaning brush holder 32 is fixed under the cleaning brush suspension bracket 37, and the cleaning brush 33 is fixed on the lower surface of the cleaning brush holder 32. The cleaning work, the cleaning brush can clean the dirt on the surface of the photovoltaic panel, and at the same time can drag the cleaning liquid away. The water pump 18, the cleaning device lifting motor 20 and the cleaning liquid spray head 30 are respectively connected to the power supply 19, and the cleaning device lifting motor 20 and the cleaning liquid spray head 30 are also connected to the robot controller 8, and the robot controller 8 controls the cleaning device lifting motor 20 The start and stop and cleaning liquid spray head 30 switch.

The cleaning brush holder 32 of the cleaning device 4 is also provided with a heating rod fixing frame 34 , and heating rod heaters 35 are installed on both ends of the heating rod fixing frame 34 , and heating rods 36 are installed on the heating rod heater 35 . The heating rod heater 35 is connected to the power supply 19 and the robot controller 8 for heating the heating rod 36 , and the heating time of the heating rod 36 is controlled by the robot controller. The heating rod can melt the ice and snow on the surface of the photovoltaic panel by heating. The heating rod 36 can remove snow and ice from the surface of the photovoltaic panel by heating in winter. There is a cleaning liquid spray head fixing frame 29, a cleaning liquid spray head 30 is installed on the cleaning liquid spray head fixing frame 29, and the cleaning liquid from the water pump is sprayed from the cleaning liquid spray head 30 to clean the surface of the photovoltaic panel.

As shown in Figures 1, 3, 5 and 6, the crawling mechanism 2 includes a crawling leg steering gear 12, a thigh steering gear 45, a calf steering gear 47, a thigh U-shaped connector 39, a thigh shell 40, and a calf U-shaped connector 41. Calf shell 42, vacuum suction cup 52. The creeping leg steering gear 12 is installed on the upper chassis 10 through the creeping leg steering gear fixing seat 13 , and is connected to the thigh U-shaped connecting piece 39 through the creeping leg steering gear plate 11 , and drives the entire crawling mechanism 2 under the driving of the creeping leg steering gear 12 . Swing, specifically the crawling leg steering gear 12 of the crawling mechanism 2 is axially connected with the thigh U-shaped connector 39 through the creeping leg steering gear disk 11, and the thigh U-shaped connector 39 connected by the shaft is fixed on the upper chassis 10 and the lower chassis 16, The thigh U-shaped connector 39 is fixedly connected to the thigh steering gear 45 through the thigh steering gear plate 44, and the thigh steering gear 45 is fixed to one end of the thigh plate 46 of the thigh shell 40 through the steering gear fixing print 43, for controlling the part below the thigh The other end of the thigh plate 46 is fixed with a calf steering gear 47 through the steering gear fixing print 43, and the calf steering gear 47 is connected to the calf U-shaped connector 41 through the calf steering gear plate 48, and the calf steering gear 47 is used to control the calf Swing; the lower leg U-shaped connector 41 is fixedly connected to the calf casing 42, the calf casing 42 is fixed with a suction cup trachea holder 50, the suction cup trachea holder 50 is fixedly penetrated into the suction cup trachea 49, and one end of the suction cup trachea 49 is connected to the suction cup trachea 49 through a rubber hose. The vacuum pump 15 is connected, the vacuum pump 15 is fixed on the lower chassis 16, the other end of the suction cup air pipe 49 is connected to the vacuum suction cup 52 through the suction cup connecting bolt 51, and the vacuum suction cup 52 is arranged outside the bottom end of the calf shell 42. Crawling leg steering gear 12, thigh steering gear 45, calf steering gear 47 and vacuum pump 15 are respectively connected with power supply 19, 24-way steering gear board 7 and robot controller 8, and 24-way steering gear board 7 is used to control the operation of each steering gear state, the robot controller 8 controls the start and stop of the vacuum pump 15 . The air pressure in the vacuum suction cup 52 is controlled by the vacuum pump 15, and the vacuum suction cup 52 adsorbs or leaves the surface of the photovoltaic panel, so that the robot can walk stably on the photovoltaic panel. Each crawling mechanism of the photovoltaic panel cleaning robot of the present invention has 3 degrees of freedom, namely, the whole crawling mechanism rotates around the axis perpendicular to the ground, the part below the thigh rotates around the axis horizontal to the ground, and the lower leg part rotates around the axis horizontal to the ground, so the whole robot rotates around the axis horizontal to the ground. With 24 degrees of freedom, the robot can move flexibly, and the crawling mechanism adopts the principle of vacuum adsorption, so that the cleaning robot can be firmly adsorbed on the photovoltaic panel for safe and reliable work.

As shown in Figures 1, 2 and 7, the environment monitoring device 3 is a binocular camera, which can effectively judge the image ahead and perform three-dimensional road condition analysis. The environmental monitoring device 3 includes a camera 54 and an ultrasonic range finder 55. The camera 54 is mounted on the camera fixing seat 53, and the camera rotating gear 60 on the connecting rod of the camera fixing seat 53 meshes with the camera steering gear 59, so that the camera 54 can rotate. , so that the robot can have a wide field of vision, the camera steering gear 59 is fixed on the camera steering gear 58, and the camera steering gear 58 is fixed on the upper chassis 10 of the box body 0 through the camera steering gear fixing frame 57; the ultrasonic ranging The gauge 55 is mounted on a pair of supports 56 and fixed to the upper chassis 10 through the supports 56 . The camera 54 and the ultrasonic range finder 55 are connected to the power supply 19, and the camera 54 and the ultrasonic range finder 55 are connected to the robot controller 8 through an optical fiber, and the monitored information is sent to the robot controller 8, and the robot controller 8 processes and receives. The received signal provides the basis for the robot to plan the walking route, and can also be connected with external equipment to help the staff monitor the surface status of the photovoltaic panel in real time. The environmental monitoring device can accurately judge the road conditions ahead. The environmental monitoring device not only enables the robot to observe the surrounding environment for path planning, but also can be connected to external equipment, which is beneficial for the staff to monitor the surface state of the photovoltaic panel in real time.

As shown in Figures 1 and 8, the specific movement gait of the robot is as follows: 8 crawling mechanisms 2 are symmetrical on the left and right sides of the box 0, 4 on each side, the 4 on the left are abbreviated as A, B, C and D in turn, and the 4 on the right correspond to Abbreviated as E, F, G and H, the left A, C crawling mechanism and the right F, H crawling mechanism are the first group, the left B, D crawling mechanism and the right E, G crawling mechanism are the second group, When moving, the first group of crawling mechanisms is adsorbed and fixed to the surface of the photovoltaic panel, and the vacuum suction cups 52 on the second group of crawling mechanisms receive the air from the vacuum pump 15, so that the air pressure in the vacuum suction cups 52 increases to release the adsorption state with the ground, and then The thigh servo 45 and the calf servo 47 lift up under the drive of the thigh servo 45 and the calf servo 47, and then rotate forward under the drive of the crawling leg servo 12. After reaching a certain position, the thigh servo 45 and the calf servo 47 are driven to fall, and the same After the ground contact, the vacuum pump 15 draws out the air in the vacuum suction cup 52, and the second group of crawling mechanisms is adsorbed and fixed to the ground, and then the first group of crawling mechanisms repeats the above actions, and the two groups of crawling mechanisms move alternately to realize the movement of the robot.

The invention uses the principle of vacuum adsorption to adsorb the robot on the photovoltaic panel through the vacuum suction cup on the crawling mechanism. During the walking process, the high-pressure cleaning liquid is sprayed on the surface of the photovoltaic panel, and the surface of the photovoltaic panel is cleaned by the cleaning brush, which is fast and safe. While moving, it efficiently cleans the surface of the photovoltaic panel, improves the cleaning efficiency, and reduces the risk of high-altitude operations.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail through the above embodiments, those skilled in the art should Various changes can be made thereto without departing from the scope of the invention as defined by the claims.

Claims (5)

1. A photovoltaic board cleaning machines people which characterized in that: photovoltaic board cleaning machines people includes box (0), the mechanism (2) of crawling, environment monitoring device (3), cleaning device (4), power (19) and control system, the bilateral symmetry of box (0) is provided with a plurality of mechanisms (2) of crawling, box (0) top is provided with environment monitoring device (3), box (0) the place ahead is provided with cleaning device (4), the mechanism (2) of crawling, environment monitoring device (3), cleaning device (4) all are connected with power (19) and control system, power (19) and control system set up in box (0).

2. A photovoltaic panel cleaning robot as claimed in claim 1, characterized in that: the cleaning device lifting motor (20) of the cleaning device (4) is fixed on a lower chassis (16) of the box body (0), the cleaning device lifting motor (20) is connected with an intermediate gear (23), the intermediate gear (23) is meshed with a cleaning device rotating gear (28), the cleaning device rotating gear (28) is fixed on a cleaning device rotating shaft (27), the cleaning device rotating shaft (27) is fixed on the lower chassis (16) of the box body (0), shaft shoulders on two sides of the cleaning device rotating shaft (27) are fixed with cleaning arms (25), a pipeline (26) is arranged inside each cleaning arm (25), one end of the pipeline (26) is connected with a water pump (18), the water pump (18) is fixed on the lower chassis (16) of the box body (0), the other end of the pipeline (26) is connected with a cleaning solution sprayer (30), the cleaning solution sprayer (30) is fixed above a cleaning brush suspension bracket (37), cleaning brush suspended support (37) are fixed in cleaning arm (25) front end, cleaning brush suspended support (37) below is fixed with cleaning brush fixer (32), cleaning brush fixer (32) lower fixed surface has cleaning brush (33), water pump (18), cleaning device lifting motor (20) and cleaning solution shower nozzle (30) all are connected with power (19) electricity, cleaning device lifting motor (20) and cleaning solution shower nozzle (30) and control system's robot controller (8) signal of telecommunication.

3. The photovoltaic panel cleaning robot of claim 2, wherein: the cleaning brush fixing device is characterized in that a heating rod fixing frame (34) is further arranged on a cleaning brush fixing device (32) of the cleaning device (4), heating rod heaters (35) are installed at two ends of the heating rod fixing frame (34), heating rods (36) are installed on the heating rod heaters (35), the heating rod heaters (35) are electrically connected with a power supply (19), and the heating rod heaters (35) are electrically connected with a robot controller (8) of a control system.

4. The photovoltaic panel cleaning robot of claim 1, wherein: a crawling leg steering engine (12) of the crawling mechanism (2) is mounted on an upper chassis (10) and is connected with one end of a thigh U-shaped connecting piece (39) through a crawling leg steering engine disc (11), the other end of the thigh U-shaped connecting piece (39) is connected with a thigh steering engine disc (44), a thigh steering engine (45) is fixed at one end of a thigh plate (46) below a thigh shell (40), a shank steering engine (47) is fixed at the other end of the thigh plate (46), a shank steering engine disc (48) on the shank steering engine (47) is connected with a shank U-shaped connecting piece (41), a shank shell (42) is fixedly connected below the shank U-shaped connecting piece (41), a sucker air pipe (50) is fixed in the shank shell (42), a sucker air pipe (49) is fixedly penetrated on the sucker air pipe (50), one end of a sucker air pipe (49) is communicated with a vacuum pump (15), and the vacuum pump (15) is fixed on a lower chassis (16), the other end of the sucking disc air pipe (49) is connected with a vacuum sucking disc (52), the vacuum sucking disc (52) is arranged outside the bottom end of the lower leg shell (42), the crawling leg steering engine (12), the upper leg steering engine (45) and the lower leg steering engine (47) are all connected with a power supply (19), a 24-way steering engine board (7) and a robot controller (8) of a control system, and the vacuum pump (15) is in electric signal connection with the power supply (19) and the robot controller (8) of the control system.

5. A photovoltaic panel cleaning robot as claimed in claim 1, characterized in that: the environment monitoring device (3) comprises a camera (54) and an ultrasonic distance meter (55), the camera (54) is installed on a camera fixing seat (53), a camera rotating gear (60) on a connecting rod of the camera fixing seat (53) is meshed with a camera steering gear (59), the camera steering gear (59) is fixed on a camera steering gear (58), and the camera steering gear (58) is fixed on an upper chassis (10) of the box body (0); the ultrasonic distance measuring instrument (55) is arranged on the pair of supports (56) and is fixed on the upper chassis (10) through the supports (56), the camera (54) and the ultrasonic distance measuring instrument (55) are electrically connected with the power supply (19), and the camera (54) and the ultrasonic distance measuring instrument (55) are electrically connected with the robot controller (8) of the control system.

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