CN114604429A - Photovoltaic solar panel cleaning system based on multi-rotor unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a photovoltaic solar panel cleaning system based on a multi-rotor unmanned aerial vehicle, which comprises a machine body, a roller foot rest at the lower layer of the machine body, three parallel carbon rods at the upper layer of the machine body, a main control bin consisting of a carbon plate, a three-way pipe fitting, four brushless motors, four blades and a power supply, wherein the main control bin is provided with the carbon plate through the pipe clamp; the main body of the roller foot rest is composed of two foot rest carbon rods with equal length and two support frame carbon rods, the support frame carbon rods are connected with the foot rest carbon rods through foot rest three-way pipe fittings, and meanwhile, a support carbon rod for fixing the battery compartment is arranged between the two support frame carbon rods and is fixed with the support frame carbon rods through support frame three-way pipe fittings. According to the invention, through the matching of the bearing rubber wheel and the roller brush, the speed regulation of the roller brush and the regulation of the running direction of the vehicle body cleaned by the high-speed roller brush are realized, and the use accuracy and convenience are improved.

Description

A photovoltaic solar panel cleaning system based on multi-rotor UAV

technical field

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a photovoltaic solar panel cleaning unmanned aerial vehicle.

Background technique

With the rapid development of modern society, economy and society, the society's demand for clean energy is increasing day by day, and solar energy with high quality and high energy yield has been widely used. However, as the most commonly used photovoltaic solar panel to collect solar energy at present, the performance and efficiency of its collection and storage are greatly restricted by the dirt and dust on its surface, and its impact can reach up to 70% of the total collection amount. In order to overcome the problems of dust accumulation and low conversion efficiency caused by the long-term operation of photovoltaic solar panels, and due to the large-scale use of photovoltaic solar panels in some areas, the manual cleaning efficiency is low and time-consuming; Large, manual cleaning is dangerous, and the use of ground water trucks for cleaning is high energy consumption and difficult due to water pressure and other issues; ground water trucks are sprayed with water mist to clean, hydraulic arm cleaning, high-pressure water gun cleaning and other cleaning methods are low in cleanliness. The water consumption is large, the cost is high, and it is easy to cause component wear. The patent of the present invention provides a photovoltaic solar panel cleaning system based on a multi-rotor unmanned aerial vehicle. The traditional multi-rotor unmanned aerial vehicle tripod is transformed into four lightweight rubber wheels at both ends of the tripod. The connecting parts of the upper support frame are all wrapped with roller brushes. The brushes can be driven to rotate at high speed by a transmission mechanism composed of a motor and a synchronous pulley. The photovoltaic solar cleaning system uses a hovering multi-rotor drone equipped with a high-speed roller brush to clean the body to minimize the pressure of the cleaning system on the photovoltaic solar panels. The large-area wind field generated by the multi-rotor drone cooperates with the high-speed roller. The brush realizes high-efficiency cleaning of the dirt and dust of the photovoltaic solar panel. The attitude control of the multi-rotor UAV and the four-wheel drive control of the high-speed roller are used to realize the yaw direction control of the high-speed roller brush to clean the car body. The multi-rotor large-area wind field cleaning reflects the advantages of energy-saving and fast cleaning operations. The connection between the multi-rotor drone and the carbon rod of the high-speed roller brush cleaning car body plays a role in reducing the pressure of the car body on the photovoltaic solar panels. The high speed of the roller The rotation plays a role in raising dust and driving stubborn stains, and with the large-area wind field of the multi-rotor, the cleaning effectiveness and cleaning efficiency are ensured. At the same time, the whole body carbon rod structure is adopted, the body is stable, not easy to deform, and responds quickly after being subjected to force. The embedded control of ARM single-chip microcomputer realizes automatic operation, reduces labor costs, and has high automatic control accuracy, high operation precision, and remarkable cleaning efficiency and quality.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a photovoltaic solar panel cleaning system based on a multi-rotor unmanned aerial vehicle to solve the problems raised in the above background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: a photovoltaic solar panel cleaning system based on a multi-rotor unmanned aerial vehicle, comprising a fuselage, a roller tripod on the lower layer of the fuselage and three parallel first carbon rods on the upper layer of the fuselage 21. The second carbon rod 3, the third carbon rod 22, the first carbon rod 21, the second carbon rod 3, and the third carbon rod 22 are mounted on the main control bin 2 composed of a carbon plate through pipe clamps 6, the first carbon rod The two sides of the rod 21, the second carbon rod 3 and the third carbon rod 22 are connected to the brushless motor carbon rod 7 in parallel and vertically through the three-way pipe fittings, and four brushless motors 4 are installed at the four ends of the brushless motor carbon rod 7, The four brushless motors 4 are respectively connected to the paddles 8; the main body of the drum scaffold is composed of two equal-length scaffold carbon rods 17 and two support scaffold carbon poles 11, and the scaffold carbon poles 11 pass through the scaffold tee The pipe fitting 23 is connected with the carbon rod 17 of the tripod, and a carbon rod 12 for fixing the battery compartment is installed between the two carbon rods of the supporting frame. The two T-shaped structures make the fuselage support more stable. The battery compartment is located close to the ground, causing the center of gravity of the entire fuselage to move down. The battery compartment carbon rod 12 is fixed with the battery compartment carbon plate 14 through two pipe clips. A fixed battery 15 and other electronic sensors are placed on the carbon bin plate 14 at the same time.

Further, both sides of the tripod carbon rods 17 are covered with roller brushes 16. The roller brushes 16 are composed of large-diameter carbon rods 20 and several cleaning brushes 26. The roller brushes and the inner tripod carbon rods 17 are supported by bearings. For support connection, a tripod tee pipe 23 is installed in the middle of each tripod carbon rod 17, and the surface of the carbon rod 20 of the roller brush 16 is provided with a circle of roller brush grooves 28, so that the brush timing pulley 5 can be embedded in it. It is not easy to slip.

Further, the brush timing pulley 5 is driven by the motor timing pulley 13 to rotate at a high speed, the motor timing pulley 13 is connected with the timing belt brushless motor 10, and the timing belt brushless motor 10 is installed on the battery compartment supporting carbon rod 12. on the carbon plate 14 of the battery compartment.

Further, the second carbon rod 3 is connected to the carbon rod 11 of the support frame by rotating the three-way pipe 1, and two light-weight bearings 24 are installed at the connection between the rotating three-way pipe 1 and the second carbon rod 3, and the light-weight bearings 24 Make the carbon rod 11 of the support frame rotate with the second carbon rod 3 as the axis; at the same time, there is a circle of grooves 27 inside the rotating three-way pipe fitting 1, and its diameter should be equal to the outer diameter of the light bearing 24, and the second carbon rod The diameter of 3 should be equal to the inner diameter of the light bearing 24, so that the rotation of the carbon rod 11 of the support frame with the second carbon rod 3 as the axis is more stable, and at the same time, when the body falls on the surface of the photovoltaic solar panel, the lower end of the tripod will contact the photovoltaic solar energy as a whole. On the surface of the panel, as the body descends, the tripod will naturally adapt to the inclination of the photovoltaic solar panel through the rotation of the carbon rod 11 of the support frame with the second carbon rod 3 as the axis, so that the system can adapt to the tasks of photovoltaic solar panels with different angles.

Further, both ends of the carbon rod 17 of the tripod are sleeved with a bearing rubber wheel, the bearing rubber wheel is composed of a bearing 18 and a light rubber tire 19, and the bearing 18 is fixed inside the bearing rubber wheel. The tripod tee fittings 23 and the bearing rubber wheel both play a limiting role for the roller brush 16; when the body completely falls on the surface of the photovoltaic solar panel, the bearing rubber wheel acts as a support point under the body, and its rubber material can play a role in Must be anti-slip. The bearing rubber wheel has no driving force, and its diameter is slightly larger than that of the roller brush 16. When the roller brush 16 rotates at high speed, because the diameter of the bearing rubber wheel is slightly larger, the roller brush 16 does not touch the ground, and its rolling friction with the photovoltaic solar panel is converted into With sliding friction, the cleaning efficiency is higher. At the same time, the high-speed rotating roller brush 16 can also drive the bearing rubber wheel to move. With its four-wheel drive characteristics, the body can move freely on the photovoltaic solar panel.

Preferably, the carbon rods on both sides of the tripod tee are sleeved with roller brushes, there are four roller brushes in the whole body, and the roller brushes and the inner carbon rod of the tripod are supported and connected by bearings.

Preferably, four synchronous belt brushless motors are installed on the four corners of the carbon plate of the battery compartment, and a customized motor synchronous pulley is installed on the synchronous belt brushless motor. The motor synchronous pulley passes through the synchronous belt and the brush synchronous pulley. drive connection. The brush is driven by the brush synchronous pulley to rotate at a high speed. When moving on the surface of the photovoltaic solar panel, the high-speed rotating brush rubs against the photovoltaic solar panel, providing a driving force for the tripod under the body to move forward, and at the same time With four motors, its four-wheel-drive feature allows the body to freely adjust the speed on the photovoltaic solar panel and turn to a certain extent, ensuring the accuracy and speed of cleaning.

Preferably, the roller brush is composed of a large-diameter carbon rod and several cleaning brushes, and the cleaning brushes are spirally adhered to the outer surface of the large-diameter carbon rod. The surface of the carbon rod of the roller brush has a circle of grooves, so that the brush timing pulley can be embedded in it without slipping easily.

Preferably, the brushless motor and the blades still maintain the working state when the body falls on the surface of the photovoltaic solar panel, while maintaining the attitude of the multi-rotor UAV, so that the overall body is not easy to slide with the slope of the photovoltaic solar panel; high speed The rotating multi-rotor also provides a large-scale wind field, which plays an important role in cleaning the dirt and dust on the surface of the photovoltaic solar panel. The existence of the wind field will also give the fuselage a reverse force against gravity, which is conducive to reducing the Body pressure on photovoltaic solar panels.

Preferably, the photovoltaic solar panel cleaning system based on the multi-rotor UAV adopts the horizontal x-axis cleaning scheme, which avoids the problem of large energy consumption that needs to overcome the gravity to climb upward when cleaning in the vertical y-axis direction, and at the same time cooperate with the support frame carbon The rotation of the rod with the second carbon rod as the axis and the natural adaptation of the tripod to different inclinations when landing on the photovoltaic solar panel realizes the operation movement of the body in the lateral x-axis direction of the photovoltaic solar panel.

Technical effects and advantages of the present invention:

(1) In the present invention, the second carbon rod and the carbon rod of the support frame are rotatably connected with the light bearing by means of a rotating tee fitting, and then cooperate with the setting of the bearing rubber wheel and the roller brush at the end of the carbon rod of the tripod, so that the photovoltaic solar panel The cleaning system achieves the function of landing on the inclined plane of the photovoltaic solar panel naturally and parallel, thereby improving the extensiveness and adaptability of cleaning photovoltaic solar panels with different inclination angles.

(2) The present invention uses the cooperation of the bearing rubber wheel and the high-speed rotating roller brush. The diameter of the bearing rubber wheel is slightly larger than that of the roller brush. Under the high-speed rotation of the roller brush, the surface cleaning brush generates sliding friction on the surface of the solar photovoltaic panel. , while cleaning stubborn dirt, it drives the bearing rubber wheel to move forward, and at the same time, through the cooperation of the brush timing pulley and the motor timing pulley, the speed regulation of the rolling brush and the high-speed roller brush cleaning the car body are realized. The adjustment of the driving direction improves the accuracy and convenience of use.

Description of drawings

Figure 1 is the overall design of the solar panel cleaning system;

Figure 2 is the design drawing of the support frame and the tripod;

Figure 3 is a detailed view of the cleaning brush;

Figure 4 is a mechanical diagram of a photovoltaic solar panel;

Figure 5 is a detailed design drawing of the rotating three-way pipe fitting;

6 is a schematic diagram of a timing belt and a timing pulley drive;

Figure 7 is a schematic diagram of the rubber wheel and the inner bearing.

In the picture: 1. Rotating tee fittings; 2. Main control bin; 3. Second carbon rod; 4. Brushless motor; 5. Brush timing pulley; 6. Pipe clamp; 7. Brushless motor carbon rod; 8. Blades; 9. Three-way pipe fittings; 10. Brushless motor for timing belt; 11. Carbon rod for support frame; 12. Carbon rod for battery compartment; 13. Motor timing pulley; 14. Carbon plate for battery compartment; 15. Battery; 16, roller brush; 17, carbon rod for tripod; 18, bearing; 19, rubber light tire; 20, large diameter carbon rod for roller brush; 21, first carbon rod; 22, third carbon rod; 23, tripod tee fittings; 24, supporting frame rotating bearing; 25, supporting frame tee fittings; 26, cleaning brush; 27, rotating tee fitting groove; 28, roller brush groove; 29, timing belt .

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The present invention provides a photovoltaic solar panel cleaning system based on a multi-rotor unmanned aerial vehicle as shown in Figs. 21. The second carbon rod 3, the third carbon rod 22, the first carbon rod 21, the second carbon rod 3, and the third carbon rod 22 are mounted on the main control bin 2 composed of a carbon plate through pipe clamps 6, the first carbon rod The two sides of the rod 21, the second carbon rod 3 and the third carbon rod 22 are connected to the brushless motor carbon rod 7 in parallel and vertically through the three-way pipe fittings, and four brushless motors 4 are installed at the four ends of the brushless motor carbon rod 7, The four brushless motors 4 are respectively connected to the paddles 8; the main body of the drum scaffold is composed of two equal-length scaffold carbon rods 17 and two support scaffold carbon poles 11, and the scaffold carbon poles 11 pass through the scaffold tee The pipe fitting 23 is connected with the carbon rod 17 of the tripod, and a carbon rod 12 for fixing the battery compartment is installed between the two carbon rods of the supporting frame. The two T-shaped structures make the fuselage support more stable. The battery compartment is located close to the ground, causing the center of gravity of the entire fuselage to move down. The battery compartment carbon rod 12 is fixed with the battery compartment carbon plate 14 through two pipe clips. A fixed battery 15 and other electronic sensors are placed on the carbon bin plate 14 at the same time.

The overall frame composed of carbon rods is more stable than the carbon plate frame, can withstand greater mechanical stress, has higher controllability, and has better adaptability to strong winds during high-altitude operations. The brushless motor and the blades still keep working when the body lands on the surface of the photovoltaic solar panel. While maintaining the attitude of the multi-rotor UAV, the overall body is not easy to slide with the slope of the photovoltaic solar panel; the high-speed rotating multi-rotor also It provides a large-scale wind field, which plays an important role in cleaning the surface of the photovoltaic solar panel. plate pressure.

The above-mentioned two sides of the tripod carbon rods 17 are covered with roller brushes 16. The roller brushes 16 are composed of large-diameter carbon rods 20 and several cleaning brushes 26. The roller brushes and the inner tripod carbon rods 17 are supported by bearings. Connection, a tripod tee pipe 23 is installed in the middle of each tripod carbon rod 17, and the surface of the carbon rod 20 of the roller brush 16 is provided with a circle of roller brush grooves 28, so that the brush timing pulley 5 can be embedded in it and Slip is not easy to occur.

The brush synchronous pulley 5 is driven to rotate at high speed by the motor synchronous pulley 13, the motor synchronous pulley 13 is connected with the synchronous belt brushless motor 10, and the synchronous belt brushless motor 10 is installed on the battery compartment supporting carbon rod 12. on the carbon plate 14 of the battery compartment.

The above-mentioned second carbon rod 3 is connected with the support frame carbon rod 11 by rotating the three-way pipe 1, and two light bearings 24 are installed at the connection between the rotating three-way pipe 1 and the second carbon rod 3. The carbon rod 11 of the support frame rotates with the second carbon rod 3 as the axis; at the same time, the rotating three-way pipe fitting 1 has a circle of rotating three-way pipe fitting grooves 27, and its diameter should be equal to the outer diameter of the light bearing 24, and the second carbon rod 3 The diameter of the bracket should be equal to the inner diameter of the light bearing 24, so that the rotation of the carbon rod 11 of the support frame with the second carbon rod 3 as the axis is more stable, and at the same time, when the body falls on the surface of the photovoltaic solar panel, the lower end of the tripod will contact the photovoltaic solar panel as a whole. As the body descends, the tripod will naturally adapt to the inclination of the photovoltaic solar panel through the rotation of the carbon rod 11 of the support frame with the second carbon rod 3 as the axis, so that the system can adapt to the tasks of photovoltaic solar panels with different angles.

Both ends of the above-mentioned tripod carbon rod 17 are sleeved with a bearing rubber wheel. The bearing rubber wheel is composed of a bearing 18 and a light rubber tire 19. The bearing 18 is fixed inside the bearing rubber wheel. The tripod tee fittings 23 and the bearing rubber wheel both play a limiting role for the roller brush 16; when the body completely falls on the surface of the photovoltaic solar panel, the bearing rubber wheel acts as a support point under the body, and its rubber material can play a role in Must be anti-slip. The bearing rubber wheel has no driving force, and its diameter is slightly larger than that of the roller brush 16. When the roller brush 16 rotates at high speed, because the diameter of the bearing rubber wheel is slightly larger, the roller brush 16 does not touch the ground, and its rolling friction with the photovoltaic solar panel is converted into With sliding friction, the cleaning efficiency is higher. At the same time, the high-speed rotating roller brush 16 can also drive the bearing rubber wheel to move. With its four-wheel drive characteristics, the body can move freely on the photovoltaic solar panel.

The rubber light tire 19 is sleeved on the carbon rod 17 of the tripod through the bearing 18, and the rubber light tire 19 and the bearing 18 are sleeved together concentrically.

The working principle of the invention: when the operator needs to use the system to clean the photovoltaic solar panel, the operator operates the multi-rotor drone to hover over the photovoltaic solar panel, so that the multi-rotor drone naturally falls on the surface of the photovoltaic solar panel. During this process, the tripod of the multi-rotor drone preferentially contacts the surface of the photovoltaic solar panel. As the height decreases, the carbon rod 11 of the support frame rotates with the second carbon rod 3 as the axis, and the tripod naturally adapts to the inclination of the photovoltaic solar panel as it rotates. At this time, the four bearing rubber wheels 18 and 19 are naturally parked on the surface of the photovoltaic solar panel. At this time, the weight carried by the multi-rotor drone is reduced, and the energy consumption is reduced, and the blades 8 and the brushless motor 4 are still at high speed. Rotate to provide a wide range of wind fields while keeping the posture of the upper body stable; the body naturally falls on the surface of the photovoltaic solar panel, the synchronous belt brushless motor 10 at the four corners of the battery compartment starts to work, and rotates and drives the motor synchronous pulley 13 and brush The synchronous pulley 5 rotates, and the brush synchronous pulley 5 rotates at a high speed, which provides a forward driving force for the machine body, and drives the bearing rubber wheel to move forward. At the same time, the roller brush 16 constantly slides and rubs against the photovoltaic solar panel, causing dust and dust. Part of the dirt is brushed, and the dirt and dust are finally blown away by the large-scale wind field generated by the drone to complete all the cleaning work. After completing the horizontal row of photovoltaic solar panels, the multi-rotor UAV takes off at the end of the photovoltaic solar panels. At this time, the carbon rod 11 of the support frame rotates naturally again to the natural vertical state with the second carbon rod 3 as the axis, and the multi-rotor has no The HMI can select the next job target to repeat the above operation again.

In the description of the present invention, unless otherwise expressly specified and limited, the terms "arranged", "installed", "connected", "connected" and "fixed" should be understood in a broad sense, for example, it may be a fixed connection or a It is a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

The standard parts used in the present invention can be purchased from the market, and the special-shaped parts can be customized according to the description in the description and the drawings.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. A photovoltaic solar panel cleaning system based on a multi-rotor unmanned aerial vehicle is characterized by comprising a machine body, a roller foot stand at the lower layer of the machine body, and three first carbon rods 21, second carbon rods 3 and third carbon rods 22 which are parallel and arranged at the upper layer of the machine body, wherein a main control bin 2 consisting of carbon plates is erected on the first carbon rods 21, the second carbon rods 3 and the third carbon rods 22 through pipe clamps 6, two sides of the first carbon rods 21, the second carbon rods 3 and the third carbon rods 22 are vertically connected with brushless motor carbon rods 7 in parallel through tee pipe fittings, four brushless motors 4 are installed at four tail ends of the brushless motor carbon rods 7, and the four brushless motors 4 are respectively connected with blades 8; the main part of cylinder foot rest comprises two isometric foot rest carbon rods 17 and two support frame carbon rods 11, support frame carbon rod 11 passes through foot rest tee bend pipe fitting 23 and is connected with foot rest carbon rod 17, it is used for fixed battery compartment to support carbon rod 12 to be equipped with one simultaneously between two support frame carbon rods 11, it is fixed through support frame tee bend pipe fitting 25 with support frame carbon rod 11, two T type structures of formation, it is more firm in the aspect of making the fuselage support, the battery compartment position is nearly ground, cause the focus of whole fuselage to move down, it has battery compartment carbon plate 14 to be fixed through two pipe clamps on the battery compartment supports carbon rod 12, lay fixed battery 15 and other electronic sensor on the battery compartment carbon plate 14 simultaneously.

2. The photovoltaic solar panel sweeping system based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein roller brushes 16 are sleeved on the two side foot rest carbon rods 17, each roller brush 16 is composed of a large-diameter carbon rod 20 and a plurality of cleaning brushes 26, each roller brush is connected with the inner side foot rest carbon rod 17 in a bearing supporting mode, a foot rest three-way pipe 23 is installed in the middle of each foot rest carbon rod 17, and a circle of roller brush grooves 28 are formed in the surface of the carbon rod 20 of each roller brush 16, so that the brush synchronous belt wheel 5 can be embedded into the roller brushes without sliding easily.

3. The multi-rotor unmanned aerial vehicle-based photovoltaic solar panel sweeping system according to claim 2, wherein the brush synchronous pulley 5 is driven to rotate at high speed by a motor synchronous pulley 13, the motor synchronous pulley 13 is connected with a synchronous belt brushless motor 10, and the synchronous belt brushless motor 10 is mounted on a battery compartment carbon plate 14 supported by a battery compartment supporting carbon rod 12.

4. The photovoltaic solar panel sweeping system based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the second carbon rod 3 is connected with the support frame carbon rod 11 through a rotating tee pipe fitting 1, two light bearings 24 are installed at the joint of the rotating tee pipe fitting 1 and the second carbon rod 3, and the support frame carbon rod 11 is rotated by the light bearings 24 with the second carbon rod 3 as an axis; rotate tee bend pipe fitting 1 inside simultaneously and have a round and rotate tee bend pipe fitting recess 27, its diameter should be equal with light bearing 24 external diameter, the diameter of second carbon pole 3 should be equal with light bearing 24's internal diameter, make support frame carbon pole 11 use second carbon pole 3 to be more stable as the rotation of axle, when the organism descends in photovoltaic solar panel surface simultaneously, the whole photovoltaic solar panel surface of contact of foot rest lower extreme, along with the organism descends, the foot rest will be through support frame carbon pole 11 with the rotation of second carbon pole 3 as the axle adapt to photovoltaic solar panel's gradient naturally, make this system can adapt to different angle photovoltaic solar panel's job task.

5. The photovoltaic solar panel sweeping system based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein a bearing rubber wheel is sleeved at each of two ends of the foot rest carbon rod 17, the bearing rubber wheel is composed of a bearing 18 and a rubber light tire 19, the bearing 18 is fixed inside the bearing rubber wheel, and the foot rest three-way pipe 23 and the bearing rubber wheel both play a role in limiting the roller brush 16; bearing rubber wheel does not have drive power, and its diameter slightly is greater than roller brush 16, when roller brush 16 rotates at a high speed, because of bearing rubber wheel diameter slightly is big, roller brush 16 does not touch the ground, and roller brush 16 of high-speed rotation also can drive the motion of bearing rubber wheel simultaneously, cooperates its four characteristics of driving, realizes the free motion of organism on photovoltaic solar panel.

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