CN115001384A

CN115001384A - Photovoltaic board that can twist is cleaned robot

Info

Publication number: CN115001384A
Application number: CN202210580688.XA
Authority: CN
Inventors: 张杏华; 王傲; 徐天然
Original assignee: Langfang Situo Photovoltaic Technology Co ltd
Current assignee: Langfang Situo Photovoltaic Technology Co ltd
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2022-09-02
Also published as: WO2023226057A1

Abstract

The invention discloses a rotatable photovoltaic panel cleaning robot, which comprises: the cleaning device comprises two edge walking devices, a cleaning roller, a first motor for driving a walking wheel set, a second motor for driving the cleaning roller and a battery pack, wherein the two edge walking devices are connected together through a connecting shaft and can rotate relatively, the walking wheel sets of the two edge walking devices can walk on two surfaces with different inclination angles respectively, and two end parts of the cleaning roller are connected to the two edge walking devices through universal joints respectively. The two edge traveling devices can be twisted relatively, and the cleaning roller can rotate to clean continuously in a twisted state. Compared with a cleaning robot with a frame structure, the total weight of the cleaning robot can be reduced by about 35%, and the deformation of the photovoltaic module is greatly reduced.

Description

Photovoltaic board that can twist is cleaned robot

Technical Field

The invention relates to the field of photovoltaic power generation, in particular to a rotatable photovoltaic panel cleaning robot.

Background

Due to the restrictive factors of land and the price of photovoltaic modules thereof, photovoltaic power stations gradually begin to be built with flat single-shaft tracking supports. The length that single-row flat unipolar can generally be built is roughly around 90 meters, and in order to reduce the cleaning cost of photovoltaic module in power plant, flat unipolar tracking support all can be connected into the long row of 1 to 2KM through the crane span structure, and such long row can only clean with a cleaning robot.

Because the flat single shafts have errors such as control accuracy, installation accuracy and the like and the torsion angle error of the torque tube with the length of 90 meters, the final angle error of the end part between the two flat single shafts can reach about 12 degrees to the maximum extent; such an angular error causes one end of the flat single-axle bridge to be an uphill slope and the other end to be a downhill slope, as shown in fig. 1, the left end 201 of the bridge 200 in fig. 1 is a downhill slope and the right end 202 of the bridge 200 is an uphill slope. The existing photovoltaic panel cleaning robot is of a frame structure and high in rigidity, and when the robot runs in the bridge frame state, one edge walking device is in a suspended state, so that the robot is easy to derail and fall.

The two edge walking devices are combined together by using the connecting shaft, and when the robot meets a bridge frame state that one end is an ascending slope and the other end is a descending slope, the two edge walking devices are twisted around the connecting shaft relatively, so that the two edge walking devices of the robot are kept in a rail state and pass through the bridge frame, and the robot can be prevented from derailing and falling. However, when the cleaning device of the robot is a cleaning roller, since the cleaning roller and the connecting shaft are both connected to two edge traveling devices of the robot, the cleaning roller and the connecting shaft are dragged to each other, which affects the twisting of the cleaning robot and the operation of the cleaning roller, and thus the above solution cannot be applied to a robot in which the cleaning device is a cleaning roller, and a solution is urgently needed.

Disclosure of Invention

It is an object of the present invention to provide a twistable photovoltaic panel cleaning robot that addresses, at least to some extent, the above-mentioned deficiencies of the related art.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a twistable photovoltaic panel cleaning robot comprising:

the two edge walking devices are respectively provided with a first support, a walking wheel group which is arranged on the first support and is used for being matched with the front side of the photovoltaic panel frame, and a walking wheel group which is matched with the side surface of the photovoltaic panel frame or the side surface of the track;

the cleaning roller is provided with a mandrel and bristles arranged on the periphery of the mandrel, and two ends of the mandrel are respectively connected to first supports of two edge walking devices through universal joints;

the connecting shaft is used for connecting the first brackets of the two edge walking devices together in a relatively rotatable manner, so that the walking wheel sets of the two edge walking devices can walk on two surfaces with different inclination angles respectively;

a first motor mounted to a first bracket of the edge traveling device and configured to drive the traveling wheel set;

a second motor installed on the first bracket of the edge traveling device and configured to drive the cleaning roller to perform a rotary motion; and

the battery pack is arranged on the first support of the edge walking device and is configured to supply power to all electrical appliances of the robot.

In some embodiments, the connection means between the connection shaft and the first bracket comprises:

a shaft hole on the first bracket;

the two shaft sleeves are respectively provided with a pipe part matched with the inner diameter of the shaft hole and a retaining ring which protrudes outwards from the outer edge of the pipe part along the diameter direction, the pipe parts of the two shaft sleeves are inserted into the shaft hole, and the retaining rings of the two shaft sleeves respectively form axial limiting with two end parts of the shaft hole; and

and the two hoops are fixed on the connecting shaft corresponding to the two shaft sleeves and axially position the two shaft sleeves.

In some embodiments, the running wheel set includes front wheels and rear wheels, the front wheels of the two edge running devices are connected through a universal joint transmission device, the rear wheels of the two edge running devices are connected through a universal joint transmission device, and the first motor is connected with one of the front wheels or the rear wheels.

In some embodiments, the robot further comprises at least one middle walking device, the middle walking device is provided with a second support and a walking wheel set which is installed on the second support and used for being matched with the front face of the middle frame of the photovoltaic panel, the second support is installed on the connecting shaft, the cleaning roller comprises two sections, and the two sections of the cleaning roller are respectively installed between the second support and the two first supports.

In some embodiments, the two motors are mounted separately from the battery pack in two edge walkers, and the synchronization mechanism of the road wheel set is mounted in the edge walker where the battery pack is located.

In some embodiments, the two first brackets each have a retaining hook extending from the front surface to the back surface of the photovoltaic panel, and the retaining hook has a retaining piece at a distal end thereof extending from an edge of the photovoltaic panel toward the center, the retaining piece being detachable from the retaining hook.

In some embodiments, the cleaning roller further comprises a cover plate, the cover plate is located between the connecting shaft and the cleaning roller, the cover plate is fixed on the arc-shaped connecting piece on the connecting shaft, the first support is provided with an arc-shaped inserting tongue corresponding to the position of the cover plate, and the end part of the cover plate is inserted into the arc-shaped inserting piece in a sliding fit mode through the inserting tongue.

In some embodiments, the first support is a semi-circular structure.

In some embodiments, the connecting shaft is a tube with reinforcing ribs inside the tube.

Compared with the prior art, the invention has at least the following beneficial effects:

the two edge traveling devices can be twisted relatively, and the cleaning roller can rotate to clean continuously in a twisted state.

Due to the fact that the cleaning robot is combined through the single connecting shaft, compared with a cleaning robot with a frame structure, the total weight can be reduced by about 35%, and deformation of the photovoltaic module is greatly reduced.

The frontal area is small, and the shifting and blowing-off risks of the cleaning robot in strong wind can be reduced.

The walking wheel sets of the two walking devices are connected by the universal joint transmission device, so that when the robot is twisted, the robot can be ensured to have certain rigidity, and the transmission of power is not influenced.

Drawings

FIG. 1 is a schematic view of a flat single-axle bridge with one end of the bridge being an ascending slope and the other end being a descending slope;

fig. 2 is a front view of the photovoltaic panel cleaning robot of the first embodiment;

fig. 3 is a plan view of the photovoltaic panel cleaning robot of the first embodiment;

fig. 4 is a side view of the photovoltaic panel cleaning robot of the first embodiment;

FIG. 5 is a view showing the combination of the connecting shaft and the first bracket, and the running wheel set and the first bracket;

FIG. 6 is a schematic view of the connection shaft and the first bracket;

FIG. 7 is a schematic view of the connection shaft and the first bracket;

FIG. 8 is a schematic diagram showing the distribution of two motors, a battery pack, and a timing belt;

FIG. 9 is a schematic view of the cover plate and the first bracket;

FIG. 10 is a schematic view of a first bracket;

FIG. 11 is a schematic structural view of a connecting tube;

fig. 12 is a front view of a photovoltaic panel cleaning robot of the second embodiment;

fig. 13 is a plan view of the photovoltaic panel cleaning robot of the second embodiment;

reference numerals: 200. a bridge frame; 201. the left end of the bridge; 202 the right end of the bridge;

100. a robot;

110. an edge traveling device; 111. a first bracket; 1111. inserting a tongue; 1112. a semi-circular body; 1113. a shaft hole; 1114. a first mounting position; 1115. a second mounting location; 1116. a third mounting position; 112. a deviation rectifying wheel; 113. an anti-drop hook; 114. a drop-off prevention member; 115. a front wheel; 116. a rear wheel; 117. a first motor; 118. a second motor; 119. a synchronous belt; 1191. a battery pack;

120. an arc-shaped connecting piece;

130. a connecting shaft; 131. reinforcing ribs; 132. an outer tube; 133. an inner tube;

140. a cover plate; 141. an arc-shaped inserting sheet;

150. cleaning the roller; 151. a mandrel; 152. brushing; 153. a first universal joint; 154. a first segment of rollers; 155. a second segment roll;

160. a universal joint drive; 161. a wheel axle; 162. a second universal joint; 163. a transmission rod;

170. a connecting device; 171. a ferrule; 172. a shaft sleeve; 1721. a tube portion; 1722. a baffle ring;

180. a middle traveling device; 181. a second bracket; 182. a second running wheel set.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

The first embodiment:

this photovoltaic board cleans machine people is used for cleaning the photovoltaic board in power station.

With reference to fig. 2 to 4, the photovoltaic panel cleaning robot includes: two edge traveling devices 110, a cleaning roller 150, a connecting shaft 130, a first motor 117 (see fig. 8), a second motor 118 (see fig. 8), and a battery pack 119 (see fig. 8).

The edge traveling device 110 is a device that travels on the front side of the frame of the photovoltaic panel assembly. The edge traveling device 110 has a first bracket 111, the bottom of the first bracket 111 is provided with an axle 161 at the front edge and at the rear edge, respectively, the axle 161 at the front edge is provided with a front wheel 115, the axle 161 at the rear edge is provided with a rear wheel 116, and the front wheel 115 and the rear wheel 116 constitute a traveling wheel set of the edge traveling device 110. During cleaning, the walking wheel set is driven by the first motor 117 to roll on the front side of the frame of the photovoltaic panel assembly, so that the robot is driven to walk.

The two ends of the connecting shaft 130 are rotatably fitted into the shaft holes 1113 (see fig. 7) of the first brackets 111 of the two edge runners 110, so that the first brackets 111 of the two edge runners 110 are rotatably connected with each other. The above-mentioned combination of the two edge traveling devices 110 is realized by one connecting shaft 130, so that the two edge traveling devices 110 can be relatively twisted around the connecting shaft 130, and the arc-shaped arrows in fig. 5 indicate the twisting tracks of the edge traveling devices 110, and it can be seen that the traveling wheel sets of the two edge traveling devices 110 can simultaneously and respectively travel on two surfaces with different inclination angles due to the relative twisting. Thus, when the cleaning robot travels to a bridge (as shown in fig. 1) with one end being an ascending slope and the other end being a descending slope, one edge traveling device 110 rotates by a certain angle around the connecting shaft 130 to be attached to the ascending slope section of the bridge to travel, the other edge traveling device 110 rotates by a certain angle around the connecting shaft 130 to be attached to the descending slope section of the bridge to travel, so that the torsion characteristic of the cleaning robot is realized, the traveling wheel sets of the two edge traveling devices 110 of the cleaning robot are kept in a rail-landing state to pass through the bridge, and the robot can be prevented from derailing and falling off due to the suspension of one edge traveling device 110.

Referring to fig. 2 and 8, the cleaning roller 150 has a shaft 151 and bristles 152 disposed on the outer circumference of the shaft 151, and both ends of the shaft 151 are connected to the first supports 111 of the two edge traveling devices 110 by first universal joints 153, respectively, wherein the first universal joint 153 on the left side in fig. 8 is connected to the shaft of the second motor 118. In the cleaning operation, the second motor 118 drives the cleaning roller 150 to rotate around the spindle 151 via the first universal joint 153, so as to clean the surface of the photovoltaic panel assembly. The cleaning roller 150 is connected with the first bracket 111 through the first universal joint 153, so that interference of the cleaning roller 150 to the two edge traveling devices 110 during relative torsion is effectively reduced, and the second motor can still drive the cleaning roller 150 to rotate when the two edge traveling devices 110 are relatively twisted.

Referring to fig. 8, the first motor 117 and the second motor 118 are installed at the edge traveling device 110 at the left end, and the battery 1191 is installed at the edge traveling device 110 at the right end, both of which are fixed to the first bracket of the edge traveling device 110. The battery pack supplies power to various electric appliances of the robot, including a first motor 117, a second motor 118, a control circuit board, and the like.

It can be seen that, the combination of the two edge traveling devices 110 of the photovoltaic panel cleaning robot is realized through one connecting shaft 130, and the connection between the cleaning roller 150 and the bracket of the edge traveling device 110 is realized through the universal joint, so that the photovoltaic panel cleaning robot can travel on a bridge frame with a high end and a low end without derailing, the interference of the cleaning roller 150 on the relative torsion of the two edge traveling devices 110 is reduced, and the second motor can normally drive the cleaning roller 150 to rotate when the two edge traveling devices 110 are twisted relatively.

Referring to fig. 7, the connection shaft 130 is connected to the first bracket 111 using a connection device 170. The connecting device 170 includes: the shaft hole 1113 on the first support 111, two axle sleeves 172, two hoops 171, two axle sleeves 172 have tube 1721 matching with the inner diameter of said shaft hole 1113 separately, and the retaining ring 1722 projecting from the outer edge of said tube 1721 along the diameter direction, the tube 1721 of two axle sleeves 172 is inserted into said shaft hole 1113, the retaining ring 1722 of two axle sleeves 172 forms the axial limit with two ends of said shaft hole 1113 separately; two hoops 171 are fixed to the connecting shaft 130 corresponding to the two sleeves 172, and form axial positioning for the two sleeves 172. When the connecting shaft is installed, one hoop 171 and one sleeve 172 are sleeved on the connecting shaft 172, then the connecting shaft 170 is inserted into the shaft hole 1113 of the first bracket 111, the other sleeve 172 is sleeved on the connecting shaft 130 from the other side of the first bracket 111, the other hoop is sleeved, the two sleeves 172 are pressed into the shaft hole 1113, the end parts of the two hoops 171 are abutted against the end parts of the two sleeve 172, and then the two hoops are locked on the connecting shaft 130, so that the connecting shaft 130 is rotatably connected with the first bracket 111 through the sleeves. The connection structure 170 has the characteristics of simple structure and convenience in installation.

As shown in fig. 3, the traveling wheel set includes front wheels 115 and rear wheels 116, the front wheels of the two rim traveling devices 110 are connected by a universal joint gear 160, the rear wheels of the two rim traveling devices 110 are connected by a universal joint gear 160, and a first motor 170 is connected to one of the front wheels (see fig. 8). It can be seen that in this embodiment, all the road wheel sets are driven by the same first motor 170. This reduces the size and weight of the robot, and also increases the stiffness of the robot to some extent due to the addition of the gimbal drive 160 between the two edge runners 110. The universal joint transmission device 160 includes a transmission rod 161 and a second universal joint 162, both ends of the transmission rod 161 are respectively connected with the axle 161 of the front wheel 115 or the axle 161 of the rear wheel 116 through the second universal joint 162, and the rotation power output by the first motor 170 can still be transmitted between the running wheel sets after the two edge running devices 110 are twisted relatively through the universal joint transmission device 160. It should be noted that the present invention may also be configured such that the first motor is disposed at each of the two edge traveling devices 110 to drive the traveling wheel set thereon, and the front wheels and the rear wheels are driven by one motor, or the front wheels and the rear wheels are driven by different motors, and in these solutions, the universal joint transmission 160 is not required between the two edge traveling devices 110.

Referring to fig. 8, the first motor 117 and the second motor 118 are installed in the left-end edge traveling device 110, the battery 1191 is installed in the right-end edge traveling device 110, a timing belt 119 between front and rear wheels, i.e., a timing mechanism, is also installed in the right-end edge traveling device 110, and the first motor 117 and the second motor 118 are arranged in the same plane parallel to the photovoltaic panel. Above-mentioned overall arrangement has reduced the height that the robot exceeds high-voltage board surface to reduce the frontal area of cleaning the robot, cleaned the aversion of robot and the risk of blowing off when can reducing the strong wind.

Referring to fig. 2, the first support 111 has a running wheel set, or a deviation rectification wheel 112, for cooperating with a side surface of a photovoltaic panel frame or a side surface of a rail.

Referring to fig. 2, the two first supports 111, or the two edge traveling devices 110, further have anti-slip hooks 113 extending from the front surface to the back surface of the photovoltaic panel, the ends of the anti-slip hooks 113 have anti-slip elements 114 extending from the edges of the photovoltaic panel to the center direction, and the anti-slip elements 114 are detachable from the anti-slip hooks 114. The anti-slip member 114 is fixed to the anti-slip hook 113 by a bolt and nut structure in this embodiment, but the invention is not limited thereto. This scheme, the upper and lower both ends of robot all with photovoltaic board subassembly hookup, the anti-drop effect is better, simultaneously because anti-drop 114 can follow anti-drop couple 113 dismantles, so can conveniently will clean the robot and install to photovoltaic board subassembly on.

Referring to fig. 2, the cleaning roller 150 further includes a cover plate 140, the cover plate 140 is disposed between the connecting shaft 130 and the cleaning roller 150, and the cover plate 140 is mounted on the arc-shaped connecting member 120 of the connecting shaft 130 by means of screw fastening or welding fastening. With further reference to fig. 9, the first bracket 111 has an arc insertion tongue 1111 at a position corresponding to the cover plate 140, and the arc insertion piece 140 at the end of the cover plate 140 is attached to the upper surface or the lower surface of the arc insertion tongue 1111 and inserted into and slidably engaged with the insertion tongue 1111. In this way, after the two traveling unit edges 110 are twisted relative to each other, the cover sheet 140 is held above the cleaning roller 150 and is well connected to the two traveling unit edges 110.

Referring to fig. 10, in order to further reduce wind resistance, the first bracket 111 is configured in a semicircular structure in which a straight side of the semicircular structure is opposite to the photovoltaic panel and a circular side is away from the photovoltaic panel. The first support 111 with the shape is combined with the cover plate 140 with the semicircular longitudinal section, so that two side faces of the cleaning robot along the walking direction are both arc faces, the windward side of the cleaning robot is smaller in the cleaning process, and the received wind resistance is reduced.

As shown in fig. 10, the first bracket 111 includes a semicircular body 1112, the shaft hole 1113 is disposed at the inner side of the midpoint of the arc edge, the arc insert tongue 1111 is disposed at the position below the shaft hole 1113, a first mounting position 1114, a second mounting position 1115 and a third mounting position 1116 are correspondingly disposed at one end, the midpoint and the other end of the straight edge, the first mounting position 1114 and the third mounting position 1116 are used for mounting the first motor 117, and the second mounting position 1115 is used for mounting the second motor 118. In the previous embodiment, the third mounting location 1116 was left empty. The first bracket 111 is preferably an aluminum plate.

Referring to fig. 11, the connection shaft 130 is a tube having reinforcing ribs 131 inside. Thus, the cleaning robot can be reduced in weight while maintaining a high strength. In a more preferred embodiment, the connecting shaft 130 is a double-walled tube, comprising an outer tube 132 and an inner tube 133, and the reinforcing ribs 13 are disposed between the inner tube and the outer tube, which has a strength superior to that of a single-tube shaft.

Second embodiment:

the photovoltaic panel cleaning robot of the second embodiment is used for cleaning a photovoltaic panel of a power station.

As shown in fig. 12 and 13, in the second embodiment, the two edge traveling devices 110 are also combined by the connecting shaft 130, and the structure of the edge traveling device 110, the structure of the connecting shaft 130, the cover plate, the first motor, the second motor, the battery pack, and the like are the same as those of the first embodiment, and are not described again here.

The second embodiment is different from the first embodiment mainly in that the second embodiment further includes a middle walking device 180. During cleaning, the middle walking device 180 of the cleaning robot can walk on the middle frame of the photovoltaic panel.

The middle walking device 180 is provided with a second support 181, the second support 181 is substantially the same as the first support, the second support 181 is mounted on the connecting shaft 130, the second support 181 is provided with a second walking wheel set 182, and during cleaning, the second walking wheel set 182 rolls on the front side of the middle frame of the photovoltaic panel to realize walking.

The middle runner 180 can be twisted about the connecting shaft 130 relative to the edge runner 110. The cleaning roller is divided into two sections, namely a first section roller 154 and a second section roller 155, the two sections of the cleaning roller are respectively arranged between the second bracket 181 and the two first brackets 111, and the rollers and the brackets are connected by adopting universal joints, so that the cleaning roller can still normally rotate when the middle walking device 180 and the edge walking device 110 are in a torsional state. Correspondingly, the transmission rod 163 is also divided into two sections, i.e. a first section rod 1631 and a second section rod 1632, the second traveling wheel set 182 is connected with the first section rod 1631 and the second section rod 1632 through universal joints, and the other end of the first section rod 1631 and the other end of the second section rod 1632 are connected with the traveling wheel sets on the two edge traveling devices 110 through universal joints, so that the traveling wheel sets on the two edge traveling wheel sets 110 and the traveling wheel set of the middle traveling device 180 rotate synchronously.

The cleaning robot of the second embodiment is particularly suitable for the following photovoltaic panel assemblies: the photovoltaic panel assembly is composed of two photovoltaic panels in a direction perpendicular to the flat single axis.

It is to be noted that, unless otherwise specified, the terms "first", "second", and the like are used for distinguishing different devices having the same name, and are not to be construed as encompassing sequential, primary, secondary, or important meanings. In addition, in the first embodiment, both of the two edge running devices may be rotatably connected to the connecting shaft, or one of the edge running devices may be rotatably connected to the connecting shaft, and the other edge running device is fixed to the connecting shaft, so that the two edge running devices can be twisted relatively around the connecting shaft. In the second embodiment, the middle running gear may be rotatably connected to the connecting shaft, or may be fixed to the connecting shaft, so that the middle running gear and the edge running gear can be twisted relatively. In the second embodiment, the number of the middle traveling devices may be one or more, and no matter there are one or more, one of the middle traveling devices and the edge traveling devices may be fixed to the connecting shaft, and the others may rotate around the connecting shaft, or all of the middle traveling devices and the edge traveling devices may rotate around the connecting shaft, so that the two edge traveling devices and the middle traveling device may be twisted around the connecting shaft.

The present invention has been described in detail with reference to the specific embodiments, and the detailed description is only for the purpose of helping those skilled in the art understand the present invention, and is not to be construed as limiting the scope of the present invention. Various modifications, equivalent changes, etc. made by those skilled in the art under the spirit of the present invention shall be included in the protection scope of the present invention.

Claims

1. A twistable photovoltaic panel cleaning robot, comprising:

the two edge traveling devices are respectively provided with a first support, a traveling wheel group which is arranged on the first support and is used for being matched with the front surface of the photovoltaic panel frame or the front surface of the track, and a traveling wheel group which is matched with the side surface of the photovoltaic panel frame or the side surface of the track;

the second motor is arranged on the first bracket of the edge walking device and is configured to drive the cleaning roller to rotate; and

2. A twistable photovoltaic panel sweeping robot according to claim 1, wherein the connection means between the connection shaft and the first support comprises:

a shaft hole on the first bracket;

3. A twistable photovoltaic panel cleaning robot as claimed in claim 1, characterized in that the running wheel set comprises front wheels and rear wheels, the front wheels of the two edge running means being connected by a cardan transmission, the rear wheels of the two edge running means being connected by a cardan transmission, the first motor being connected to one of the front wheels or the rear wheel.

4. A twistable photovoltaic panel cleaning robot according to claim 1, characterized in that said robot further comprises at least one intermediate walking device having a second bracket and a walking wheel set mounted on the second bracket for cooperation with the front side of the photovoltaic panel center frame, the second bracket being mounted on said connecting shaft, said cleaning roller comprising two segments, said two segments of the cleaning roller being mounted between the second bracket and the two first brackets, respectively.

5. A twistable photovoltaic panel cleaning robot as claimed in claim 1, wherein the two motors are mounted separately from the battery pack in two edge runners, and the synchronization mechanism of the runner set is mounted in the edge runner where the battery pack is located.

6. A twistable photovoltaic panel cleaning robot as claimed in claim 1, wherein both first supports have an anti-slip hook extending from the front to the back of the photovoltaic panel, and the end of the anti-slip hook has an anti-slip member extending from the edge of the photovoltaic panel toward the center, and the anti-slip member is detachable from the anti-slip hook.

7. A twistable photovoltaic panel cleaning robot as set forth in claim 1, wherein the cleaning roller further has a cover plate, the cover plate is positioned between the connecting shaft and the cleaning roller, the cover plate is fixed on the arc-shaped connecting member on the connecting shaft, the first bracket corresponds to the position of the cover plate, and an arc-shaped insertion tongue is provided, and the end portion of the cover plate is inserted into the insertion tongue and is slidably fitted with the arc-shaped insertion piece.

8. A twistable photovoltaic panel cleaning robot as claimed in claim 1, characterized in that the first holder is of a semi-circular configuration.

9. A twistable photovoltaic panel cleaning robot as claimed in claim 1, characterized in that the connection shaft is a tube with reinforcement ribs inside.