CN211275613U

CN211275613U - Photovoltaic cleaning robot capable of automatically walking along bridge floor

Info

Publication number: CN211275613U
Application number: CN201922043937.8U
Authority: CN
Inventors: 吴清健; 陈应洪
Original assignee: Shenzhen Monster Robot Co ltd
Current assignee: Shenzhen Monster Robot Co ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-08-18
Anticipated expiration: 2029-11-22

Abstract

The utility model relates to an along photovoltaic cleaning machines people of bridge floor automatic walking, photovoltaic cleaning machines people walks in order to clean the operation to it on the photovoltaic board array, and the clearance between two adjacent photovoltaic board arrays passes through the bridge floor and connects, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism on the fuselage, crawler and clean the mechanism, the both ends of bridge floor are all connected with two adjacent photovoltaic boards through connecting device, the bridge floor is close to connecting device's tip upper surface and is provided with a plurality of first sheetmetals that are parallel to each other, the bridge floor upper surface is provided with the second sheetmetal along length direction's central point department, it is fixed to set up on fuselage front end lateral wall to clean the mechanism. The utility model discloses a follow the photovoltaic cleaning robot accessible bridge floor of the automatic walking of bridge floor and continue to clean the operation from a photovoltaic array walking to another adjacent photovoltaic array, consequently improve photovoltaic cleaning robot's suitability and clean efficiency.

Description

Photovoltaic cleaning robot capable of automatically walking along bridge floor

Technical Field

The embodiment of the utility model provides a photovoltaic cleaning robot's technical field, concretely relates to photovoltaic cleaning robot along automatic walking of bridge floor.

Background

The sustainable development type and the environmental protection property of solar power generation make the solar power generation become one of the most ideal renewable energy technologies, wherein the photovoltaic power generation is mainly used, the photovoltaic soot deposition effect is one of the biggest problems of the photovoltaic power generation in large-scale application, most photovoltaic power stations with larger scale are established in areas with long sunshine time and less rainwater, and the generated energy can be reduced by 20% -30% under the condition of not cleaning for a long time, so that a great amount of economic loss is caused. Therefore, how to economically and reasonably solve the problem of dust accumulation becomes a key task for the development of the photovoltaic industry.

And the photovoltaic arrays have a distance of about 0.5 m to 30m, so that the existing industry can not span small-sized automatic cleaning equipment, or a receiving and conveying device is used for carrying the photovoltaic arrays by paving a track on the ground. The method for laying the track on the ground is greatly limited by the constraints of terrain and environment, the cost is high, after a photovoltaic array is cleaned, the track needs to return to the receiving and conveying equipment, and the cleaning efficiency is low.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned problem that exists among the prior art, the utility model discloses a main objective provides a follow the photovoltaic cleaning robot of bridge floor automatic walking, walks to another photovoltaic array adjacent from a photovoltaic array through the bridge floor and continues to clean the operation, consequently improves photovoltaic cleaning robot's suitability and clean efficiency.

The technical scheme of the utility model is like this:

a photovoltaic cleaning robot automatically walking along a bridge floor, walking on a photovoltaic panel array to perform cleaning operation on the photovoltaic panel array, and the gaps between two adjacent photovoltaic panel arrays are connected through a bridge floor, the photovoltaic cleaning robot comprises a robot body, the body is provided with a driving mechanism, a crawler mechanism and a cleaning mechanism, the crawler mechanism drives the body to run, the cleaning mechanism is driven by the driving mechanism to carry out cleaning operation, the bridge deck is made of non-metallic materials, two ends of the bridge deck are connected with two adjacent photovoltaic panels through connecting devices, a plurality of first metal sheets which are parallel to each other are arranged on the upper surface of the end part of the bridge deck close to the connecting devices, the bridge floor upper surface is provided with the second foil along length direction's central point, clean the mechanism and fix the setting on fuselage front end lateral wall.

The connecting device is composed of glass or wood boards, one end of the connecting device is arranged at the end part of the side surface of the photovoltaic array along the length direction, and the other end of the connecting device is connected with the end part of the side surface of the bridge deck along the length direction.

The bridge floor comprises glass or plank, the bridge floor with the photovoltaic board array parallels, the width of bridge floor is greater than photovoltaic cleaning machines people's fuselage width, just the bridge floor is located two adjacent photovoltaic board arrays with one side.

The first metal sheet and the second metal sheet are both rectangular, the length of the first metal sheet is equal to the width of the bridge deck, and the first metal sheet and the second metal sheet are perpendicular to each other.

Still be provided with photovoltaic board determine module on the fuselage, just photovoltaic board determine module includes first photovoltaic board determine module, second photovoltaic board determine module, third photovoltaic board determine module and fourth photovoltaic board determine module, wherein, first photovoltaic board determine module is fixed to be set up the front portion of fuselage left end lateral wall, second photovoltaic board determine module is fixed to be set up the front portion of fuselage right-hand member lateral wall, third photovoltaic board determine module is fixed to be set up the rear portion of fuselage right-hand member lateral wall, fourth photovoltaic board determine module is fixed to be set up the rear portion of fuselage left end lateral wall.

Still be provided with metal induction assembly on the fuselage, just metal induction assembly includes first metal inductor, second metal inductor, third metal inductor and fourth metal inductor, wherein: the first metal inductor is fixedly arranged in the middle of the outer side wall of the left end of the machine body, the second metal inductor is fixedly arranged in the middle of the inner side wall of the front end of the machine body, the third metal inductor is fixedly arranged in the middle of the outer side wall of the right end of the machine body, and the fourth metal inductor is fixedly arranged in the middle of the outer side wall of the rear end of the machine body.

Running gear includes track and the driving motor who is connected with the track, wherein, the track includes left wheel track and right wheel track, driving motor includes left wheel driving motor and right wheel driving motor, the left wheel track sets up the left side of fuselage bottom, just the left wheel track passes through left wheel driving motor's drive removes, right wheel track sets up the right side of fuselage bottom, just right wheel track passes right wheel driving motor's drive removes.

Still include the distributed absorption subassembly, the distributed absorption subassembly includes first absorption subassembly, second absorption subassembly and third absorption subassembly, wherein: the first adsorption assembly is arranged on the front side of the bottom of the machine body, the second adsorption assembly is arranged in the middle of the bottom of the machine body, and the third adsorption assembly is arranged on the rear side of the bottom of the machine body; the first sucking component comprises a first sucking disc, the second sucking component comprises a second sucking disc, the outer diameter of the second sucking disc is larger than that of the first sucking disc, the third sucking component comprises a third sucking disc, and the outer diameter of the third sucking disc is equal to that of the first sucking disc.

The second adsorption component further comprises a first fixing ring, a second fixing ring, a fixing support, a support frame and a steering engine, wherein: first solid fixed ring sets up the solid fixed ring's of second inside, just first solid fixed ring follows through a plurality of first pulleys that its lateral wall circumferencial direction set up a plurality of first pulley tracks of the vertical setting of the solid fixed ring inside wall circumferencial direction of second reciprocate, the solid fixed ring of second sets up through its lateral wall circumferencial direction a plurality of first fixed convex parts and the chassis fixed connection of fuselage bottom, be provided with deep groove ball bearing in the first solid fixed ring, just first solid fixed ring inside wall lower part circumferencial direction is provided with the annular installation convex part of circle, deep groove ball bearing's outer lane is located on the installation convex part and with first solid fixed ring's inside wall fixed connection.

Fixed surface is provided with fixed disc on the second sucking disc, fixed disc's last fixed surface is provided with annular unable adjustment base of circle, unable adjustment base is located deep groove ball bearing's inside, just unable adjustment base with deep groove ball bearing's inner circle fixed connection, deep groove ball bearing inner circle for deep groove ball bearing's outer lane rotates, the last first fixed recess that is provided with of unable adjustment base, fixed spacing portion that is provided with in the first fixed recess, just the outside extension of the upper end lateral wall circumferencial direction of spacing portion is provided with the spacing bulge loop of circle, spacing bulge loop is located deep groove ball bearing's the upper end outside is with the restriction deep groove ball bearing rebound.

The utility model has the advantages of it is following and beneficial effect: the photovoltaic cleaning robot automatically walking along the bridge deck provided by the embodiment of the utility model walks on the photovoltaic panel arrays to clean the photovoltaic panel arrays, and the gap between two adjacent photovoltaic panel arrays is connected through the bridge deck, the photovoltaic cleaning robot comprises a body, a driving mechanism, a crawler mechanism and a cleaning mechanism are arranged on the body, the driving mechanism is electrically connected with the crawler mechanism, the crawler mechanism drives the body to walk under the driving of the driving mechanism, the cleaning mechanism cleans under the driving of the driving mechanism, the bridge deck is made of non-metallic materials, two ends of the bridge deck are connected with two adjacent photovoltaic panels through connecting devices, a plurality of first metal sheets parallel to each other are arranged on the upper surface of the end part of the bridge deck close to the connecting devices, a second metal sheet is arranged on the upper surface of the bridge deck along the central position of the length direction, the cleaning mechanism is fixedly arranged on the outer side wall of the front end of the machine body, and a photovoltaic panel detection assembly and a metal induction assembly are arranged on the machine body; through the design, the gap between two adjacent photovoltaic panel arrays is connected through the bridge floor promptly, and photovoltaic cleaning robot passes through the bridge floor and realizes the continuous clean operation between the photovoltaic panel array, improves photovoltaic cleaning robot's suitability to improve photovoltaic cleaning robot's clean efficiency, go through photovoltaic panel detection subassembly and metal response subassembly auto-induction on the bridge floor that builds between the photovoltaic array in order to reach, finally realize practicing thrift the manpower and reduce the power station maintenance cost.

Drawings

Fig. 1 is a schematic structural view of the bridge deck provided by the embodiment of the present invention and two adjacent photovoltaic panels.

Fig. 2 is the embodiment of the utility model provides a bridge floor guide photovoltaic cleaning robot goes the schematic diagram.

Fig. 3 is the utility model provides a photovoltaic robot goes the in-process on the bridge floor and corrects the schematic diagram.

Fig. 4 is the utility model discloses photovoltaic cleaning robot who walks along the bridge floor is automatic overlook the schematic structure view that provides.

Fig. 5 is the embodiment of the utility model provides a photovoltaic cleaning robot who walks along the bridge floor is automatic turns the rotatory schematic diagram of operation in-process fuselage.

Fig. 6 is a schematic perspective view of a second adsorption assembly according to an embodiment of the present invention.

Fig. 7 is an exploded schematic view of a second adsorption assembly according to an embodiment of the present invention.

Fig. 8 is an enlarged schematic structural view of a support frame in a second adsorption assembly according to an embodiment of the present invention.

Fig. 9 is a schematic perspective view of an air pressure detecting device according to an embodiment of the present invention.

Fig. 10 is an exploded schematic view of an air pressure detecting device according to an embodiment of the present invention.

Fig. 11 is an exploded schematic view of a first adsorption assembly according to an embodiment of the present invention.

Fig. 12 is an exploded schematic view of the first adsorption assembly according to another embodiment of the present invention.

Fig. 13 is a schematic perspective view of a first adsorption assembly according to an embodiment of the present invention.

Fig. 14 is a schematic perspective view of a fixing base in a second adsorption assembly according to an embodiment of the present invention.

Fig. 15 is a schematic structural view of the second adsorption assembly, in which the limiting portion, the deep groove ball bearing, and the first fixing ring are matched.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1 to 15: in the embodiment of the utility model, the photovoltaic cleaning robot automatically walks along the bridge floor, walks on the photovoltaic panel array 600 to clean the photovoltaic panel array, and the gaps between two adjacent photovoltaic panel arrays are connected through a bridge deck 700, the photovoltaic cleaning robot comprises a robot body 100, a driving mechanism is arranged on the robot body 100, a crawler mechanism and a cleaning mechanism 102 are arranged on the robot body 100, the crawler mechanism drives the robot body 100 to walk, the cleaning mechanism 102 is driven by the driving mechanism to perform cleaning operation, the bridge deck 700 is made of non-metal materials, two ends of the bridge deck 700 are connected with two adjacent photovoltaic panels through a connecting device 800, the upper surface of the end part of the bridge deck 700 close to the connecting device 800 is provided with a plurality of first metal sheets 701 parallel to each other, the upper surface of the bridge deck 700 is provided with a second metal sheet 702 along the central position of the length direction, and the cleaning mechanism 102 is fixedly arranged on the outer side wall of the.

The connection device 800 is made of glass or wood, that is, the connection device 800 is made of a non-metal material with a certain hardness, one end of the connection device 800 is disposed at a lateral end of the photovoltaic array along the length direction, and the other end of the connection device 800 is connected with a lateral end of the bridge deck 700 along the length direction.

The bridge deck 700 is made of glass or wood, the bridge deck 700 is parallel to the photovoltaic panel arrays 600, the width of the bridge deck 700 is larger than that of the body 100 of the photovoltaic cleaning robot, and the bridge deck 700 is located on the same side of two adjacent photovoltaic panel arrays 600.

The first metal sheet 701 and the second metal sheet 702 are both rectangular, the length of the first metal sheet 701 is equal to the width of the bridge deck, and the first metal sheet 701 and the second metal sheet 702 are arranged perpendicular to each other.

Still be provided with photovoltaic board detection module on fuselage 100, and photovoltaic board detection module includes first photovoltaic board detection module 111, second photovoltaic board detection module 112, third photovoltaic board detection module 113 and fourth photovoltaic board detection module 114, wherein, first photovoltaic board detection module 111 is fixed to be set up in the front portion of fuselage 100 left end lateral wall, second photovoltaic board detection module 112 is fixed to be set up in the front portion of fuselage 100 right-hand member lateral wall, third photovoltaic board detection module 113 is fixed to be set up in the rear portion of fuselage 100 right-hand member lateral wall, fourth photovoltaic board detection module 114 is fixed to be set up in the rear portion of fuselage 100 left end lateral wall. The first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114 can be formed by an STM32 control chip + OV7725 camera + E18-D80NK diffuse reflection type infrared photoelectric switches so as to realize a detection function.

Still be provided with metal induction component on the fuselage 100, and metal induction component includes first metal inductor 121, second metal inductor 122, third metal inductor 123 and fourth metal inductor 124, wherein: first metal inductor 121 is fixed to be set up in the middle part of fuselage 100 left end lateral wall, and second metal inductor 122 is fixed to be set up in the middle part of fuselage 100 front end inside wall, and the fixed middle part that sets up at fuselage 100 right-hand member lateral wall of third metal inductor 123, and the fixed middle part that sets up at fuselage 100 rear end lateral wall of fourth metal inductor 124. The first metal inductor 121, the second metal inductor 122, the third metal inductor 123 and the fourth metal inductor 124 are all LJA30M-40N1 metal inductors.

Through the above design, four photovoltaic panel detection modules (a first photovoltaic panel detection module 111, a second photovoltaic panel detection module 112, a third photovoltaic panel detection module 113, and a fourth photovoltaic panel detection module 114) are distributed at four corners of the machine body 100, so as to sense three different states of the border, the plane, and the suspension of the photovoltaic panel; metal inductors (namely a first metal inductor 121, a second metal inductor 122, a third metal inductor 123 and a fourth metal inductor 124) are arranged at the center positions of the left edge, the front edge, the right edge and the rear edge of the body 100 so as to sense whether the photovoltaic panel exists near the body; data are provided for decisions of linear walking and seam crossing cleaning of the photovoltaic cleaning robot through the four photovoltaic panel detection modules; data are provided for the decision of continuous cleaning and autonomous cleaning of the photovoltaic cleaning robot through the four metal sensors; the integrated data of the four photovoltaic panel detection modules and the four metal sensors provides data for the decision of the photovoltaic cleaning robot on cross-seam cleaning, continuous cleaning, autonomous cleaning and cross-bridge driving so as to realize the functions.

When the four photovoltaic panel detection modules work, the modules are judged to be in a plane state (namely inside the photovoltaic panel), a frame state (namely right along the frame) and a suspension state (namely outside the photovoltaic panel); four photovoltaic board detection modules that four corners of fuselage distribute, the welt carries out clear in-process about photovoltaic cleaning machines people, plays the effect respectively.

When the photovoltaic cleaning robot cleans the left welt (namely, the left welt) of the photovoltaic panel, the two photovoltaic panel detection modules (namely, the first photovoltaic panel detection module 111 and the fourth photovoltaic panel detection module 114) on the left side play a role in providing data for linear correction control; the two photovoltaic panel detection modules in the front (namely the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) have the function of detecting the photovoltaic panel frame in the front, and the two photovoltaic panel detection modules in the rear (namely the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) have the function of detecting the photovoltaic panel frame in the rear, so that data are provided for cleaning the front and rear cross seams and stopping cleaning.

When the photovoltaic cleaning robot cleans the right welt (namely the right welt) of the photovoltaic panel, the two photovoltaic panel detection modules (namely the second photovoltaic panel detection module 112 and the third photovoltaic panel detection module 113) on the right side play a role in providing data for linear correction control; the two photovoltaic panel detection modules in front (namely the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) play a role in detecting the photovoltaic panel frame in front, and the two photovoltaic panel detection modules in rear (namely the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) play a role in detecting the photovoltaic panel frame in rear, so that data are provided for cleaning the front and rear cross seams and stopping cleaning.

The photovoltaic cleaning robot has the advantages that the metal inductors (namely the second metal inductor 122 and the fourth metal inductor 124) distributed at the centers of the front edge and the rear edge of the robot body can detect whether photovoltaic panels exist in the front and the rear of the robot body. When the two photovoltaic panel detection modules in front or the two photovoltaic panel detection modules in back detect the photovoltaic panel frames, the second metal inductor 122 and the fourth metal inductor 124 can be used for inducing whether the photovoltaic panels exist in front and back or not, the second metal inductor 122 and the fourth metal inductor 124 transmit data to the main control, and the main control judges whether cleaning is performed along the current direction or not; in addition still cooperate with photovoltaic board detection module and play supplementary and prevent falling the effect, when the unexpected undetected frame of photovoltaic board detection module (being first photovoltaic board detection module 111 and second photovoltaic board detection module 112), rely on second metal inductor 122 to judge whether there is the photovoltaic board in the place ahead of direction of advance, if sense the place ahead and do not have the photovoltaic board, and photovoltaic board detection module (being first photovoltaic board detection module 111 and second photovoltaic board detection module 112) is in unsettled state (outside the photovoltaic board), the state of stopping advancing is immediately issued to the master control, play supplementary detection and prevent falling the effect.

Above-mentioned photovoltaic cleaning machines people, the metal inductor (being first metal inductor 121, third metal inductor 123) that distributes in fuselage left and right sides edge center play the effect that whether there is the photovoltaic board left and right sides of detection. When the photovoltaic cleaning robot is started, the photovoltaic cleaning robot can judge the cleaning direction according to the data of the photovoltaic panel detection assembly and the metal induction assembly, the left side of the photovoltaic cleaning robot inducts the photovoltaic panel to clean leftwards and the right side of the photovoltaic cleaning robot inducts the photovoltaic panel to clean rightwards at the edge of the photovoltaic array; in the moving process, according to the cleaning path plan given by the photovoltaic cleaning robot, whether the photovoltaic panel is in work or not needs to be judged, if the photovoltaic panel needs to continue to work, whether the photovoltaic panel exists or not is detected through the first metal inductor 121 on the left side, if the photovoltaic panel needs to continue to work, whether the photovoltaic panel exists or not is detected through the third metal inductor 123 on the right side, if the photovoltaic panel exists, the photovoltaic panel continues to be cleaned after the photovoltaic panel reaches a new photovoltaic panel row and column in a steering mode, and if the photovoltaic panel does not exist, the cleaning is finished.

When crossing the bridge (passing through the bridge floor), the photovoltaic cleaning robot detects through second metal inductor 122 in the place ahead, judges whether to walk the end of the place ahead direction, when reaching the end, judges whether to have metal to rotate behind the rotation direction and continues to cross the bridge and travel through judging left and right sides. And if the vehicle runs to the end of the front direction and no metal exists on the left side and the right side, the vehicle rotates downwards according to the self direction, and the running of the bridge deck is finished. And the width of the bridge deck is slightly wider than the distance between critical planes when the planes are detected on the photovoltaic panel detection modules on the two sides, when the machine body is completely arranged on the bridge deck, the four photovoltaic panel detection modules detect the planes, and the speed is kept to walk linearly at the moment. If the photovoltaic cleaning robot runs on the bridge floor forward and is deviated to the left, the photovoltaic panel detection modules distributed at the rear in the photovoltaic panel detection assembly sense the same state, and the first photovoltaic panel detection module 111 at the upper left corner does not sense a plane; or the fourth photovoltaic panel detection module 114 at the lower left corner senses the plane, and the third photovoltaic panel detection module 113 at the lower right corner does not sense the plane. At the moment, the deviation can be corrected by adjusting the running speed, and the effect of straight line correction walking is achieved. If the photovoltaic cleaning robot runs on the bridge floor forward and deviates to the right, the photovoltaic panel detection modules distributed behind the photovoltaic panel detection assemblies sense the same state, and the second photovoltaic panel detection module 112 at the upper right corner does not sense a plane; or the third photovoltaic panel detection module 113 at the lower right corner senses the plane, and the fourth photovoltaic panel detection module 114 at the lower left corner does not sense the plane. At the moment, the deviation can be corrected by adjusting the running speed, and the effect of straight line correction walking is achieved.

The first adsorption component 300, the second adsorption component 400 and the third adsorption component 500 are arranged on the chassis 103 at the bottom of the machine body 100, wherein the first adsorption component 300 is arranged on the front side of the chassis 103 at the bottom of the machine body, the second adsorption component 300 is arranged in the middle of the chassis 103 at the bottom of the machine body 100, the third adsorption component 500 is arranged on the rear side of the chassis 103 at the bottom of the machine body 100, and the first adsorption component 300 and the third adsorption component 500 are respectively symmetrically arranged on the front side and the rear side of the second adsorption component 400.

The running gear includes a crawler belt mechanism, the driving mechanism includes a driving motor, wherein, the crawler belt mechanism includes a left wheel crawler belt 101 and a right wheel crawler belt 104, the driving motor includes a left wheel driving motor 105 and a right wheel driving motor 106, the left wheel crawler belt 101 is disposed on the left side of the chassis 103 in the machine body 100, and the left wheel crawler belt 101 is moved by the driving of the left wheel driving motor 105, the right wheel crawler belt 104 is disposed on the right side of the chassis 103 in the machine body 100, and the right wheel crawler belt 104 is moved by the driving of the right wheel driving motor 106.

When the clean photovoltaic robot turns, the second adsorption component 400 is opened, the air pressure inside the second adsorption component 400 is detected through the air pressure detection device 200, when the detected air pressure is lower than the expected value of the preset air pressure, the second adsorption component 400 adsorbs the machine body on the operation plane, the first adsorption component 300 and the third adsorption component 500 are closed simultaneously, the machine body 100 can rotate around the second adsorption component through the second adsorption component 400, and the machine body 100 turns under the driving of the left-wheel crawler belt 101 and the right-wheel crawler belt 104.

The first suction assembly 300 includes a first suction cup (not shown), the second suction assembly 400 includes a second suction cup 401, and the outer diameter of the second suction cup 401 is greater than that of the first suction cup, and the third suction assembly 500 includes a third suction cup (not shown), and the outer diameter of the third suction cup is equal to that of the first suction cup. Through the design, the outer diameter of the second sucker at the middle position of the bottom of the machine body 100 is larger than the outer diameters of the first sucker and the second sucker, namely, the large-size second sucker is arranged at the middle position of the bottom of the machine body 100, so that the adsorption force of the cleaning photovoltaic cleaning robot during turning is increased, and the safety and reliability are improved to a certain degree.

The second adsorption component 400 further comprises a first fixing ring 402, a second fixing ring 403, a fixing bracket 404, a support frame 405 and a steering engine 406, wherein: the first fixing ring 402 is disposed inside the second fixing ring 403, the first fixing ring 402 moves up and down along a plurality of pulley rails 408 vertically disposed in the circumferential direction of the inner side wall of the second fixing ring 403 via a plurality of pulleys 407 disposed in the circumferential direction of the outer side wall of the first fixing ring 402, the second fixing ring 403 is fixedly connected to the chassis 103 at the bottom of the body 100 via a plurality of fixing protrusions 409 disposed in the circumferential direction of the outer side wall of the second fixing ring 403, the first fixing ring 402 is disposed with the deep groove ball bearing 410 therein, the circumferential direction of the lower portion of the inner side wall of the first fixing ring 402 is disposed with a circular mounting protrusion 411, and the outer ring (not shown) of the deep groove ball bearing 410 is disposed on the mounting.

The upper surface of the second suction cup 401 is fixedly provided with a fixed disc 412, the upper surface of the fixed disc 412 is fixedly provided with a circular ring-shaped fixed base 413, the fixed base 413 is located inside the deep groove ball bearing 410, the fixed base 413 is fixedly connected with an inner ring (not shown in the figure) of the deep groove ball bearing 410, the inner ring of the deep groove ball bearing 410 rotates relative to an outer ring of the deep groove ball bearing 410, a first fixed groove 414 is arranged on the fixed base 413, a limiting portion 415 is fixedly arranged in the first fixed groove 414, a circular ring-shaped limiting convex ring 416 is arranged on the outer side wall of the upper end of the limiting portion 415 in an outward extending mode in the circumferential direction, and the limiting convex ring 416 is located on the outer side of the upper end of the deep groove. Through the above design, the limiting portion 415 and the fixing base 413 are both fixedly connected to the fixing disc 412, and the fixing disc 412 is fixedly connected to the second suction cup 401, so that the second suction cup 401 is driven by the fixing base 413 to rotate together.

The lower end of the fixed support 404 is fixedly arranged on the chassis 103 at the bottom of the body 100, the steering engine 406 is fixedly arranged at the upper end of the fixed support 404 through the mounting plate 417, a steering wheel 418 is fixedly arranged at the end part of a driving shaft (not shown in the figure) of the steering engine 406, a connecting rod 419 is fixedly arranged on the steering wheel 418, one end of the connecting rod 419 far away from the steering wheel 418 is fixedly arranged on the support frame 405, the support frame 405 comprises a support rod 420 and a first support part 421 and a second support part 422 which are fixedly arranged below two ends of the support rod 420, a first arc-shaped chute 423 is arranged on the inner side wall of the first support part 421, a second arc-shaped chute 424 is, and first spout 423 and second spout 424 all cooperate with the lateral wall of first solid fixed ring 402, and the outside wall fastening cooperation of support frame 405 through first spout 423 and second spout 424 with first solid fixed ring 402, the fuselage 100 carries out the rotation between being connected through deep groove ball bearing 410 and the second sucking disc 401.

A limiting hole 425 is formed in the first fixing groove 414 of the fixing base 413, a second fixing groove 426 is formed in the limiting portion 415, a positioning protrusion (not shown) extends downwards from the lower surface of the bottom of the second fixing groove 426, the positioning protrusion is located in the limiting hole 425, a plurality of first mounting holes 427 are formed in the second fixing groove 426, a plurality of second mounting holes 428 are formed in the first fixing groove 414, the second mounting holes 428 correspond to the first mounting holes 427, a plurality of third mounting holes 429 are formed in the fixing disc 412, and the third mounting holes 429 correspond to the second mounting holes 428. Through the above design, namely, the limiting hole 425 is arranged in the first fixing groove 414 and the positioning convex part is arranged on the lower surface of the bottom of the second fixing groove 426 in a downward extending manner, so that the limiting part 415 can be conveniently and accurately positioned on the fixing base 413, and meanwhile, the limiting part 415 and the fixing base can be conveniently and firmly fixed on the fixing disc 412 through the arranged first mounting hole 427, the second mounting hole 428 and the third mounting hole 429 by fastening screws, and the safety and reliability are improved.

The outer side wall of the first fixing ring 402 extends outwards to be provided with a plurality of limiting convex parts 430, the limiting convex parts 430 and the first fixing ring 402 are integrally formed, a limiting groove 431 is vertically arranged on the outer side wall of the limiting convex parts 430, a plurality of pulleys 407 are installed in the limiting groove 431 along the vertical direction, and the first fixing ring 402 moves up and down along a pulley track 408 arranged on the inner side wall of the second fixing ring 403 through the pulleys 407. Through above-mentioned design, also drive rudder disc 418 through steering wheel 406 and rotate, and rudder disc 418's rotation and then drive the motion of connecting rod 419, and connecting rod 419 then draws and rises or transfers support frame 405, thereby support frame 405 rises or descends through first solid fixed ring 402 drive sucking disc.

The supporting frame 405 is located inside the second fixing ring 403, an installation portion 432 is disposed at the center of the upper end of the supporting rod 420, the installation portion 432 is fixedly connected with the lower end of the connecting rod 419 through a fastening bolt (not shown in the figure), the upper end of the first supporting portion 421 is fixedly connected with the lower surface of one end of the supporting rod 420, the upper end of the second supporting portion 422 is fixedly connected with the lower surface of the other end of the supporting rod 420, the first sliding groove 423 is disposed at the lower portion of the inner side wall of the first supporting portion 421, and the second sliding groove 424 is disposed at the lower portion of the inner.

In the embodiment of the present invention, the structure of the third adsorption assembly 500 may be the same as that of the first adsorption assembly 300, so as to improve the interchangeability of the parts and facilitate the later maintenance. Meanwhile, the first adsorption assembly 300 further includes a third fixing ring 308, a fixing portion 302, a fixing plate 303, and an upper cover 304, wherein:

the fixing portion 302 is in a circular ring shape, the fixing portion 302 is located in a third fixing ring 308, a third fixing groove 305 is formed in the upper surface of the fixing portion 302, a plurality of fourth mounting holes 306 are formed in the third fixing groove 305, a fourth fixing groove 307 is formed in the lower surface of the fixing portion 302, the fourth mounting holes 306 extend to the bottom of the fourth fixing groove 307, a plurality of second limiting convex portions 309 extend outwards in the circumferential direction of the upper portion of the outer side wall of the fixing portion 302, a second limiting groove 310 is vertically formed in the outer side wall of the second limiting convex portion 309, a plurality of second pulleys 311 are vertically mounted in the second limiting groove 310, and the fixing portion 302 moves up and down along a second pulley track 312 formed in the inner side wall of the third fixing ring 308 through the second pulleys 311; the fixing plate 303 is annular and is fixedly arranged on the upper surface of the first suction cup 301, the fixing plate 303 and the first suction cup 301 are both positioned in a fourth fixing groove 307 of the fixing part 302, the first suction cup 301 is fixedly connected with the bottom of the fourth fixing groove 307 through the fixing plate 303, and meanwhile, the plane where the lower end of the first suction cup 301 is positioned is flush with the plane where the lower end of the fixing part 302 is positioned; a plurality of second fixing protrusions 313 are arranged on the lower portion of the outer side wall of the third fixing ring 308 in the circumferential direction, and the third fixing ring 308 is fixedly connected with the chassis at the bottom of the body 100 through the second fixing protrusions 313.

Through the above design, when the photovoltaic cleaning robot needs to turn, open the second adsorption component, and wait for the second sucking disc in the second adsorption component and the firm absorption back of operation plane, then close first adsorption component 300 and third adsorption component 500, start the exhaust solenoid valve (not shown in the figure) that sets up in first adsorption component 300 and the third adsorption component 500 simultaneously, so that the gas in first sucking disc and the third sucking disc is discharged fast, thereby the steering wheel (not shown in the figure) that sets up in the first adsorption component makes fixed part 302 pass through second pulley 311 along the second pulley track 312 upward movement that the solid fixed ring 308 inside wall set up of third, and then make first sucking disc break away from the operation plane, the third sucking disc is also so, make things convenient for the smooth of photovoltaic cleaning robot to turn the operation to go on.

The air pressure detecting device 200 is disposed on the chassis 103 of the body 100, and the air pressure detecting device 200 includes an upper housing 201, a base 202, and a lower housing 203, the upper housing 201 is disposed above the base 202, the lower housing 203 is disposed below the base 202, a plurality of first fixing holes 204 are disposed at a left end of the base 202, a plurality of second fixing holes 205 are disposed at a right end of the base 202, a plurality of first pressure sensors 206 are mounted on an upper surface of the base 202, a plurality of first mounting grooves (not shown) are disposed inside the upper housing 201, the first mounting grooves extend to a lower surface of the upper housing 201 and correspond to the first pressure sensors 206, a first input interface 207 and a first output interface 208 communicated with the first mounting grooves are disposed on the upper housing 201, a plurality of second pressure sensors (not shown) are mounted on a lower surface of the base 202, a plurality of second mounting grooves 209 are disposed inside the lower housing 203, the second mounting recess 209 extends to the upper surface of the lower housing 203 and corresponds to a second pressure sensor, and a second input port 210 and a second output port 211 communicated with the second mounting recess 209 are provided on the lower housing 203. Through the design, the air pressure detection device has multi-path air pressure detection, and is convenient for various photovoltaic cleaning robots and industrial equipment to use.

A first mounting portion 212 and a second mounting portion (not shown) are respectively extended from two ends of the upper casing 201, and the upper casing 201 is fixedly disposed above the base 202 through the first mounting portion 212 and the second mounting portion. Through the above design, through setting up first installation department 212 and second installation department at the both ends of last casing 201 promptly, make things convenient for the installation between last casing 201 and the base 202 and the maintenance in later stage, convenient operation and swift.

The first mounting portion 212 is provided with a first mounting hole 213, the first mounting hole 213 corresponds to the first fixing hole 204, the second mounting portion is provided with a second mounting hole (not shown) corresponding to the second fixing hole 205, and the upper housing 201 is fixedly connected to the base 202 through the cooperation of the first mounting hole 213 and the first fixing hole 204 and the cooperation of the second mounting hole and the second fixing hole 205.

A third mounting portion 216 and a fourth mounting portion 217 are respectively disposed at two ends of the lower case 203, and the lower case 203 is fixedly disposed below the base 202 through the third mounting portion 216 and the fourth mounting portion 217. Through the above design, namely, the third installation part 216 and the fourth installation part are arranged at the two ends of the lower shell 203, so that the installation and the later maintenance between the lower shell 203 and the base 202 are facilitated, and the operation is convenient and fast.

A third mounting hole 218 is formed in the third mounting portion 216, the third mounting hole 218 corresponds to the first fixing hole 204, a fourth mounting hole 219 is formed in the fourth mounting portion 217, the fourth mounting hole 219 corresponds to the second fixing hole 205, and the lower housing 203 is fixedly connected with the base 202 through the matching of the third mounting hole 218 and the first fixing hole 204 and the matching of the fourth mounting hole 219 and the second fixing hole 205.

Through the above design, namely, the first mounting hole 213 is disposed on the first mounting portion 212, the second mounting hole is disposed on the second mounting portion, the first fixing hole 204 and the second fixing hole 205 are correspondingly disposed at the left end and the right end of the base 205, the third mounting hole 218 is disposed on the third mounting portion 216, and the fourth mounting hole 219 is disposed on the fourth mounting portion 217, that is, the two fastening screws respectively pass through the first mounting hole 213 or the second mounting hole, then pass through the first fixing hole 204 or the second fixing hole 205 on the base 202, then pass through the third mounting hole 218 or the fourth mounting hole 219, and finally fasten the fastening screws, thereby achieving the fastening between the upper housing 201 and the lower housing 203 and the base 202, improving the safety and reliability to a certain extent, and further prolonging the service life of the air pressure monitoring device.

Base 202 is the PCB circuit board, and the shape of base 202 is rectangle and base 202's length and width are 70mm and 35mm respectively, and base 202's left end outwards extends and is provided with installation department 220, is provided with data output interface 221 on the installation department 220, and first pressure sensor 206 and second pressure sensor all link to each other with data output interface 221. The mounting portion 220 and the base 202 can be integrally formed, so that the processing is convenient, the strength between the mounting portion 220 and the base 202 is improved, and the service life is prolonged.

The first pressure sensor 206 and the second pressure sensor are both BMP180 high-precision digital pressure sensors, and the first pressure sensor 206 and the second pressure sensor are both BMP180 high-precision digital pressure sensors, so that the detection precision and sensitivity of the air pressure detection device can be improved; a first sealing gasket (not shown in the figure) is arranged above the base 202, the first sealing gasket is cuboid, the length, width and height of the first sealing gasket are respectively 50mm, 10mm and 3mm, a first opening (not shown in the figure) is arranged on the first sealing gasket, and the first pressure sensor 206 is located in the first opening. By the arrangement of the first sealing gasket, good sealing performance can be improved when the upper housing 201 is combined with the base 202, and the first pressure sensor 206 arranged on the upper surface of the base is completely sealed by the upper housing 201.

A second sealing gasket (not shown in the figure) is arranged below the base 202, the second sealing gasket is cuboid, the length, width and height of the second sealing gasket are respectively 50mm, 10mm and 3mm, a second opening is formed in the second sealing gasket, and the second pressure sensor is located in the second opening. Through the second sealing gasket, the sealing performance of the lower shell 217 and the base 202 can be improved, and the second pressure sensor arranged on the lower surface of the base is completely sealed by the lower shell 217.

The first mounting groove is square in shape, and a third gasket (not shown) is disposed in the first mounting groove. Through the third that sets up sealed pad, after last casing 202 and base 202 installation are fixed, first pressure sensor 206 is arranged in first mounting groove to can carry out good sealed processing to first pressure sensor 206, be used for preventing that first pressure sensor 206 from receiving the influence of outside dust, and guarantee good air circulation, make the data that above-mentioned atmospheric pressure detection device 200 detected have fine precision and reliability.

The second mounting groove 209 has a square shape, and a fourth sealing gasket (not shown) is disposed in the second mounting groove 209. Through the fourth sealing gasket that sets up, when the casing 217 is fixed with the installation of base 202, the second pressure sensor is arranged in second mounting groove 209 to can carry out good sealing process to the second pressure sensor, be used for preventing that the second pressure sensor receives the influence of outside dust, and guarantee good air circulation, make the data that above-mentioned atmospheric pressure detection device 200 detected have fine precision and reliability.

The upper housing 201 is shaped like a rectangular parallelepiped, the plurality of first input interfaces 207 are uniformly disposed on one side surface of the upper housing 201 along the length direction thereof, and the plurality of first output interfaces 208 are uniformly disposed on the other side surface of the upper housing 201 along the length direction thereof.

The lower shell 203 is in a cuboid shape, the plurality of second input interfaces 210 are uniformly arranged on one side surface of the lower shell 203 along the length direction of the lower shell, and the plurality of second output interfaces 211 are uniformly arranged on the other side surface of the lower shell 203 along the length direction of the lower shell; the second input interface 207, the first output interface 208, the second input interface 210, and the second output interface 211 are pluggable air-tube interfaces.

The plurality of first pressure sensors 206 are 4 first pressure sensors 206, and are respectively and uniformly arranged on the upper surface of the base 202 along the length direction thereof; the plurality of second pressure sensors are 3 second pressure sensors, and are respectively and uniformly arranged on the lower surface of the base 202 along the length direction thereof.

The air pressure detection device has the advantages of being small in size, high in sensitivity, wide in application range, easy to install and the like by adopting the multi-path air pressure detection based on the BMP180 high-precision digital pressure sensor, can be used for testing the vacuum air pressure of a small photovoltaic cleaning robot (such as a cleaning photovoltaic robot) when a sucker moves, and can also be used for air pressure detection of large industrial equipment.

The embodiment of the utility model provides a pair of photovoltaic cleaning robot along bridge floor is automatic to be walked, its method of turning the operation as follows:

when the photovoltaic cleaning robot turns, the second adsorption component 400 is opened, the second adsorption component 400 drives the rudder disc 418 to rotate through the driving shaft of the steering engine 406, and the rotation of the rudder disc 418 can drive the connecting rod 419 to move, so that the supporting frame 405 moves downwards through the connecting rod 419, and as the supporting frame 405 is tightly and fixedly matched with the first fixing ring 402, the first fixing ring 402 moves downwards along the pulley track 408 arranged on the inner side wall of the second fixing ring 403 through the roller wheel under the driving of the downward acting force of the supporting frame 405, so that the second suction cup is driven to descend and be tightly adsorbed with a working plane; then, the air pressure inside the second suction cup in the second suction assembly 400 is detected through the air pressure detection device 200, and when the detected air pressure is lower than a preset expected value of the air pressure, the second suction assembly 400 firmly sucks the body of the cleaning photovoltaic robot on the working plane; then, the first adsorption assembly 300 and the third adsorption assembly 500 are closed, exhaust valves arranged in the first adsorption assembly 300 and the third adsorption assembly 500 are started at the same time, the adsorption force of the first suction cup and the third suction cup is reduced in an accelerated manner so that the first suction cup and the third suction cup move upwards to separate from the operation plane, left wheel tracks 101 on the left side and the right side of the machine body 100 move at the same speed and in opposite directions under the driving of a left wheel driving motor 105 and a right wheel track 104 under the driving of a right wheel driving motor 106, and therefore the machine body 100 rotates through the second adsorption assembly 400 with the second adsorption assembly 400 as a circle center when turning; meanwhile, after the body 100 is driven by the left-wheel crawler 101 and the right-wheel crawler 104 to turn the body 100 to a specified angle, the first adsorption component and the third adsorption component are started to adsorb, when the detected air pressure in the first adsorption component and the third adsorption component is lower than the expected value of the preset air pressure, the second adsorption component is closed, and the cleaning robot starts cleaning operation through the first adsorption component and the third adsorption component.

The embodiment of the utility model provides a pair of follow photovoltaic cleaning robot of bridge floor automatic walking, bridge floor 700 comprises glass or plank, and bridge floor 700 parallels with photovoltaic board array 600, and the width of bridge floor is greater than photovoltaic cleaning robot's fuselage 100's width, and the bridge floor lies in same one side of two adjacent photovoltaic board arrays. The width of the bridge deck is slightly less than the distance between the central points of the respective detection planes of the photovoltaic panel detection modules (such as the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) on both sides of the body by 20-40mm, and if the distance between the central points of the respective detection planes of the photovoltaic panel detection modules on both sides of the photovoltaic cleaning robot is 670mm, the width of the bridge deck is preferably 700 mm.

The first metal sheet 701 and the second metal sheet 702 are both rectangular, the length of the first metal sheet 701 is equal to the width of the bridge deck 700, and the first metal sheet 701 and the second metal sheet 702 are arranged perpendicular to each other.

A section of complete non-metal plane without metal sheet guide is needed at the photovoltaic array and the bridge floor, namely the connecting device, and the photovoltaic panel detection assembly is prevented from being judged as the surface of the photovoltaic panel by mistake. The length of the device is proper, namely 100-150mm, so that the phenomenon that too short distance is misjudged normally and the follow-up and running guide and construction cost is influenced by too long distance is avoided.

The bridge deck is used for connecting two photovoltaic arrays, a fully non-metallic connection outlet area (namely, a connecting device) is built from the top end of the original photovoltaic array, and the main bridge deck is added to build the fully non-metallic connection inlet area (namely, the connecting device) of the new photovoltaic array in a straight line.

After passing through the above-mentioned connecting means connecting the outlet areas, the laying of the second foil on the deck is started as a running guide for the photovoltaic cleaning robot, which should continue to advance across the deck, as far as the deck edge, the second foil laid centrally in this direction (deck). When the second metal inductor in fuselage the place ahead of photovoltaic cleaning robot can't sense the metal and exist, then judge this moment photovoltaic cleaning robot and travel to the bridge floor edge.

According to the photovoltaic array distribution of the actual situation, assuming that a new photovoltaic array is arranged on the right side of an original photovoltaic array, a first metal sheet is laid on the right side of the edge of the bridge floor when the new photovoltaic array reaches the right side of the edge of the bridge floor, and only the third metal sensor on the right end of the first metal sensor and the third metal sensor on the left side and the right side of the machine body detects metal, so that the photovoltaic cleaning robot is guided to turn right. And after the right turn, a second metal sheet is laid centrally according to the deck in the direction of advance, similarly up to the edge of the deck.

If the photovoltaic cleaning robot is guided to the edge of the bridge floor by the second metal sheet at the moment, the first metal sensors and the third metal sensors on the left side and the right side of the machine body do not sense the existence of the second metal sheet, the other end of the bridge floor is reached at the moment, and the photovoltaic cleaning robot is prepared to a new photovoltaic array to continue cleaning. Then, according to the data of the self direction recorded by the photovoltaic cleaning robot, the photovoltaic cleaning robot rotates to turn to the downward direction of the machine body to climb to a new photovoltaic array, and then the photovoltaic cleaning robot advances to the tail end of a fully-nonmetallic connecting inlet area (namely, a connecting device), so that the automatic driving on the bridge floor is completed at the moment, and the bridge detection state of continuous operation is achieved.

In the process of running on the bridge floor, whether continuous correction is carried out on the bridge floor is detected by the photovoltaic panel detection modules (namely the first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) on the periphery of the machine body, so that the photovoltaic cleaning robot is maintained to run on the bridge floor in a relatively straight line. Considering that when the bridge floor is initially lifted, the rear part of the body may be partially suspended, for example, when the photovoltaic cleaning robot travels leftwards and slantwise when the bridge floor advances, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114 distributed behind the body 100 sense the same state, and the first photovoltaic panel detection module 111 at the upper left corner does not sense a plane; or the fourth photovoltaic panel detection module 114 at the lower left corner senses the plane, and the third photovoltaic panel detection module 113 at the lower right corner does not sense the plane. At the moment, the speed of the left wheel driving motor and the speed of the right wheel driving motor are adjusted, so that the speed of the left wheel crawler belt is higher than that of the right wheel crawler belt to correct the deviation, and the effect of straight line walking is achieved. Considering that the rear part of the body may be partially suspended when the bridge floor is initially lifted, for example, when the photovoltaic cleaning robot travels right-side when the bridge floor advances, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114 distributed behind the body 100 sense the same state, and the second photovoltaic panel detection module 112 at the upper right corner does not sense a plane; or the third photovoltaic panel detection module 113 at the lower right corner senses the plane, and the fourth photovoltaic panel detection module 114 at the lower left corner does not sense the plane. At the moment, the speed of the left wheel driving motor and the speed of the right wheel driving motor are adjusted, so that the speed of the left wheel crawler belt is smaller than that of the right wheel crawler belt to correct the deviation, and the effect of straight line walking is achieved.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. The utility model provides an along the photovoltaic cleaning machines people of the automatic walking of bridge floor, photovoltaic cleaning machines people walks in order to clean the operation to it on the photovoltaic board array, and the clearance between two adjacent photovoltaic board arrays passes through the bridge floor to be connected, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism, crawler and clean the mechanism on the fuselage, crawler drives the fuselage and walks, clean the mechanism and clean the operation, its characterized in that under actuating mechanism's drive: the bridge floor comprises non-metallic material, the both ends of bridge floor are all connected with two adjacent photovoltaic boards through connecting device, the bridge floor is close to connecting device's tip upper surface is provided with a plurality of parallel first foil each other, the bridge floor upper surface is provided with the second foil along length direction's central point position, clean the fixed setting of mechanism on the fuselage front end lateral wall.

2. The photovoltaic cleaning robot capable of automatically walking along the bridge deck according to claim 1, wherein the connecting device is made of glass or wood, one end of the connecting device is arranged at the side end of the photovoltaic panel array in the length direction, and the other end of the connecting device is connected with the side end of the bridge deck in the length direction.

3. The robot of claim 1, wherein the bridge deck is made of glass or wood, the bridge deck is parallel to the photovoltaic panel arrays, the width of the bridge deck is greater than the width of the body of the robot, and the bridge deck is located on the same side of two adjacent photovoltaic panel arrays.

4. The photovoltaic cleaning robot capable of automatically walking along the bridge deck according to claim 1, wherein the first metal sheet and the second metal sheet are both rectangular in shape, the length of the first metal sheet is equal to the width of the bridge deck, and the first metal sheet and the second metal sheet are arranged perpendicular to each other.

5. The robot according to any one of claims 1-4, wherein the robot body further comprises a photovoltaic panel detection assembly, and the photovoltaic panel detection assembly comprises a first photovoltaic panel detection module, a second photovoltaic panel detection module, a third photovoltaic panel detection module, and a fourth photovoltaic panel detection module, wherein the first photovoltaic panel detection module is fixedly disposed at the front portion of the outer sidewall of the left end of the robot body, the second photovoltaic panel detection module is fixedly disposed at the front portion of the outer sidewall of the right end of the robot body, the third photovoltaic panel detection module is fixedly disposed at the rear portion of the outer sidewall of the right end of the robot body, and the fourth photovoltaic panel detection module is fixedly disposed at the rear portion of the outer sidewall of the left end of the robot body.

6. The photovoltaic cleaning robot capable of automatically walking along the bridge floor according to any one of claims 1 to 4, wherein a metal induction component is further arranged on the body, and the metal induction component comprises a first metal inductor, a second metal inductor, a third metal inductor and a fourth metal inductor, wherein: the first metal inductor is fixedly arranged in the middle of the outer side wall of the left end of the machine body, the second metal inductor is fixedly arranged in the middle of the inner side wall of the front end of the machine body, the third metal inductor is fixedly arranged in the middle of the outer side wall of the right end of the machine body, and the fourth metal inductor is fixedly arranged in the middle of the outer side wall of the rear end of the machine body.

7. The photovoltaic cleaning robot capable of automatically walking along the bridge floor according to any one of claims 1 to 4, wherein the track mechanism comprises a track and a driving motor connected with the track, wherein the track comprises a left wheel track and a right wheel track, the driving motor comprises a left wheel driving motor and a right wheel driving motor, the left wheel track is arranged on the left side of the bottom of the body, the left wheel track is driven by the left wheel driving motor to move, the right wheel track is arranged on the right side of the bottom of the body, and the right wheel track is driven by the right wheel driving motor to move.

8. The photovoltaic cleaning robot capable of automatically walking along the bridge floor according to any one of claims 1-4, further comprising a distributed adsorption component, wherein the distributed adsorption component comprises a first adsorption component, a second adsorption component and a third adsorption component, wherein: the first adsorption assembly is arranged on the front side of the bottom of the machine body, the second adsorption assembly is arranged in the middle of the bottom of the machine body, and the third adsorption assembly is arranged on the rear side of the bottom of the machine body; the first sucking component comprises a first sucking disc, the second sucking component comprises a second sucking disc, the outer diameter of the second sucking disc is larger than that of the first sucking disc, the third sucking component comprises a third sucking disc, and the outer diameter of the third sucking disc is equal to that of the first sucking disc.

9. The photovoltaic cleaning robot of following bridge floor self-walking of claim 8, characterized in that, the second adsorption component still includes first solid fixed ring, the solid fixed ring of second, fixed bolster, support frame and steering wheel, wherein: first solid fixed ring sets up the solid fixed ring's of second inside, just first solid fixed ring follows through a plurality of first pulleys that its lateral wall circumferencial direction set up a plurality of first pulley tracks of the vertical setting of the solid fixed ring inside wall circumferencial direction of second reciprocate, the solid fixed ring of second sets up through its lateral wall circumferencial direction a plurality of first fixed convex parts and the chassis fixed connection of fuselage bottom, be provided with deep groove ball bearing in the first solid fixed ring, just first solid fixed ring inside wall lower part circumferencial direction is provided with the annular installation convex part of circle, deep groove ball bearing's outer lane is located on the installation convex part and with first solid fixed ring's inside wall fixed connection.

10. The photovoltaic cleaning robot capable of automatically walking along bridge floor according to claim 9, wherein a fixing disc is fixedly arranged on the upper surface of the second sucker, a circular fixing base is fixedly arranged on the upper surface of the fixing disc, the fixing base is located inside the deep groove ball bearing, the fixing base is fixedly connected with an inner ring of the deep groove ball bearing, the inner ring of the deep groove ball bearing rotates relative to an outer ring of the deep groove ball bearing, a first fixing groove is formed in the fixing base, a limiting portion is fixedly arranged in the first fixing groove, a circular limiting convex ring is arranged on the outer side wall of the limiting portion in a circumferential direction in a mode of extending outwards, and the limiting convex ring is located on the outer side of the upper end of the deep groove ball bearing to limit the upward movement of the deep groove ball bearing.