Multifunctional intelligent cleaning wall-climbing type robot for photovoltaic panel

Abstract

The invention discloses a multifunctional intelligent cleaning wall-climbing type robot for photovoltaic panels. Comprising a hard scraper, a rolling brush, a rolling brush fixing frame, a transverse frame support, a front-end transverse frame, a water purification pipe, a main shell, a flow divider, a main body upper cover, a supporting arm base, a rotary disc, a large supporting arm, a small supporting arm, a supporting arm motor, an air pump, a telescopic mechanism, an adjustable suction cup, a crawler belt, a driving wheel, an auxiliary wheel, a water suction scraper, a sewage pipe, a transverse frame middle support, an electric telescopic device, a heating pipe and a blower device. The wiping head is connected with the friction brake; the power battery is connected with the water pump; according to the cleaning robot, shoveling, brushing, scraping and drying type cleaning is achieved, and the problems that an existing robot cannot thoroughly clean stains, and secondary pollution is caused by water stains left after cleaning are solved; the functions of skid resistance and easy steering of the robot are achieved, and the problems that an existing robot deviates when walking and is not flexible in steering are solved. The robot can automatically cross the gap between the photovoltaic panels, and the problem that an existing robot needs manual assistance to avoid obstacles is solved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic intelligent robots, and in particular to a photovoltaic panel multifunctional intelligent wall-climbing robot. Background Art

[0002] As the global demand for renewable energy grows, solar energy as a clean, renewable and sustainable energy source has received widespread attention and praise worldwide. Photovoltaic power stations, as facilities that use solar photovoltaic power generation technology to convert solar energy into electrical energy, are also particularly important. Photovoltaic power stations are built all over the world and set up in various environments, contributing important forces to the green development of society. However, photovoltaic panels are key equipment in the power generation link of photovoltaic power stations. During long-term use, a large amount of dust, bird excrement and other dirt will accumulate on the panel surface, which will seriously affect the power generation efficiency of photovoltaic power stations. The current manual cleaning method is not only costly and inefficient, but also difficult to cope with the cleaning needs of the widely distributed and large number of photovoltaic panels. Therefore, cleaning robots are currently mainly used to clean photovoltaic panels, but the existing cleaning robots have the following problems:

[0003] (1) Existing cleaning robots cannot clean bird excrement and dust that have been condensed for a long time thoroughly. In addition, since the photovoltaic panel surface is in a wet state after cleaning, the surrounding dust and leaves will fall and stick to the panel surface, causing secondary pollution.

[0004] (2) Existing cleaning robots will leave water stains when cleaning the photovoltaic panel surface. If the slope of the photovoltaic panel is too large, the crawler cleaning robot will slip when passing by. To address this problem, suction cups are generally added to the bottom of the machine. Although this structure can prevent the crawler from slipping, it will increase the friction between the crawler and the panel surface, which will also cause the robot to turn less flexibly and the equipment to become more complicated.

[0005] (3) When photovoltaic panels are installed, fixed or arranged, there will be a certain amount of space and distance left. The existing crawler cleaning robot cannot cross this gap to clean the next photovoltaic panel and needs to be moved manually, which reduces work efficiency and increases work costs.

[0006] In summary, in order to effectively solve the shortcomings of existing photovoltaic panel cleaning robots, it is urgent to invent a multifunctional intelligent wall-climbing robot for photovoltaic panels to realize the multifunctional cleaning of the cleaning robot and improve the cleaning efficiency; improve the walking ability of the cleaning robot in different environments and panel slopes; realize the autonomous obstacle crossing of the cleaning robot and improve the scope of application of the robot. Summary of the invention

[0007] The purpose of the present invention is to overcome several deficiencies of the prior art and provide a multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels. The present invention is provided with four components, namely, a hard scraper, a cleaning roller brush, a water-absorbing scraper, a wiping head, and a drying fan. When stubborn stains appear on the photovoltaic panel surface, most of the stains can be removed by the hard scraper, followed by scrubbing with the cleaning roller brush, and the remaining cleaning wastewater is collected by the water-absorbing scraper, and then the water stains are wiped off by the wiping head. Finally, the photovoltaic panel surface is dried by the drying fan. The above steps realize a photovoltaic panel cleaning method that integrates shoveling, brushing, scraping, and drying, and solves the problem that the existing photovoltaic panel cleaning robots do not clean stubborn condensation thoroughly, and easily leave water stains after cleaning, causing secondary pollution. The present invention is provided with an electric telescopic device and a friction braking device. The material of the friction braking device is soft silicone. The friction force of the soft silicone increases when it comes into contact with water. The telescopic device and the friction braking device are connected by a ball hinge. When the photovoltaic panel surface When the slope is too large, the telescopic device can lower the friction brake devices on both sides to provide appropriate friction force to prevent the main body from shifting. When the main body needs to turn, the telescopic device can lower the friction brake device on the turning side to reduce the friction force on its side, making the main body more flexible in turning, solving the problem of existing photovoltaic panel cleaning robots that may shift during movement and are not flexible in turning. The present invention drives the large and small support arms of the robot to rotate in a coordinated manner through a motor, so that the telescopic device at the front end of the support arm reaches a suitable position, thereby lowering the suction cup to the photovoltaic panel surface, and then adjusting the internal pressure of the suction cup through an air pump. After the above operation is completed, a support is provided for the robot, allowing it to pass through the gaps between the photovoltaic panels, solving the problem that existing photovoltaic panel crawler cleaning robots cannot pass through the gaps between the photovoltaic panels and need to be moved manually.

[0008] The objective of the present invention is achieved through the following technical solutions: a photovoltaic panel multifunctional intelligent wall-climbing robot, characterized in that: the photovoltaic panel multifunctional intelligent wall-climbing robot comprises a hard scraper, a cleaning roller brush, a roller brush fixing frame, a cross frame bracket, a front cross frame, a water purification pipe, a main shell, a diverter, a main body cover, a support arm base, a turntable, a large support arm, a small support arm, a support arm motor, an air pump, a telescopic mechanism, an adjustable suction cup, a crawler, a driving wheel, an auxiliary wheel, a water-absorbing scraper, a sewage pipe, a cross frame middle bracket, an electric telescopic device, a heating pipe, an air blast device, a wiping head, a friction brake, a power battery, a water pump, and a driving motor. The hard scraper comprises a replaceable hard silicone blade, a scraper mounting frame, and a through hole I. The roller brush fixing frame comprises a through hole I, and the roller brush fixing frame comprises a through hole I. The fixed frame includes a roller brush motor, a through hole II, a through hole III, and a through hole IV. The cross frame bracket includes a through hole V and a through hole VI. The front cross frame includes a through hole VII and a through hole VIII. The main shell includes a main body through hole I, a main body through hole II, a main body through hole III, and a main body through hole IV. The diverter includes a pipeline I, a diverter through hole I, and a pipeline II. The support arm base includes a base through hole I. The turntable includes a threaded hole I and an axis hole I. The large support arm includes a keyway hole I and a threaded hole II. The air pump includes an air pipe I. The suction cup includes a suction cup airway I. The water scraper includes a replaceable soft silicone blade, a water scraper mounting frame, a water scraper through hole I, and a water pipe joint. The middle bracket of the cross frame includes an middle bracket through hole I and an middle bracket through hole II. The electric extension The contraction device includes an electric telescopic device through hole I, a ball hinge, and a telescopic rod. The air blowing device includes a protruding fan, a groove fan, and a fan motor. The wiping head includes a through hole IX and a replaceable mop. The friction brake includes a ball hinge hole I. The water pump includes a pipe port II and a pipe port III. The hard scraper cooperates with the cleaning roller brush through a bearing and is installed at the front end of the roller brush. The roller brush fixing frame is connected to the hard scraper and the cleaning roller brush through an axis. The through hole III and the through hole VI of the cross frame bracket are connected by bolts so that the roller brush fixing frame is movably connected to the cross frame bracket. The cross frame bracket is installed at the left and right ends of the front cross frame and is bolted to the through hole VII of the front cross frame through the through hole V. The water suction scraper is movably installed on the middle bracket of the cross frame and connected to the through hole I of the water suction scraper. The cross frame middle bracket is connected by bolts through hole Ⅰ, the cross frame middle bracket is installed on the front cross frame and connected by bolts through hole Ⅱ and hole Ⅷ of the cross frame middle bracket, the front cross frame is installed at the front end of the main shell and connected by bolts through hole Ⅷ and main body through hole Ⅱ, the diverter is installed on the upper end of the main shell and connected by bolts through diverter through hole Ⅰ and main body through hole Ⅰ, the main body cover is installed on the upper end of the main shell by screw connection, the support arm base is installed on the upper end of the main shell and connected by bolts through hole Ⅰ of the base and main body through hole Ⅳ, the turntable is connected to the support arm base through the motor to control the rotation, the large support arm and the motor are connected to the motor shaft key through the keyway hole to realize rotation, and the two ends of the small support arm are connected to the motor shaft key to realize rotation,The telescopic mechanism, the support arm motor and the small support arm are connected through the motor shaft, the air pump is installed on the telescopic mechanism and connected through a buckle, the suction cup is connected to the telescopic mechanism to realize the telescopic function, the electric telescopic device is installed in the main housing and connected through the electric telescopic device through hole I and the main body through hole III bolts, the heating tube is installed in the main housing and connected through threads, the blasting device is installed at the bottom of the main housing and connected through bolts, the wiping head and the electric telescopic device are connected through the through hole on the wiping head and the through hole on the telescopic rod and installed at the bottom of the main housing, the friction brake is installed on both sides of the bottom of the main housing and connected to the electric telescopic device through a ball hinge, the power battery is installed in the main housing and connected through a buckle, the water pump is installed in the main housing and connected through a buckle, and the drive motor is connected to the drive wheel through an axis. ,

[0009] Furthermore, the hard scraper is provided with a replaceable hard silicone blade and a through hole I. The through hole I is movably connected to the cleaning roller brush through a bearing. The cleaning roller brush is driven by a roller brush motor. The roller brush motor is arranged inside a roller brush fixing frame. A nozzle is provided at the upper end of the roller brush fixing frame. A pipe is provided between each nozzle. A through hole IV is provided at the rear end of the middle nozzle. The through hole IV is connected to a clean water pipe. The clean water pipe is connected to the diverter pipe port I at one end near the diverter. The external clean water is sprayed through the diverter, the clean water pipe and the nozzle.

[0010] Furthermore, the diverter is provided with two pipes for clean water and sewage, the turntable is provided with a threaded hole I and an axial hole I, the threaded hole I is connected to the through hole on the motor by a thread, a bearing is installed in the axial hole I and cooperates with the motor shaft, the large support arm is provided with a threaded hole II, the threaded hole II is connected to the through hole of the motor by a thread, the air pump is provided with an air pipe I, the suction cup is provided with a suction cup airway I, the air pipe I cooperates with the suction cup airway I and changes the internal pressure of the suction cup through the air pump.

[0011] Furthermore, the blowing device is provided with a protruding fan, a grooved fan, and a fan motor. The protruding fan and the grooved fan are connected to each other via groove buckles to realize the single detachable function of the fan. The heating tube is used in conjunction with the blowing device to realize the drying function.

[0012] Furthermore, the wiping head is provided with a through hole IX and a replaceable mop, the through hole IX is connected to the electric telescopic device through bolts, the replaceable mop is fixed to the lower end of the wiping head through a Velcro connection, the friction brake is provided with a ball hinge hole, the electric telescopic device is provided with a ball hinge, and the ball hinge and the ball hinge hole form a ball hinge connection.

[0013] Furthermore, the water-absorbing scraper is provided with a replaceable soft silicone blade, a water-absorbing scraper through hole I, and a water pipe joint. The replaceable soft silicone blade is fixedly connected to the water-absorbing scraper. The water pump is provided with a pipe port II and a pipe port III. The pipe port II is connected to the water pipe joint through a sewage pipe. The pipe port III is connected to the diverter pipe II through a sewage pipe. The sewage is collected by the water-absorbing scraper and enters the water pump through the sewage pipe, and then flows out of the water pump through the sewage pipe to the diverter, thereby realizing the sewage discharge process.

[0014] Furthermore, the hard scraper and the cleaning roller brush are coaxially connected to the roller brush fixing frame, and the water-absorbing scraper is fixed to the cross frame bracket by bolts and is located at the rear end of the cleaning roller brush. After the hard scraper has scraped, the cleaning roller brush rolls and scrubs, and then the water-absorbing scraper is used to collect the sewage, thereby realizing the cleaning functions of shoveling, brushing and scraping of the multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels.

[0015] Furthermore, the wiping head is installed at the lower end of the telescopic rod through a bolt connection, and the blowing device is installed at the bottom of the main shell through a threaded connection. The wiping head and the blowing device are used together to realize the wiping and drying cleaning functions of the multifunctional intelligent cleaning wall-climbing robot for photovoltaic panels.

[0016] Furthermore, the cleaning of the photovoltaic panel includes obstacle crossing, anti-slipping, and cleaning processes, and the obstacle crossing, anti-slipping, and cleaning processes include the following steps:

[0017] S1: Cleaning the photovoltaic panel surface:

[0018] S11: The driving motor drives the driving wheel to rotate, so that the crawler moves forward;

[0019] S12: using a hard scraper to remove solidified solids on the photovoltaic panel surface;

[0020] S13: The external water pipe discharges water to the clean water pipe through the diverter, and the nozzle connected to the clean water pipe sprays mist water to wet the plate surface, and the cleaning roller brush is driven by the roller brush motor to rotate to perform cleaning work;

[0021] S14: The water pump is connected to the water scraper and the diverter through the sewage pipe, and the water scraper makes the sewage generated by cleaning flow out through the water pump and the diverter;

[0022] S15: The electric telescopic device lowers the wiping head to wipe away the residual sewage;

[0023] S16: The air blowing device cooperates with the heating pipe to blow hot air to dry the photovoltaic panel surface;

[0024] S2: Anti-slip operation when the vehicle is moving forward or turning (if the slope of the photovoltaic panel surface is low or there is no need to turn, skip step S2):

[0025] S21: Before the vehicle body moves forward, the electric telescopic device lowers the friction brakes on both sides so that the friction brakes contact the wet photovoltaic panel surface. When the vehicle body moves forward, the friction force is further enhanced after the soft silicone material at the lower end of the friction brake contacts the water, thereby preventing the vehicle body from slipping when it moves forward;

[0026] S22: If the vehicle body turns to the left, the electric telescopic device lowers the left friction brake device, so that the friction force of the left track on the photovoltaic panel surface is reduced. At the same time, the left friction brake acts as a fulcrum, and the right track moves forward. In conjunction with the ball joint structure at the lower end of the left friction brake (28), the vehicle body can make a circular motion and turn to the left;

[0027] S3: Obstacle crossing between photovoltaic panels (if the distance between photovoltaic panels does not require obstacle crossing, skip step S3):

[0028] S31: After the turntable is rotated to a suitable position, the large support arm is extended by the support arm motor, and the small support arm is also extended by the motor, so that the telescopic mechanism can reach the next photovoltaic panel surface, and then the telescopic mechanism lowers the suction cup to contact the photovoltaic panel surface, and the air pump controls the pressure inside the suction cup;

[0029] S32: The suction cup holds the panel surface, and the driving motor drives the tracks on both sides to move forward. After the vehicle body has completely passed the spacing and stabilized, the air pump changes the internal pressure of the suction cup, and the suction cup leaves the photovoltaic panel surface.

[0030] The beneficial effects of the present invention are:

[0031] (1) By setting up a combination of five cleaning methods, namely shoveling, brushing, scraping, wiping and baking, the sewage is collected to avoid corrosion of the board surface and ground equipment. At the same time, water stains are dried to prevent secondary pollution, thereby improving cleaning efficiency.

[0032] (2) The use of double-sided soft silicone friction brakes improves the accuracy and flexibility of the robot's walking and turning, while simplifying the device by eliminating the need for a suction cup in conjunction with an air pump.

[0033] (3) The obstacle-crossing support arm makes the photovoltaic panel cleaning robot more applicable, reduces labor costs and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0035] Figure 2 It is a three-dimensional schematic diagram of the cross section of the internal parts of the present invention;

[0036] Figure 3 A three-dimensional schematic diagram of the crawler drive motor of the present invention;

[0037] Figure 4 It is a three-dimensional schematic diagram of the hard scraper of the present invention;

[0038] Figure 5 The three-dimensional schematic diagram and half-section schematic diagram of the roller brush fixing frame of the present invention;

[0039] Figure 6 A three-dimensional schematic diagram of the cross frame support of the present invention;

[0040] Figure 7 A three-dimensional schematic diagram of the front end cross frame of the present invention;

[0041] Figure 8 It is a three-dimensional schematic diagram of the main shell of the present invention;

[0042] Fig. 9 The three-dimensional schematic diagram and half-section schematic diagram of the flow divider of the present invention are shown;

[0043] Fig.10 It is a three-dimensional schematic diagram of the support arm base of the present invention;

[0044] Fig.11 A three-dimensional schematic diagram of the turntable of the present invention;

[0045] Fig.12 It is a three-dimensional schematic diagram of the large support arm of the present invention;

[0046] Fig.13 It is a three-dimensional schematic diagram of the telescopic mechanism and the suction cup of the present invention and a half-section schematic diagram of the adjustable suction cup;

[0047] Fig.14 The three-dimensional schematic diagram and half-section schematic diagram of the water-absorbing scraper of the present invention;

[0048] Fig.15 A three-dimensional schematic diagram of the intermediate support of the horizontal frame of the present invention;

[0049] Fig.16 It is a three-dimensional schematic diagram of the electric telescopic device of the present invention;

[0050] Fig.17 A three-dimensional schematic diagram of the blast device of the present invention;

[0051] Fig.18 A three-dimensional schematic diagram of the wiping head of the present invention;

[0052] Fig.19 It is a three-dimensional schematic diagram and a half-section schematic diagram of the friction brake of the present invention;

[0053] Fig. 20 It is a three-dimensional schematic diagram of the water pump of the present invention;

[0054] In the figure, 1, hard scraper; 101, replaceable hard silicone blade; 102, scraper mounting bracket; 102-1, through hole Ⅰ; 2, cleaning roller brush; 3, roller brush fixing bracket; 301, roller brush motor; 300-1, through hole Ⅳ; 300-2, through hole Ⅲ; 300-3, through hole Ⅱ; 4, cross frame bracket; 400-1, through hole Ⅴ; 400-2, through hole Ⅵ; 5, front cross frame; 500-1, through hole Ⅶ; 500-2, through hole Ⅷ; 6, water purification pipe; 7, main shell; 700-1, main body through hole Ⅰ; 700-2 , main body through hole Ⅱ; 700-3, main body through hole Ⅳ; 700-4, main body through hole Ⅲ; 8, diverter; 800-1, pipe opening Ⅰ; 800-2, diverter through hole Ⅰ; 800-3, pipe Ⅱ; 9, main body cover; 10, support arm base; 1000-1, base through hole Ⅰ; 11, turntable; 1100-1, threaded hole Ⅰ; 1100-2, shaft hole Ⅰ; 12, large support arm; 1200-1, keyway hole; 1200-2, threaded hole Ⅱ; 13, small support arm; 14, support arm motor; 15, Air pump; 1500-1, air pipe Ⅰ; 16, telescopic mechanism; 17, adjustable suction cup; 1700-1, suction cup airway Ⅰ; 18, crawler; 19, driving wheel; 20, auxiliary wheel; 21, water-absorbing scraper; 2101, replaceable soft silicone blade; 2102, water-absorbing scraper mounting frame; 2102-1, water-absorbing scraper through hole Ⅰ; 2102-2, water pipe joint; 22, sewage pipe; 23, horizontal frame middle bracket; 2300-1, middle bracket through hole Ⅰ; 2300-2, middle bracket through hole Ⅱ; 24, electric telescopic Device; 2400-1, electric telescopic device through hole Ⅰ; 2401, ball hinge; 2402, telescopic rod; 25, heating tube; 26, blowing device; 2601, protruding fan; 2602, groove fan; 2603, fan motor; 27, wiping head; 2700-1, through hole Ⅸ; 2701, replaceable rag; 28, friction brake; 2800-1, ball hinge hole Ⅰ; 29, power battery; 30, water pump; 3000-1, pipeline opening Ⅱ; 3000-2, pipeline opening Ⅲ; 31, driving motor. DETAILED DESCRIPTION

[0055] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0059] like Figure 1-20As shown, a photovoltaic panel multifunctional intelligent wall-climbing robot for cleaning is characterized in that: the photovoltaic panel multifunctional intelligent wall-climbing robot for cleaning includes a hard scraper 1, a cleaning roller brush 2, a roller brush fixing frame 3, a cross frame bracket 4, a front cross frame 5, a water purification pipe 6, a main shell 7, a diverter 8, a main body cover 9, a support arm base 10, a turntable 11, a large support arm 12, a small support arm 13, a support arm motor 14, an air pump 15, a telescopic mechanism 16, an adjustable suction cup 17, a crawler 18, a driving wheel 19, an auxiliary wheel 20, a water suction scraper 21, a sewage pipe 22, a cross frame middle bracket 23, an electric telescopic device 24, a heating pipe 25, a blast device 26, a wiping head 27, a friction brake 28, a power battery 29, and a water pump 30. , driving motor 31, the hard scraper 1 includes a replaceable hard silicone blade 101, a scraper mounting frame 102, and a through hole I 102-1, the roller brush fixing frame 3 includes a roller brush motor 301, a through hole II 300-3, a through hole III 300-2, and a through hole IV 300-1, the cross frame bracket 4 includes a through hole V 400-1, a through hole VI 400-2, the front cross frame 5 includes a through hole VII 500-1, a through hole VIII 500-2, the main shell 7 includes a main body through hole I 700-1, a main body through hole II 700-2, a main body through hole III 700-4, and a main body through hole IV 700-3, the diverter 8 includes a pipe I 800-1, a diverter through hole I 800-2, and a pipe II 800-3, the support The arm base 10 includes a base through hole Ⅰ1000-1, the turntable 11 includes a threaded hole Ⅰ1100-1 and an axis hole Ⅰ1100-2, the large support arm 12 includes a keyway hole Ⅰ1200-1 and a threaded hole Ⅱ1200-2, the air pump 15 includes an air pipe Ⅰ1500-1, the suction cup 17 includes a suction cup airway Ⅰ1700-1, the water-absorbing scraper 21 includes a replaceable soft silicone blade 2101, a water-absorbing scraper mounting frame 2102, a water-absorbing scraper through hole Ⅰ2102-1, and a water pipe joint 2102-2, the horizontal frame intermediate bracket 23 includes an intermediate bracket through hole Ⅰ2300-1 and an intermediate bracket through hole Ⅱ2300-2, and the electric telescopic device 24 includes an electric telescopic device through hole Ⅰ2 400-1, a ball hinge 2401, a telescopic rod 2402, the blowing device 26 includes a protruding fan 2601, a groove fan 2602, and a fan motor 2603, the wiping head 27 includes a through hole IX 2700-1 and a replaceable mop 2701, the friction brake 28 includes a ball hinge hole I 2800-1, the water pump 30 includes a pipe port II 3000-1 and a pipe port III 3000-2, the hard scraper 1 cooperates with the cleaning roller brush 2 through a bearing and is installed at the front end of the roller brush, the roller brush fixing frame 3 is connected to the hard scraper 1 and the cleaning roller brush 2 through an axis, the through hole III 300-2 and the cross frame bracket through hole VI 400-2 are connected by bolts to make the roller brush fixing frame 3 movably connected to the cross frame bracket,The cross frame bracket 4 is installed at the left and right ends of the front cross frame 5 and is bolted to the front cross frame through hole Ⅶ500-1 through hole Ⅴ400-1. The water suction scraper 21 is movably installed on the cross frame intermediate bracket 23 and is bolted to the cross frame intermediate bracket through hole Ⅰ2300-1 through the water suction scraper through hole Ⅰ2102-1. The cross frame intermediate bracket 23 is installed on the front cross frame 5 and is bolted to the cross frame intermediate bracket through hole Ⅱ2300-2 and through hole Ⅷ500-2. The front cross frame 5 is installed at the front end of the main shell 7 and is bolted to the cross frame intermediate bracket through hole Ⅱ2300-2 through hole Ⅷ500-2. The main body through hole II700-2 is bolted, the diverter 8 is installed on the upper end of the main housing 7 and is bolted to the main body through hole I700-1 through the diverter through hole I800-2, the main body cover 9 is installed on the upper end of the main housing 7 through screw connection, the support arm base 10 is installed on the upper end of the main housing 7 and is bolted to the main body through hole IV700-3 through the base through hole I1000-1, the turntable 11 is connected to the support arm base 10 through the motor to control the rotation, and the large support arm 12 and the motor are keyed to the motor shaft through the keyway hole 1200-1 The two ends of the small support arm 13 are connected to the motor shaft key to realize rotation. The telescopic mechanism 16, the support arm motor 14 and the small support arm 13 are connected through the motor shaft. The air pump 15 is installed on the telescopic mechanism 16 and connected by a buckle. The suction cup 17 is connected to the telescopic mechanism 16 to realize the telescopic function. The electric telescopic device 24 is installed in the main shell 7 and is connected by bolts through the electric telescopic device through hole Ⅰ2400-1 and the main body through hole Ⅲ700-4. The heating tube 25 is installed in the main shell 7 and connected by threads. The blower device 26 is installed at the bottom of the main housing 7 and connected by bolts. The wiping head 27 and the electric telescopic device 24 are connected by bolts through the through holes on the wiping head 27 and the through holes on the telescopic rod 2402 and installed at the bottom of the main housing 7. The friction brake 28 is installed on both sides of the bottom of the main housing and connected to the electric telescopic device 24 through a ball hinge. The power battery 29 is installed in the main housing 7 and connected by a buckle. The water pump 30 is installed in the main housing 7 and connected by a buckle. The drive motor 31 is connected to the drive wheel 19 through an axis.

[0060] In one embodiment, the hard scraper 1 is provided with a replaceable hard silicone blade 101 and a through hole Ⅰ102-1. The through hole Ⅰ102-1 is movably connected to the cleaning roller brush 2 through a bearing. The cleaning roller brush 2 is driven by a roller brush motor 301. The roller brush motor 301 is arranged inside a roller brush fixing frame 3. A nozzle is provided at the upper end of the roller brush fixing frame 3. A pipe is provided between each nozzle. A through hole IV300-1 is provided at the rear end of the middle nozzle. The through hole IV300-1 is connected to the clean water pipe 6. The clean water pipe 6 is connected to the diverter pipe port Ⅰ800-1 at one end close to the diverter 8. The external clean water is sprayed through the diverter 8, the clean water pipe 6 and the nozzle.

[0061] In one embodiment, the diverter 8 is provided with two pipes for clean water and sewage, the turntable 11 is provided with a threaded hole Ⅰ1100-1 and an axial hole Ⅰ1100-2, the threaded hole Ⅰ1100-1 is threadedly connected to the through hole on the motor, a bearing is installed in the axial hole Ⅰ1100-2 and cooperates with the motor shaft, the large support arm 12 is provided with a threaded hole Ⅱ1200-2, the threaded hole Ⅱ1200-2 is threadedly connected to the through hole of the motor, the air pump 15 is provided with an air pipe Ⅰ1500-1, and the suction cup 17 is provided with a suction cup airway Ⅰ1700-1, the air pipe Ⅰ1500-1 cooperates with the suction cup airway Ⅰ1700-1 and changes the internal pressure of the suction cup through the air pump.

[0062] In one embodiment, the blowing device 26 is provided with a protruding fan 2601, a groove fan 2602, and a fan motor 2603. The protruding fan 2601 and the groove fan 2602 are connected to each other through groove buckles to realize the single detachable function of the fan. The heating tube 25 is used in conjunction with the blowing device 26 to realize the drying function.

[0063] In one embodiment, the wiping head 27 is provided with a through hole IX 2700-1 and a replaceable mop 2701. The through hole IX 2700-1 is connected to the electric telescopic device 24 by bolts. The replaceable mop 2701 is fixed to the lower end of the wiping head 27 by Velcro. The friction brake 28 is provided with a ball hinge hole 2800-1. The electric telescopic device 24 is provided with a ball hinge 2401. The ball hinge 2401 forms a ball hinge connection with the ball hinge hole 2800-1.

[0064] In one embodiment, the water-absorbing scraper 21 is provided with a replaceable soft silicone blade 2101, a water-absorbing scraper through hole I 2102-1, and a water pipe joint 2102-2. The replaceable soft silicone blade 2101 is fixedly connected to the water-absorbing scraper 21. The water pump 30 is provided with a pipe port II 3000-1 and a pipe port III 3000-2. The pipe port II 3000-1 is connected to the water pipe joint 2102-2 through a sewage pipe 22. The pipe port III 3000-2 is connected to the diverter pipe II 800-3 through the sewage pipe 22. The sewage is collected by the water-absorbing scraper 21 and enters the water pump 30 through the sewage pipe 22, and then flows out from the water pump 30 through the sewage pipe 22 to the diverter 8, thereby realizing the sewage discharge process.

[0065] In one embodiment, the hard scraper 1 and the cleaning roller brush 2 are coaxially connected to the roller brush fixing frame 3, and the water-absorbing scraper 21 is fixed to the cross frame bracket 4 by bolts and is located at the rear end of the cleaning roller brush 2. After the hard scraper 1 shovels, the cleaning roller brush 2 rolls and scrubs, and then the water-absorbing scraper 21 collects the sewage, thereby realizing the cleaning functions of shoveling, brushing and scraping of the multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels.

[0066] In one embodiment, the wiping head 27 is installed on the lower end of the telescopic rod 2402 and connected by bolts, and the blowing device 26 is installed on the bottom of the main shell 7 and connected by threads. The wiping head 27 and the blowing device 26 are used together to realize the wiping and drying cleaning functions of the photovoltaic panel multifunctional intelligent cleaning wall-climbing robot.

[0067] In one embodiment, the cleaning of the photovoltaic panel includes obstacle crossing, anti-slipping, and cleaning processes, and the obstacle crossing, anti-slipping, and cleaning processes include the following steps:

[0068] S1: Cleaning the photovoltaic panel surface:

[0069] S11: The driving motor 31 drives the driving wheel 19 to rotate, so that the crawler 18 moves forward;

[0070] S12: using a hard scraper 1 to remove solidified solids on the photovoltaic panel surface;

[0071] S13: The external water pipe discharges water to the clean water pipe 6 through the diverter 8, and the nozzle connected to the clean water pipe 6 sprays mist water to wet the board surface, and the cleaning roller brush 2 is driven by the roller brush motor 301 to rotate and perform cleaning work;

[0072] S14: The water pump 30 is connected to the water scraper 21 and the diverter 8 through the sewage pipe 22, and the water scraper 21 allows the sewage generated by cleaning to flow out through the water pump 30 and the diverter 8;

[0073] S15: The electric telescopic device 24 lowers the wiping head 27 to wipe away the residual sewage;

[0074] S16: The air blowing device 26 cooperates with the heating pipe 25 to blow hot air to dry the photovoltaic panel surface;

[0075] S2: Anti-slip operation when the vehicle is moving forward or turning (if the slope of the photovoltaic panel surface is low or there is no need to turn, skip step S2):

[0076] S21: Before the vehicle body moves forward, the electric telescopic device 24 lowers the friction brakes 28 on both sides so that the friction brakes 28 contact the wet photovoltaic panel surface. When the vehicle body moves forward, the friction force of the soft silicone material at the lower end of the friction brake 28 is further enhanced after contacting water, thereby preventing the vehicle body from slipping when it moves forward;

[0077] S22: If the vehicle body turns to the left, the electric telescopic device 24 lowers the left friction brake device 28, so that the friction force of the left track 18 on the photovoltaic panel surface is reduced. At the same time, the left friction brake 28 acts as a fulcrum, and the right track 18 moves forward. In conjunction with the ball joint structure at the lower end of the left friction brake 28, the vehicle body can make a circular motion and turn to the left;

[0078] S3: Obstacle crossing between photovoltaic panels (if the distance between photovoltaic panels does not require obstacle crossing, skip step S3):

[0079] S31: After the turntable 11 is rotated to a suitable position, the large support arm 12 is extended by the support arm motor 14, and the small support arm 13 is also extended by the motor, so that the telescopic mechanism 16 can reach the next photovoltaic panel surface, and then the telescopic mechanism 16 lowers the suction cup 17 to contact the photovoltaic panel surface, and the air pump 15 controls the pressure inside the suction cup 17;

[0080] S32: The suction cup 17 sucks the panel surface, and the driving motor 31 drives the crawlers 18 on both sides to move forward. After the vehicle body completely passes through the spacing and stabilizes, the air pump 15 changes the internal pressure of the suction cup 17, and the suction cup 17 leaves the photovoltaic panel surface.

[0081] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels, characterized in that: The invention comprises a hard scraper (1), a cleaning roller brush (2), a roller brush fixing frame (3), a cross frame bracket (4), a front cross frame (5), a water purification pipe (6), a main housing (7), a diverter (8), a main body upper cover (9), a support arm base (10), a rotating disk (11), a large support arm (12), a small support arm (13), a support arm motor (14), an air pump (15), a telescopic mechanism (16), an adjustable suction cup (17), a crawler (18), a driving wheel (19), an auxiliary wheel (20), a water suction scraper (21), a sewage pipe (22), a cross frame middle bracket (23), an electric telescopic device (24), a heating pipe (25), an air blowing device (26), a wiping head (27), a friction brake (28), a power battery (29), A water pump (30), a drive motor (31), the hard scraper (1) includes a replaceable hard silicone blade (101), a scraper mounting frame (102), and a through hole I (102-1), the roller brush fixing frame (3) includes a roller brush motor (301), a through hole II (300-3), a through hole III (300-2), and a through hole IV (300-1), the cross frame bracket (4) includes a through hole V (400-1) and a through hole VI (400-2), the front cross frame (5) includes a through hole VII (500-1) and a through hole VIII (500-2), the main housing (7) includes a main body through hole I (700-1), a main body through hole II (700-2), a main body through hole III (700-4), and a main body through hole IV (700-3), the diverter The device (8) comprises a pipeline I (800-1), a diverter through hole I (800-2), and a pipeline II (800-3); the support arm base (10) comprises a base through hole I (1000-1); the turntable (11) comprises a threaded hole I (1100-1) and an axial hole I (1100-2); the large support arm (12) comprises a keyway hole I (1200-1) and a threaded hole II (1200-2); the air pump (15) comprises an air pipe I (1500-1); the suction cup (17) comprises a suction cup airway I (1700-1); the water suction scraper (21) comprises a replaceable soft silicone blade (2101), a water suction scraper mounting frame (2102), a water suction scraper through hole I (2102-1), a water pipe connector ( 2102-2), the intermediate bracket (23) of the horizontal frame includes an intermediate bracket through hole I (2300-1) and an intermediate bracket through hole II (2300-2), the electric telescopic device (24) includes an electric telescopic device through hole I (2400-1), a ball hinge (2401), and a telescopic rod (2402), the blowing device (26) includes a protruding fan (2601), a groove fan (2602), and a fan motor (2603), the wiping head (27) includes a through hole IX (2700-1) and a replaceable mop (2701), the friction brake (28) includes a ball hinge hole I (2800-1), and the water pump (30) includes a pipe opening II (3000-1) and a pipe opening III (3000-2),The hard scraper (1) cooperates with the cleaning roller brush (2) through a bearing and is installed at the front end of the roller brush. The roller brush fixing frame (3) is connected to the hard scraper (1) and the cleaning roller brush (2) through a shaft. The through hole III (300-2) and the cross frame bracket through hole VI (400-2) are connected by bolts so that the roller brush fixing frame (3) and the cross frame bracket are movably connected. The cross frame bracket (4) is installed at the left and right ends of the front cross frame (5) and is bolted to the front cross frame through hole VII (500-1) through through hole V (400-1). The water-absorbing scraper (21) is movably installed on the cross frame middle bracket (23) and is bolted to the cross frame middle bracket through hole I (2300-1) through the water-absorbing scraper through hole I (2102-1). The bracket (23) is mounted on the front cross frame (5) and is bolted to the cross frame middle bracket through hole II (2300-2) and through hole VIII (500-2); the front cross frame (5) is mounted on the front end of the main shell (7) and is bolted to the main body through hole II (700-2) through hole VIII (500-2); the diverter (8) is mounted on the upper end of the main shell (7) and is bolted to the diverter through hole I (800-2) and the main body through hole I (700-1); the main body upper cover (9) is mounted on the upper end of the main shell (7) by screw connection; the support arm base (10) is mounted on the upper end of the main shell (7) and is bolted to the base through hole I (1000-1) and the main body through hole IV (700-3); The turntable (11) is connected to the support arm base (10) through a motor to control rotation. The large support arm (12) and the motor are connected to the motor shaft key through a keyway hole (1200-1) to achieve rotation. The two ends of the small support arm (13) are connected to the motor shaft key to achieve rotation. The telescopic mechanism (16), the support arm motor (14) and the small support arm (13) are connected through the motor shaft. The air pump (15) is installed on the telescopic mechanism (16) and connected through a buckle. The suction cup (17) is connected to the telescopic mechanism (16) to achieve a telescopic function. The electric telescopic device (24) is installed in the main housing (7) and is bolted to the electric telescopic device through hole I (2400-1) and the main body through hole III (700-4). The heating tube (25) is installed in the main housing (7) and connected by threads. The blowing device (26) is installed at the bottom of the main housing (7) and connected by bolts. The wiping head (27) and the electric telescopic device (24) are connected by bolts through the through holes on the wiping head (27) and the through holes on the telescopic rod (2402) and installed at the bottom of the main housing (7). The friction brake (28) is installed on both sides of the bottom of the main housing and connected to the electric telescopic device (24) through a ball hinge. The power battery (29) is installed in the main housing (7) and connected by a buckle. The water pump (30) is installed in the main housing (7) and connected by a buckle. The drive motor (31) is connected to the drive wheel (19) through a shaft.

2. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The hard scraper (1) is provided with a replaceable hard silicone blade (101) and a through hole I (102-1). The through hole I (102-1) is movably connected to the cleaning roller brush (2) via a bearing. The cleaning roller brush (2) is driven by a roller brush motor (301). The roller brush motor (301) is arranged inside a roller brush fixing frame (3). A nozzle is provided at the upper end of the roller brush fixing frame (3). A pipeline is provided between each nozzle. A through hole IV (300-1) is provided at the rear end of the middle nozzle. The through hole IV (300-1) is connected to a clean water pipe (6). The clean water pipe (6) is connected to a pipe port I (800-1) of the diverter at one end close to the diverter (8). External clean water is sprayed through the diverter (8), the clean water pipe (6) and the nozzle.

3. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The diverter (8) is provided with two pipes for clean water and sewage, the turntable (11) is provided with a threaded hole I (1100-1) and an axial hole I (1100-2), the threaded hole I (1100-1) is connected to the through hole on the motor by threading, a bearing is installed in the axial hole I (1100-2) and cooperates with the motor shaft, the large support arm (12) is provided with a threaded hole II (1200-2), the threaded hole II (1200-2) is connected to the through hole of the motor by threading, the air pump (15) is provided with an air pipe I (1500-1), the suction cup (17) is provided with a suction cup airway I (1700-1), the air pipe I (1500-1) cooperates with the suction cup airway I (1700-1) and changes the internal pressure of the suction cup through the air pump.

4. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The air blowing device (26) is provided with a protruding fan (2601), a recessed fan (2602), and a fan motor (2603); the protruding fan (2601) and the recessed fan (2602) are connected to each other via recessed buckles to realize the function of single fan detachability; the heating tube (25) and the air blowing device (26) are used in combination to realize a drying function.

5. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The wiping head (27) is provided with a through hole IX (2700-1) and a replaceable mop (2701); the through hole IX (2700-1) is connected and matched with the electric telescopic device (24) by bolts; the replaceable mop (2701) is fixed to the lower end of the wiping head (27) by Velcro; the friction brake (28) is provided with a ball hinge hole (2800-1); the electric telescopic device (24) is provided with a ball hinge (2401); the ball hinge (2401) and the ball hinge hole (2800-1) form a ball hinge connection.

6. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The water-absorbing scraper (21) is provided with a replaceable soft silicone blade (2101), a water-absorbing scraper through hole I (2102-1), and a water pipe joint (2102-2); the replaceable soft silicone blade (2101) is fixedly connected to the water-absorbing scraper (21); the water pump (30) is provided with a pipe port II (3000-1) and a pipe port III (3000-2); the pipe port II (3000-1) is connected to the water pipe joint (2102-2) via a sewage pipe (22); the pipe port III (3000-2) is connected to the diverter pipe II (800-3) via a sewage pipe (22); sewage is collected by the water-absorbing scraper (21) and enters the water pump (30) through the sewage pipe (22); and then flows out of the water pump (30) through the sewage pipe (22) to the diverter (8), thereby realizing the sewage discharge process.

7. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The hard scraper (1) and the cleaning roller brush (2) are coaxially connected to the roller brush fixing frame (3); the water-absorbing scraper (21) is fixed to the cross frame bracket (4) by bolt connection and is located at the rear end of the cleaning roller brush (2); after the hard scraper (1) scrapes, the cleaning roller brush (2) rolls and scrubs, and then the water-absorbing scraper (21) collects the sewage, thereby realizing the cleaning functions of shoveling, brushing and scraping of the multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels.

8. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The wiping head (27) is mounted on the lower end of the telescopic rod (2402) and connected by bolts, and the blowing device (26) is mounted on the bottom of the main shell (7) and connected by bolts. The wiping head (27) and the blowing device (26) are used in combination to realize the wiping and drying cleaning functions of the photovoltaic panel multifunctional intelligent wall-climbing robot.

9. The multifunctional intelligent wall-climbing robot for cleaning photovoltaic panels according to claim 1, characterized in that: The cleaning of photovoltaic panels includes obstacle crossing, anti-slipping, and cleaning processes, and the obstacle crossing, anti-slipping, and cleaning processes include the following steps: S1: Cleaning the photovoltaic panel surface: S11: The driving motor (31) drives the driving wheel (19) to rotate, so that the crawler belt (18) moves forward; S12: using a hard scraper (1) to scrape away solidified solids on the photovoltaic panel surface; S13: the external water pipe discharges water to the clean water pipe (6) through the diverter (8), the nozzle connected to the clean water pipe (6) sprays mist water to wet the plate surface, and the cleaning roller brush (2) is driven by the roller brush motor (301) to rotate and perform cleaning work; S14: the water pump (30) is connected to the water suction scraper (21) and the diverter (8) respectively through the sewage pipe (22), and the water suction scraper (21) allows the sewage generated by cleaning to flow out through the water pump (30) and the diverter (8); S15: The electric telescopic device (24) lowers the wiping head (27) to wipe away the residual sewage; S16: The air blowing device (26) cooperates with the heating pipe (25) to blow out hot air to dry the photovoltaic panel surface; S2: Anti-slip operation when the vehicle is moving forward or turning (if the slope of the photovoltaic panel surface is low or there is no need to turn, skip step S2): S21: Before the vehicle body moves forward, the electric telescopic device (24) lowers the friction brakes (28) on both sides so that the friction brakes (28) contact the wet photovoltaic panel surface. When the vehicle body moves forward, the friction force is further enhanced after the soft silicone material at the lower end of the friction brake (28) contacts the water, thereby preventing the vehicle body from slipping when it moves forward; S22: If the vehicle body turns to the left, the electric telescopic device (24) lowers the left friction brake device (28), so that the friction force of the left track (18) on the photovoltaic panel surface is reduced. At the same time, the left friction brake (28) acts as a fulcrum, and the right track (18) moves forward, cooperating with the ball joint structure at the lower end of the left friction brake (28), so that the vehicle body can make a circular motion and turn to the left; S3: Obstacle crossing between photovoltaic panels (if the distance between photovoltaic panels does not require obstacle crossing, skip step S3): S31: After the turntable (11) is rotated to a suitable position, the large support arm (12) is extended by the support arm motor (14), and the small support arm (13) is also extended by the motor, so that the telescopic mechanism (16) can reach the next photovoltaic panel surface, and then the telescopic mechanism (16) lowers the suction cup (17) to contact the photovoltaic panel surface, and the air pump (15) controls the pressure inside the suction cup (17); S32: The suction cup (17) sucks the panel surface, and the driving motor (31) drives the crawlers (18) on both sides to move forward. After the vehicle body completely passes through the spacing and stabilizes, the air pump (15) changes the internal pressure of the suction cup (17), and the suction cup (17) leaves the photovoltaic panel surface.

Images