A photovoltaic power plant facing panel cleaning robot

Abstract

The application provides a photovoltaic power plant-oriented cell panel cleaning robot, which comprises a cleaning preparation module, the cleaning preparation module comprises a base, the base is provided with an air compressor and a dry ice cleaning machine, and further comprises a high-pressure air pipe, the air compressor and the dry ice cleaning machine are both in communication with the high-pressure air pipe; the cleaning working module comprises a spray gun and a spray gun adjusting mechanism for adjusting the position and posture of the spray gun, and the spray gun is connected with the high-pressure air pipe. By arranging the cleaning preparation module and the cleaning working module, the air compressor can be started alone to clean the surface of the solar cell panel during work, the position and posture of the spray gun can be adjusted by the spray gun adjusting mechanism during the process, so that the spray gun reaches the designated working area; the air compressor and the dry ice cleaning machine can be started at the same time, so that the dry ice is mixed with the compressed air, and the more stubborn stains attached to the solar cell panel can be cleaned.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a panel cleaning robot for photovoltaic power plants. BACKGROUND

[0002] As a new energy source, solar energy has been developing rapidly in recent years. Solar panels are the core power generation devices in photovoltaic power plants, which convert light energy into electrical energy directly through the photovoltaic effect of the semiconductor interface. The light intensity received by the solar panels directly affects the output power. However, the surface of the solar panels laid in large areas in photovoltaic power plants is often covered with dirt, bird droppings, and other contaminants. If not cleaned in time, it will affect the absorption of sunlight and the conversion of electrical energy, resulting in a decrease in power generation, and in severe cases, it will cause hot spot effect, damage the solar panels, and cause huge economic losses. At present, most photovoltaic power plants in China still use manual cleaning methods. Although this method is simple and easy to implement, it requires a lot of manual labor and poses a risk of damaging the solar panel components and personnel climbing.

[0003] In the prior art, most solar panel cleaning devices use water washing to clean the solar panels. However, most of these methods consume a large amount of water and are not suitable for areas where water resources are scarce. In addition, water washing can accelerate equipment aging and even cause safety accidents.

[0004] Therefore, it is particularly important for photovoltaic power plants in arid and water-scarce areas to use a water-free cleaning solution to clean solar panels. SUMMARY

[0005] The present application provides a panel cleaning robot for photovoltaic power plants to solve the technical defects of using water to clean solar panels in the prior art. The water-free cleaning operation is environmentally friendly, non-polluting, does not produce secondary waste, and does not damage the surface of the solar panels.

[0006] The present application provides a panel cleaning robot for photovoltaic power plants, comprising:

[0007] A cleaning preparation module, the cleaning preparation module comprises a base, the base is provided with an air compressor and a dry ice cleaning machine, and further comprises a high-pressure air pipe, the air compressor and the dry ice cleaning machine are both in communication with the high-pressure air pipe;

[0008] A cleaning work module, the cleaning work module comprises a spray gun and a spray gun adjusting mechanism for adjusting the position and attitude of the spray gun, and the spray gun is connected with the high-pressure air pipe.

[0009] The cell panel cleaning robot for photovoltaic power plants provided by the present application, the spray gun adjusting mechanism comprises a lifting mechanism, a telescopic mechanism and a posture adjusting mechanism, the lifting mechanism and the telescopic mechanism are used for adjusting the position of the spray gun, and the posture adjusting mechanism is used for adjusting the working posture of the spray gun.

[0010] The lifting mechanism is arranged on the base, and the spray gun is arranged on the posture adjusting mechanism.

[0011] The cell panel cleaning robot for photovoltaic power plants provided by the present application, the lifting mechanism comprises first and second lifting columns arranged at intervals; the telescopic mechanism comprises a plurality of telescopic modules; and the first telescopic module is connected with the first and second lifting columns.

[0012] The first and second lifting columns can independently adjust the lifting height, the ends of the first and second lifting columns are respectively provided with first and second connectors, the first and second connectors are respectively hinged to the ends of the first and second lifting columns, the lifting mechanism further comprises a cross beam, the first and second connectors are connected with the cross beam, and the first telescopic module is connected with the cross beam.

[0013] The cell panel cleaning robot for photovoltaic power plants provided by the present application, a support frame is arranged between the telescopic mechanism and the posture adjusting mechanism, the bottom surface of the support frame is provided with a plurality of rollers, one side of the support frame is connected with the last telescopic module, and the other side of the support frame is connected with the posture adjusting mechanism; one side of the support frame connected with the posture adjusting mechanism is provided with a swing arm, the bottom surface of the swing arm is provided with a roller, one end of the swing arm is hinged to the support frame, the posture adjusting mechanism is arranged at the other end of the swing arm, and the support frame is provided with a swing arm driving motor for driving the swing arm to swing.

[0014] The cell panel cleaning robot for photovoltaic power plants provided by the present application, the posture adjusting mechanism comprises a swing motor arranged on the swing arm, a fixed frame that rotates synchronously with the swing motor is arranged on the output shaft of the swing motor, and the spray gun is arranged on the fixed frame.

[0015] The cell panel cleaning robot for photovoltaic power plants provided by the present application, a spray gun switch motor is arranged on the fixed frame, a dial block that rotates synchronously with the spray gun switch motor is arranged on the output shaft of the spray gun switch motor, and the dial block is used for dialing the switch of the spray gun.

[0016] The cell panel cleaning robot for photovoltaic power plants provided by the present application, the cleaning preparation module further comprises a power generation device for power supply, and the power generation device is arranged on the base.

[0017] The photovoltaic power plant-oriented cell panel cleaning robot provided by the application has the spray gun adjusting mechanism comprising a drone, and the spray gun is arranged on the drone.

[0018] The photovoltaic power plant-oriented cell panel cleaning robot provided by the application further comprises a transfer mechanism for transferring the cleaning preparation module.

[0019] The transfer mechanism comprises a plurality of transfer assemblies arranged below the base, and the transfer assembly comprises a moving assembly and a steering assembly.

[0020] The moving assembly comprises moving wheels and a moving wheel driving motor for driving the moving wheels to rotate.

[0021] The steering assembly comprises a steering plate and a steering plate driving motor for driving the steering plate to rotate, and the moving wheels rotate synchronously with the steering plate.

[0022] The photovoltaic power plant-oriented cell panel cleaning robot provided by the application is provided with a camera on the spray gun for taking pictures of the solar cell panel, and the base is provided with an industrial computer, and the industrial computer can receive the image signals collected by the camera.

[0023] The photovoltaic power plant-oriented cell panel cleaning robot provided by the application is provided with the cleaning preparation module and the cleaning working module, and during work, the air compressor can be started alone to clean the surface of the solar cell panel, and during the process, the position and posture of the spray gun can be adjusted by the spray gun adjusting mechanism, so that the spray gun reaches the designated working area; the air compressor and the dry ice cleaning machine can also be started simultaneously, so that the dry ice is mixed with the compressed air, and the more stubborn stains attached to the solar cell panel can be cleaned. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a schematic diagram of the photovoltaic power plant-oriented cell panel cleaning robot provided by the application, and

[0026] Figure 2 is a schematic diagram of the cleaning preparation module in the photovoltaic power plant-oriented cell panel cleaning robot provided by the application, and

[0027] Figure 3 isFigure 1 A magnified view of part A in the image;

[0028] Figure 4 This is one of the schematic diagrams of the spray gun in Embodiment 1 of the solar panel cleaning robot for photovoltaic power plants provided by the present invention;

[0029] Figure 5 This is the second schematic diagram of the spray gun in Embodiment 1 of the photovoltaic panel cleaning robot for photovoltaic power plants provided by the present invention;

[0030] Figure 6 This is a schematic diagram of the operation of Embodiment 1 of the solar panel cleaning robot for photovoltaic power plants provided by the present invention;

[0031] Figure 7 This is a schematic diagram of the operation of Embodiment 2 of the solar panel cleaning robot for photovoltaic power plants provided by the present invention.

[0032] Figure label:

[0033] 1. Base; 2. Air compressor; 3. Dry ice cleaner; 4. High-pressure air hose; 5. Spray gun; 6. First lifting column; 7. Second lifting column; 8. Telescopic module; 9. First connector; 10. Second connector; 11. Crossbeam; 12. Connector; 13. Support frame; 14. Roller; 15. Swing arm; 16. Swing arm drive motor; 17. Swing motor; 18. Fixing frame; 19. Spray gun switch motor; 20. Toggle block; 21. Power generation device; 22. Moving wheel; 23. Moving wheel drive motor; 24. Steering plate; 25. Steering plate drive motor; 26. Drone; 27. Solar panel bracket; 28. Solar panel. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0035] The following is combined with Figures 1-7 This invention describes a solar panel cleaning robot for photovoltaic power plants.

[0036] Example 1

[0037] like Figure 1 The diagram shown is a schematic representation of Embodiment 1 of the solar panel cleaning robot for photovoltaic power plants provided by the present invention. In this embodiment, the solar panel cleaning machine includes:

[0038] A cleaning preparation module, such as Figure 2 In this embodiment, the cleaning preparation module includes a base 1, the base 1 is provided with an air compressor 2 and a dry ice cleaning machine 3, and further includes a high-pressure air pipe 4, the air compressor 2 and the dry ice cleaning machine 3 are both in communication with the high-pressure air pipe 4. In use, the block-shaped dry ice is placed in the dry ice cleaning machine 3 in advance, and the block-shaped dry ice is processed by the dry ice cleaning machine 3 to produce dry ice particles mixed with high-pressure air, thereby enhancing the cleaning strength.

[0039] A cleaning work module, the cleaning work module includes a spray gun 5 and a spray gun adjusting mechanism for adjusting the position and attitude of the spray gun, the spray gun 5 is connected with the high-pressure air pipe 4.

[0040] As shown in Figure 1 In this embodiment, the spray gun adjusting mechanism includes a lifting mechanism, an extension mechanism and an attitude adjusting mechanism, the lifting mechanism and the extension mechanism are used to adjust the position of the spray gun 5, and the attitude adjusting mechanism is used to adjust the working attitude of the spray gun 5; the lifting mechanism is arranged on the base 1, the extension mechanism is arranged on the lifting mechanism, the attitude adjusting mechanism is arranged on the extension mechanism, and the spray gun 5 is arranged on the attitude adjusting mechanism. The height of the extension mechanism can be adjusted by the lifting mechanism, the extension and retraction position of the attitude adjusting mechanism can be adjusted by the extension mechanism, and finally the attitude of the spray gun 5 during work can be adjusted by the attitude adjusting mechanism, so that the device can meet the operation range requirements of the solar panel cleaning operation.

[0041] Specifically, as shown in Figure 1 In this embodiment, the lifting mechanism includes first and second lifting columns 6 and 7 arranged at intervals; the extension mechanism includes a three-stage extension module 8; the first-stage extension module 8 is connected with the first and second lifting columns 6 and 7. In this way, the lifting height of the extension mechanism can be adjusted by driving the lifting of the first and second lifting columns 6 and 7. Of course, in some embodiments, the lifting mechanism can be controlled by gear and rack or hydraulic control; the extension mechanism can also be controlled by a multi-stage hydraulic cylinder.

[0042] As shown in Figure 1As shown in the middle, the first lifting column 6 and the second lifting column 7 can independently adjust the lifting height, the end of the first lifting column 6 and the second lifting column 7 is respectively provided with a first connector 9 and a second connector 10, the first connector 9 and the second connector 10 are respectively hinged with the end of the first lifting column 6 and the second lifting column 7; the lifting mechanism further comprises a cross beam 11, the first connector 9 and the second connector 10 are connected with the cross beam 11, and the first-stage telescopic module 8 is connected with the cross beam 11. In the embodiment, the upper end of the first connector 9 and the second connector 10 is sleeved on the cross beam 11, and two connecting pieces 12 are also arranged on the first-stage telescopic module 8, and the first-stage telescopic module 8 is fixedly connected with the cross beam 11 in a sleeving manner. In this way, the inclination angle of the cross beam 11 is adjusted by controlling the different lifting heights of the first lifting column 6 and the second lifting column 7, so that the telescopic direction of each telescopic module 8 is adjusted, the spray gun 5 is facilitated to reach the specified position for cleaning operation, and the application range of the device is enhanced.

[0043] As shown in the middle, Figure 3 In the embodiment, a support frame 13 is arranged between the telescopic mechanism and the attitude adjusting mechanism, one side of the support frame 13 is connected with the last telescopic module 8, in specific implementation, the support frame 13 and the telescopic module 8 can be connected in various ways such as welding, bolt connection or riveting, and can be set according to requirements, and the other side of the support frame 13 is connected with the attitude adjusting mechanism. By adding the support frame 13, the telescopic module 8 of the device can be supported by the support frame 13, and the stress structure of the device is optimized.

[0044] As shown in the middle, Figure 3 In the embodiment, the bottom surface of the support frame 13 is provided with a roller 14, so that the support frame 13 can move on the solar cell panel.

[0045] As shown in the middle, Figure 3 In the embodiment, the side of the support frame 13 connected with the attitude adjusting mechanism is provided with a swing arm 15, one end of the swing arm 15 is hinged with the support frame 13, the attitude adjusting mechanism is arranged at the other end of the swing arm 15, and the support frame 13 is provided with a swing arm driving motor 16 for driving the swing arm 15 to swing. The swing arm driving motor 16 drives the swing arm 15 to rotate around the hinge point of the swing arm 15 and the support frame 13, so that the range reached by the spray gun 5 and the attitude adjusting mechanism is wider, and the operation range of the spray gun 5 is increased. Of course, in some embodiments, the swing arm 15 can be arranged as a telescopic swing arm (which can be a hydraulic telescopic structure) with multiple telescopic mechanisms, so as to further increase the operation range of the spray gun 5.

[0046] As shown in the middle, Figure 3 In the embodiment, the bottom surface of the swing arm 15 is also provided with a roller 14, so that the swing arm 15 can move. Since the end of the swing arm 15 runs in an arc shape, the roller 14 here can be a universal wheel, which can prevent the swing arm 15 from being stuck during swinging.

[0047] As shown in Figure 3 , the posture adjusting mechanism comprises a swing motor 17 arranged on the swing arm 15, a fixed frame 18 arranged on the output shaft of the swing motor 17 and synchronously rotated with the swing motor 17, and the spray gun 5 arranged on the fixed frame 18. The output shaft of the swing motor 17 is rotated to synchronously rotate the fixed frame 18, thereby rotating the spray gun 5, so as to adjust the working posture of the spray gun 5 in a small range, and to clean the solar cell panel more accurately. Specifically, in the embodiment, the output shaft of the swing motor 17 is provided with a U-shaped mounting groove, the fixed frame 18 comprises a mounting rod and a fixed frame 18 body connected with each other, the fixed frame 18 body is provided with a fixed frame 18 cover plate, and the mounting rod is arranged in the U-shaped mounting groove. Figure 4 and Figure 5 As shown in , the spray gun 5 comprises a handle, a nozzle and a cable, the handle is provided with a spray gun switch and a safety device, the cable comprises a wire and a spray gun air inlet pipe connected with the high-pressure air pipe 4, the handle is arranged in the fixed frame 18 body, and the fixed frame 18 cover plate is used to clamp the handle of the spray gun 5 and press the safety device of the spray gun 5.

[0048] Figure 3 As shown in , the fixed frame 18 is provided with a spray gun switch motor 19, the output shaft of the spray gun switch motor 19 is provided with a dial block 20 synchronously rotated with the spray gun switch motor 19, and the dial block 20 is used to dial the switch of the spray gun 5. The switch of the spray gun 5 is dialed by the dial block 20 driven by the rotation of the spray gun switch motor 19, so as to control the opening and closing of the spray gun 5. Specifically, in the embodiment, the dial block 20 is in the shape of a cam. Of course, in some embodiments, the opening and closing of the spray gun 5 can also be controlled by an electromagnetic valve.

[0049] Figure 2 As shown in , the cleaning preparation module further comprises a power generation device 21 for power supply, and the power generation device 21 is arranged on the base 1. Specifically, in the embodiment, the power generation device 21 and the dry ice cleaning machine 3 are arranged on the two sides of the base 1, the air compressor 2 is arranged between the power generation device 21 and the dry ice cleaning machine 3, and the first lifting column 6 and the second lifting column 7 are respectively arranged on the two sides of the air compressor 2, so that the layout of the device is reasonable and the space utilization rate is high.

[0050] In order to facilitate the transfer of the cleaning preparation module, the solar cell panel cleaning robot of the embodiment further comprises a transfer mechanism

[0051] Specifically, as shown in Figure 2As shown, the transfer mechanism includes four transfer components (the specific number is determined according to requirements) located below the base 1. Each transfer component includes a moving component and a steering component. The moving component includes moving wheels 22 and a moving wheel drive motor 23 for driving the moving wheels 22 to rotate. The steering component includes a steering plate 24 and a steering plate drive motor 25 for driving the steering plate 24 to rotate. The moving wheels 22 rotate synchronously with the steering plate 24. The rotation of the moving wheel drive motor 23 drives the moving wheels 22 to move, and the rotation of the steering plate drive motor 25, which drives the steering plate 24, also drives the moving wheels 22 to rotate. The combination of these two mechanisms enables the device to operate along complex routes and also allows the device to rotate in place. In this embodiment, the moving wheel drive motor 23 is a hub motor. The bottom surface of the base 1 has two parallel motor mounting seats, each housing two steering plate drive motors 25. The rotating plate and the moving wheels 22 are connected by a shock-absorbing arm, which provides shock absorption for the cleaning preparation module.

[0052] In this embodiment, the spray gun 5 is equipped with a camera for capturing images of the solar panel, and the base 1 is equipped with an industrial control computer that can receive image signals captured by the camera. By processing the image signals, the industrial control computer can determine whether there are stubborn bird droppings or other stains at the location of the nozzle of the spray gun 5. If so, it can control the dry ice cleaner 3 to open for powerful cleaning.

[0053] like Figure 6 As shown, the working process of the solar panel cleaning robot for photovoltaic power plants in this embodiment is as follows:

[0054] First, the power generation device 21 is activated to power all the electrical equipment of the cleaning robot. This drives the four hub motors and the steering plate drive motor 25, causing the base 1 to move and thus moving the entire cleaning preparation module of the cleaning robot. When the cleaning robot is moved to a suitable position relative to the solar panel bracket 27, the lifting mechanism starts working, raising the first lifting column 6 and the second lifting column 7. By controlling the rising distance of the first lifting column 6 and the second lifting column 7 respectively, the crossbeam 11 installed on the first connector 9 and the second connector 10 can be adjusted to a suitable angle.

[0055] Next, the telescopic mechanism starts working, and the multi-stage telescopic module 8 extends forward a certain distance, so that the support mechanism installed on the telescopic module 8 reaches above the solar panel 28. This step can also be achieved by adjusting the direction of the hub motor, moving the base 1 to bring the support mechanism above the solar panel. Adjust the lifting mechanism to lower the support mechanism. When both the rollers 14 under the support frame 13 and the rollers 14 under the swing arm 15 are in contact with the surface of the solar panel, the lifting mechanism stops descending.

[0056] Next, the air compressor 2 starts, and the compressed air delivered by the air compressor 2 passes through the dry ice cleaner 3 and enters the spray gun 5 through the high-pressure air pipe 4. The output shaft of the spray gun switch motor 19 rotates, which drives the toggle block 20 to rotate. When it rotates through a certain angle, the toggle block 20 pushes the switch of the spray gun 5 to open. At this time, the high-pressure air in the spray gun 5 is sprayed out through the nozzle of the spray gun 5 to form a high-pressure airflow. When the high-pressure airflow is sprayed onto the surface of the solar panel 28, the dust or leaves and other debris attached to the surface of the solar panel will be blown away by the high-pressure airflow, thus cleaning the solar panel.

[0057] While the high-pressure airflow is sprayed outwards, a camera mounted on the spray gun 5 transmits real-time images to an industrial control computer placed on the chassis, identifying any remaining dirt, such as bird droppings, that has not been blown away by the airflow. If no other dirt is detected, the telescopic mechanism extends outwards a certain distance, and the output shaft of the swing arm drive motor 16 rotates repeatedly clockwise and counterclockwise at certain angles, causing the swing arm 15 to swing. The spray gun 5 then cleans the next area according to the path of the swing arm 15. If other dirt is detected, the dry ice cleaner 3 is activated. Dry ice particles enter the high-pressure air pipe 4, mix with high-pressure air, and enter the spray gun 5, then are sprayed out from the nozzle. The high-pressure air propels the dry ice particles onto the surface of the solar panel, utilizing the physical reaction of temperature difference to cause different substances to detach at different contraction rates. Upon contact with the dirt surface, the dry ice particles undergo embrittlement and explosion, causing the dirt to shrink and loosen. The dry ice particles then instantly vaporize, generating a powerful peeling force that completely removes the dirt from the surface of the solar panel, thus completing the cleaning of the solar panel.

[0058] Example 2

[0059] like Figure 7 The diagram shown is a schematic representation of the operation of Embodiment 2 of the solar panel cleaning robot for photovoltaic power plants. The difference between this embodiment and Embodiment 1 is that in this embodiment, the spray gun adjustment mechanism includes a drone 26, and the spray gun 5 is mounted on the drone 26. Specifically, in this embodiment, the drone 26 is a multi-rotor drone, which allows for a larger cleaning range of the spray gun 5, making it more suitable for cleaning solar panels located at higher elevations.

[0060] Of course, when using the drone 26, the camera can also be mounted on the drone 26.

[0061] The working process of the solar panel cleaning robot for photovoltaic power plants in this embodiment is as follows:

[0062] First, the power generation device 21 is started, and all the electrical equipment of the cleaning robot is powered on. The four wheel hub motors and the steering plate driving motor 25 are driven to move the base 1 and the cleaning preparation module of the entire cleaning robot. The cleaning robot is moved to a suitable position away from the solar panel support 27.

[0063] When the cleaning robot chassis is moved to a suitable position away from the solar panel support 27, the drone 26 is controlled to take off, and the drone 26 carrying the spray gun 5 and the high-pressure air pipe 4 flies to a suitable position above the solar panel. The nozzle of the spray gun 5 carried by the drone 26 is controlled to face the surface of the solar panel.

[0064] Secondly, the air compressor 2 is started, and the compressed air delivered by the air compressor 2 passes through the dry ice cleaning machine 3 and enters the spray gun 5 through the high-pressure air pipe 4. The output shaft of the spray gun switch motor 19 rotates to drive the switch block 20 to rotate. When a certain angle is turned, the switch block 20 pushes the switch of the spray gun 5 to open. At this time, the high-pressure air in the spray gun 5 is sprayed out through the nozzle of the spray gun 5 to form a high-pressure air flow. When the high-pressure air flow is sprayed to the surface of the solar panel, the dust or leaves and other impurities attached to the surface of the solar panel will be blown away by the high-pressure air flow, so as to realize the cleaning of the solar panel.

[0065] At the same time when the high-pressure air flow is sprayed outwards, the camera arranged on the spray gun 5 (or the drone 26) will transmit real-time images to the industrial computer placed on the chassis, and identify whether there are other stains such as bird droppings that have not been blown away by the air flow. If no other stains are identified, the drone 26 is controlled to move and clean the next area. If other stains are identified, the dry ice cleaning machine 3 is started to assist in cleaning, and the principle is the same as above and will not be repeated here.

[0066] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A solar panel cleaning robot for a photovoltaic power plant, characterized in that, The utility model relates to a kind of cleaning machine, including: Cleaning preparation module, the cleaning preparation module includes pedestal (1), air compressor (2) and dry ice cleaning machine (3) are equipped on the pedestal (1), further including high-pressure gas pipe (4), the air compressor (2) and the dry ice cleaning machine (3) are communicated with the high-pressure gas pipe (4); Cleaning work module, the cleaning work module includes spray gun (5) and is used for adjusting the position and attitude of spray gun (5) spray gun adjusting mechanism, the spray gun (5) is connected with the high-pressure gas pipe (4); The spray gun adjusting mechanism includes lifting mechanism, telescopic mechanism and attitude adjusting mechanism, the lifting mechanism and telescopic mechanism are used for adjusting the position of the spray gun (5), and the attitude adjusting mechanism is used for adjusting the working attitude of the spray gun (5); The lifting mechanism is arranged on the pedestal (1), and the spray gun (5) is arranged on the attitude adjusting mechanism; The lifting mechanism includes first lifting column (6) and second lifting column (7) arranged at intervals;The telescopic mechanism includes multi-stage telescopic module (8);First stage telescopic module (8) is connected with the first lifting column (6) and the second lifting column (7); The first lifting column (6) and the second lifting column (7) can be independently adjusted lifting height, and the ends of the first lifting column (6) and the second lifting column (7) are respectively provided with first connector (9) and second connector (10), which are respectively hinged with the ends of the first lifting column (6) and the second lifting column (7);The lifting mechanism further includes crossbeam (11), and the first connector (9) and the second connector (10) are connected with the crossbeam (11), and the first stage telescopic module (8) is connected with the crossbeam (11); The telescopic mechanism and the attitude adjusting mechanism are provided with support frame (13), the bottom surface of the support frame (13) is provided with roller (14), one side of the support frame (13) is connected with the last telescopic module (8), and the other side of the support frame (13) is connected with the attitude adjusting mechanism; The side of the support frame (13) connected with the attitude adjusting mechanism is provided with swing arm (15), the bottom surface of the swing arm (15) is provided with roller (14), one end of the swing arm (15) is hinged with the support frame (13), and the attitude adjusting mechanism is arranged at the other end of the swing arm (15), and the support frame (13) is provided with swing arm drive motor (16) for driving the swing arm (15) to swing; The attitude adjusting mechanism includes swing motor (17) arranged on the swing arm (15), the output shaft of the swing motor (17) is provided with fixed frame (18) rotating synchronously therewith, and the spray gun (5) is arranged on the fixed frame (18).

2. The photovoltaic power plant facing cell panel cleaning robot according to claim 1, characterized in that, The fixed frame (18) is provided with spray gun switch motor (19), the output shaft of the spray gun switch motor (19) is provided with dial block (20) rotating synchronously therewith, and the dial block (20) is used to dial the switch of the spray gun (5).

3. The photovoltaic power plant facing cell panel cleaning robot according to claim 1, characterized in that, The cleaning preparation module further comprises a power generation device (21) for power supply, which is arranged on the base (1).

4. The photovoltaic power plant facing cell panel cleaning robot according to any of claims 1-3, characterized in that, Further comprising a transfer mechanism for transferring the cleaning preparation module; The transfer mechanism comprises a plurality of transfer assemblies arranged below the base (1), which comprises a moving assembly and a steering assembly; The moving assembly comprises a moving wheel (22) and a moving wheel driving motor (23) for driving the moving wheel (22) to rotate; The steering assembly comprises a steering plate (24) and a steering plate driving motor (25) for driving the steering plate (24) to rotate, and the moving wheel (22) rotates synchronously with the steering plate (24).

5. The photovoltaic power plant facing cell panel cleaning robot according to any of claims 1-3, characterized in that, A camera is arranged on the spray gun (5) for shooting the solar cell panel, and an industrial computer is arranged on the base (1), which can receive the image signals collected by the camera.

Images