Integrated cleaning and ice-breaking robot for floating marine photovoltaic structures

Abstract

The present invention discloses an integrated cleaning and icebreaking protection robot for floating marine photovoltaic structures, including a chassis, a walking device, a first box, a steering mechanism, a driving device, an icebreaking mechanism, a cleaning mechanism and an electronic control unit. The first box is arranged above the chassis, and the walking device includes two front wheels and two rear wheels. A second box is arranged on the front side of the first box, and the driving device is installed in the second box by mounting. The icebreaking mechanism or the cleaning mechanism can be installed at the execution end of the driving device respectively. The execution end of the driving device drives the icebreaking mechanism to reciprocate up and down, or adjusts the height of the cleaning mechanism and cleans the surface of the solar panel. The second box is movably connected to the first box through a lifting and adjusting mechanism. The present invention can realize walking on the ice surface or photovoltaic panel, breaking ice on the periphery of the marine photovoltaic structure, with high icebreaking efficiency and reduced costs. At the same time, it replaces manual cleaning of the surface of the solar panel, reduces equipment investment, has high cleaning efficiency and better safety.

Description

Technical Field

[0001] The present invention relates to the technical field of marine photovoltaic power generation, and in particular to an integrated cleaning and ice-breaking protection robot for a floating marine photovoltaic structure. Background Art

[0002] Compared with terrestrial photovoltaics, marine photovoltaics have the following advantages: (1) saving land resources; (2) wide water surface and high light utilization rate; (3) water has a cooling effect, which can improve the power generation efficiency by about 11%; (4) it can be effectively combined with other clean energy and industries. At present, the construction of marine photovoltaics is in its infancy, and there are many problems that need to be solved, such as: cleaning of photovoltaic panels and cleaning of biological attachments. On the one hand, bird droppings, dust, and sea salt crystals will block the sunlight, reduce the amount of solar radiation that reaches the photovoltaic panel surface, and greatly affect the power generation efficiency; on the other hand, it will cause the heat transfer form on the surface of the solar photovoltaic panel to change. These substances absorb solar radiation and convert it into their own heat energy, affecting the heat dissipation performance. At the same time, they will also corrode the photovoltaic panel surface. It is necessary to use manual cleaning tools to clean the solar photovoltaic panels regularly, which is labor-intensive, inefficient and costly. There is a certain degree of danger in offshore operations.

[0003] Some sea areas will enter an ice age in winter, and the maximum outer edge of floating ice can extend to tens of nautical miles. The thickness of sea ice in some sea areas can exceed 25 centimeters. Large pieces of floating ice will move under the influence of tides and ocean currents, which will also have a significant impact on floating photovoltaic structures and safe operations. At present, the main ways of active icebreaking are icebreakers and artificial icebreaking. However, the operating space of offshore photovoltaic power plants is limited, and photovoltaic panels are relatively fragile. Icebreakers can easily cause photovoltaic panels to break; artificial icebreaking is inefficient and has a high risk factor, and is not suitable for thicker ice layers. Therefore, it is necessary to design an integrated robot for cleaning and vibrating icebreaking protection of floating marine photovoltaic structures to economically, safely and efficiently solve the impact of sea ice, sea salt and biological attachment on floating offshore photovoltaic structures. Summary of the invention

[0004] In view of the deficiencies of the above-mentioned prior art, the purpose of the present invention is to propose an integrated cleaning and icebreaking protection robot for floating marine photovoltaic structures, aiming to solve the problem that the surface cleaning of photovoltaic panels and the breaking of ice on the outer periphery of floating marine photovoltaic structures are mainly carried out manually, which is labor-intensive, low in work efficiency, high in cost, easily leads to damage to photovoltaic panels, and has a high risk factor.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an integrated cleaning and icebreaking protection robot for floating marine photovoltaic structures, including a base frame, a walking device, a first box, a steering mechanism, a driving device, an icebreaking mechanism, a cleaning mechanism and an electronic control unit, wherein the base frame is a horizontally arranged square steel frame structure, the first box is fixedly installed above the base frame, and a water tank and a rechargeable lithium battery are provided inside the first box.

[0006] The walking device comprises two front wheels and two rear wheels. There are two steering mechanisms which are respectively arranged at the front and rear of the chassis. The steering mechanism at the front is connected to the two front wheels, and the steering mechanism at the rear is connected to the two rear wheels.

[0007] A second box body is provided on the front side of the first box body, and the driving device is installed inside the second box body, and its execution end extends out of the bottom of the second box body. The ice-breaking mechanism or the cleaning mechanism is respectively installed on the execution end of the driving device. The execution end of the driving device drives the ice-breaking mechanism to reciprocate up and down to break the ice layer on the sea surface, or the execution end of the driving device adjusts the height of the cleaning mechanism to clean the surface of the solar panel of the photovoltaic structure.

[0008] The rear side of the second box body is movably connected to the first box body through a lifting and adjusting mechanism, and the lifting and adjusting mechanism drives the second box body and the driving device to rise or fall relative to the base frame. A water spray assembly is provided at the lower front side of the second box body, and the water spray assembly is connected to the water tank through a hose and an electric control valve.

[0009] The electronic control unit includes a PLC controller, a signal conversion module, a gyroscope sensor and a lidar sensor. The PLC controller and the signal conversion module are arranged inside the first box, the gyroscope sensor is installed on the top of the first box, and the lidar sensor is arranged on the front side of the second box.

[0010] Two groups of binocular cameras are respectively provided on the left and right sides of the first box body, and the gyroscope sensor, laser radar sensor and binocular camera are respectively connected to the PLC controller for communication.

[0011] Furthermore, each front wheel and each rear wheel is arranged on the side of the chassis via a wheel frame, the top of the wheel frame is rotatably connected to the chassis via a vertical shaft, and the upper end of the vertical shaft passes through the chassis and is connected to the steering mechanism.

[0012] A first servo motor is installed on the wheel frame, and the front wheel or the rear wheel rotates in coordination with the corresponding wheel frame. The first servo motor drives the front wheel or the rear wheel to rotate. The first servo motor is powered by a rechargeable lithium battery, and a signal end of the first servo motor is communicatively connected to a PLC controller.

[0013] Furthermore, a cross beam is respectively provided at the front and rear of the chassis, and the two steering mechanisms are respectively arranged on the two cross beams and are arranged opposite to each other front and back.

[0014] The steering mechanism includes a rack seat, a first connecting rod, a second connecting rod, a second servo motor and a gear rack assembly. The rack seat is located above the crossbeam, and its bottom is laterally slidably matched with the crossbeam. The second servo motor is installed on the base frame, and its output end drives the rack seat to move left and right relative to the base frame through the gear rack assembly.

[0015] The left and right ends of the rack seat are respectively provided with a first connecting rod, which is connected to the vertical shaft on the same side through the second connecting rod. When the rack seat moves left and right, the wheel frames on both sides thereof are driven to rotate synchronously and in the same direction around the vertical shaft through the first and second connecting rods.

[0016] Furthermore, the upper surface of the crossbeam is provided with a transversely extending dovetail slot, a guide slider matching the dovetail slot is provided inside the dovetail slot, and the top of the guide slider is fixedly connected to the rack seat.

[0017] The rack and pinion assembly comprises a spur rack and a spur gear. The spur rack is fixed to the front and rear sides of the rack seat. The spur gear is fixedly installed at the output end of the second servo motor and meshes with the spur rack.

[0018] One end of each of the first connecting rods is hinged to the corresponding end of the rack seat, and the other end thereof is hinged to one end of the second connecting rod, and the other end of the second connecting rod is fixedly connected to the upper end of the vertical shaft on the same side.

[0019] Furthermore, the inner side of the first box body has a steel frame, and the front side wall thereof has two vertical grooves which are recessed inwards.

[0020] The lifting and lowering adjustment mechanism includes two groups of rocker arms symmetrically arranged on the front side of the first box body, each group of rocker arms includes two rocker arms arranged in parallel, one above and one below. The rear end of each rocker arm extends into the corresponding vertical slot and is hinged to the first box body, and the front end is hinged to the rear side of the second box body.

[0021] An electric telescopic cylinder is provided above each set of rocker arms. The rear end of the cylinder body of the electric telescopic cylinder is hinged to the top of the front side of the first box body, and the front end of the piston rod is hinged to the middle part of the rocker arm located above. The signal end of the electric telescopic cylinder is communicated with the PLC controller, and the two electric telescopic cylinders drive the two sets of rocker arms to move synchronously.

[0022] Furthermore, the driving device includes a crankshaft, a third servo motor and a gear assembly. The crankshaft is horizontally arranged on the upper part of the mounting frame and rotates with the mounting frame. The third servo motor is arranged on the mounting frame, and its output end drives the crankshaft to rotate through the gear assembly.

[0023] The crankshaft has two groups of crank throws located on both sides of the crankshaft axis, each group of crank throws includes at least two crank throws, and the two groups of crank throws are alternately arranged in sequence along the axial direction of the crankshaft.

[0024] The lower part of the mounting frame is provided with vertical shafts whose number is equal to the crankshaft cranks and whose positions correspond one to one. Each vertical shaft is vertically slidably matched with the mounting frame through a guide sleeve sleeved on the outside thereof, and the upper end of the vertical shaft is movably connected to the connecting rod journal of the corresponding crank through a transmission rod.

[0025] Furthermore, the front and rear wheels both use crampon wheels, which include a wheel hub and a number of crampons regularly arranged on the outside of the wheel hub. The crampons are triangular arc-shaped metal plates, one side of which is welded to the circumferential outer wall of the wheel hub, and the end away from the wheel hub is pointed.

[0026] The ice-breaking mechanism includes ice-breaking knives or impact heads whose number is equal to that of the vertical axes and whose positions correspond one to one. The ice-breaking knives are long metal plates with a double-edged structure at the bottom. The top of the ice-breaking knives is fixedly connected to a knife seat, and the top of the knife seat is fixedly connected to the lower end bolts of the vertical axis corresponding to one group of cranks through a connecting part.

[0027] The lower part of each impact head is in the shape of a pointed cone, the impact head is arranged vertically and the upper end is fixedly connected with the corresponding vertical axis bolt.

[0028] Furthermore, the front wheels and rear wheels are both rubber wheels, and the water spray assembly includes a water supply pipe and multiple nozzles. The water supply pipe is horizontally installed on the front side wall of the second box body, one end of which is closed and the other end is connected to the hose. All nozzles are evenly spaced on the water supply pipe.

[0029] The third servo motor adopts a servo motor with a brake. The cleaning mechanism includes a clamp and a sponge head. The clamp is long and horizontally arranged below the second box body, and a mounting groove is opened at its bottom. The top of the sponge head is located in the mounting groove of the clamp and is fixedly connected to the clamp.

[0030] The top of the clamp is provided with rods with the same number and corresponding positions as the cranks in the same group. The lower end of each rod is fixedly connected to the top of the clamp, and the upper end is fixedly connected to the corresponding lower end bolt of the vertical shaft.

[0031] Furthermore, a screw propulsion device is provided at the rear of the base frame, which includes a fourth servo motor, a rotating mechanism, a propeller and a gear drive mechanism. The rotating mechanism includes a fixed support seat and a rotating bracket. The rotating bracket is an integrated structure formed by welding a bottom plate and an arc side plate.

[0032] The fixed support seat is installed on the rear side of the base frame, the base plate is located above the fixed support seat and rotates with it, and the gear driving mechanism can drive the swivel bracket to rotate relative to the fixed support seat.

[0033] The fourth servo motor is arranged on the front side of the fixed support seat, the propeller is rotatably arranged on the slewing bracket, and the fourth servo motor drives the propeller to rotate in the forward direction or the reverse direction.

[0034] Furthermore, a bearing sleeve is fixedly embedded on the arc side plate, the propeller shaft is passed through the bearing sleeve and is rotatably connected thereto, and the front end of the propeller shaft is connected to the output end of the fourth servo motor through a universal coupling.

[0035] The gear drive mechanism includes a first gear, an arc rack and a fifth servo motor. The fifth servo motor is installed on one side below the fixed support seat. The first gear is set on the output shaft of the fifth servo motor. The arc rack is installed on the outside of the rotating bracket and meshes with the first gear.

[0036] By adopting the above technical scheme, the beneficial technical effect of the present invention is as follows: compared with the prior art, the present invention has the following advantages: the cleaning and ice-breaking protection integrated robot for floating marine photovoltaic structures disclosed in the present invention can walk on the ice surface through its ice claw wheels to reach the periphery of the floating marine photovoltaic structure, and the driving device drives the impact head or ice breaker to move up and down to break the ice surface, breaking the ice layer from near to far, eliminating the damage of floating ice to the marine photovoltaic structure, replacing manual automatic ice breaking, high ice breaking efficiency, and reducing costs. At the same time, by replacing the walking wheels and the cleaning mechanism, the present invention can walk on the photovoltaic solar panel, replace manual spraying of water on the surface of the solar panel and cleaning it with a sponge wiper, use one device to achieve the functions of ice breaking and cleaning, reduce equipment investment, high cleaning efficiency, and in the event of falling into the water during the operation, it can climb back to the ice surface or the surface of the solar panel by itself, adjust the posture and continue to work, effectively avoiding the risk of falling into the water during manual operation, and greatly improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the first implementation mode of the present invention.

[0038] Figure 2 It is a schematic diagram of the combined structure of the driving device and the lifting and lowering adjustment mechanism of the present invention.

[0039] Figure 3 It is a structural schematic diagram of a second implementation mode of the present invention.

[0040] Figure 4 yes Figure 1 and Figure 3 A schematic diagram of a portion of a vehicle shows the combination of the chassis, running gear and steering mechanism.

[0041] Figure 5 It is a structural schematic diagram of a third implementation method of the present invention.

[0042] Figure 6 yes Figure 5 A schematic diagram of a portion of a vehicle shows the combination of the chassis, running gear and steering mechanism. DETAILED DESCRIPTION

[0043] The present invention is described in detail below with reference to the accompanying drawings: Embodiment 1, with reference to Figure 1 , Figure 2 and Figure 4 A cleaning and ice-breaking protection integrated robot for a floating marine photovoltaic structure, which is used to break the ice layer around the floating marine photovoltaic structure, includes a base frame 1, a walking device, a first box body 2, a steering mechanism 3, a driving device 4, an ice-breaking mechanism, a cleaning mechanism and an electronic control unit. The base frame 1 is a horizontally arranged square steel frame structure formed by welding square tubes. The first box body 2 is fixedly installed above the base frame 1. The first box body 2 is a sealed box structure with a steel frame on the inside. A water tank and a rechargeable lithium battery are arranged inside the first box body 2.

[0044] Four hanging nodes are installed on the top of the first box 2, and the four hanging nodes are respectively located at the four corners of the square or rectangle, and the four hanging nodes are used to hoist the cleaning and ice-breaking protection integrated robot. The walking device includes two front wheels 11 and two rear wheels 12, and each of the front wheels 11 and the rear wheels 12 is arranged on the side of the bottom frame 1 through a wheel frame 13, and the top of the wheel frame 13 is rotatably connected to the bottom frame 1 through a vertical shaft 14.

[0045] The front wheel 11 and the rear wheel 12 both use crampon wheels, which include a wheel hub and a plurality of crampons 15 regularly arranged on the outside of the wheel hub. The crampons 15 are triangular arc-shaped metal plates, one side of which is welded to the circumferential outer wall of the wheel hub, and the end away from the wheel hub is pointed.

[0046] There are two steering mechanisms 3, which are respectively arranged at the front and rear of the chassis 1. The upper end of the vertical shaft 14 passes through the chassis 1 and is connected to the steering mechanism 3. A first servo motor is installed on the wheel frame 13. The front wheel 11 or the rear wheel 12 rotates with the corresponding wheel frame 13. The first servo motor drives the front wheel 11 or the rear wheel 12 to rotate. The first servo motor is powered by a rechargeable lithium battery. The signal end of the first servo motor is connected to the PLC controller for communication.

[0047] Specifically, the steering mechanism 3 at the front is connected to the two front wheels 11, and the steering mechanism 3 at the rear is connected to the two rear wheels 12. A crossbeam 16 is provided at the front and rear of the chassis 1, respectively, and the two steering mechanisms 3 are respectively arranged on the two crossbeams 16 and arranged front and rear.

[0048] The steering mechanism 3 includes a rack seat 31, a first connecting rod 32, a second connecting rod 35, a second servo motor 33 and a gear rack assembly. The rack seat 31 is located above the crossbeam 16, and its bottom is laterally slidably engaged with the crossbeam 16. The second servo motor 33 is installed on the base frame 1, and its output end drives the rack seat 31 to move left and right relative to the base frame 1 through the gear rack assembly.

[0049] The left and right ends of the rack seat 31 are respectively provided with a first connecting rod 32, and the first connecting rod 32 is connected to the vertical shaft 14 on the same side through the second connecting rod 35. When the rack seat 31 moves left and right, the wheel frames 13 on both sides thereof are driven to rotate synchronously and in the same direction around the vertical shaft 14 through the first connecting rod 32 and the second connecting rod 35.

[0050] The upper surface of the crossbeam 16 has a transversely extending dovetail slot 161 , inside of which a guide slider matching the dovetail slot 161 is provided, and the top of the guide slider is fixedly connected to the rack seat 31 .

[0051] The gear rack assembly includes a spur rack 34 and a spur gear 36. The spur rack 34 is fixed to the front and rear sides of the rack seat 31. The spur gear 36 is fixedly mounted on the output end of the second servo motor 33 and meshes with the spur rack 34. One end of each of the first connecting rods 32 is hinged to the corresponding end of the rack seat 31, and the other end thereof is hinged to one end of the second connecting rod 35. The other end of the second connecting rod 35 is fixedly connected to the upper end of the vertical shaft 14 on the same side.

[0052] When working, the cleaning and icebreaking protection integrated robot is placed on the ice surface, and the four ice claw wheels rotate to enable the cleaning and icebreaking protection integrated robot to walk on the ice surface and reach the outer periphery of the floating marine photovoltaic structure. Alternatively, the surface mother ship carries the cleaning and icebreaking protection integrated robot to the vicinity of the outer ice layer of the marine photovoltaic structure, and the lifting equipment of the surface mother ship places the floating marine photovoltaic structure cleaning and icebreaking protection integrated robot on the ice surface, and the cleaning and icebreaking protection integrated robot walks to the outer periphery of the photovoltaic structure.

[0053] During walking, the output end of the second servo motor 33 drives the rack seat 31 to move left and right relative to the base frame 1 through the gear rack assembly. The rack seat 31 adjusts the angle of the two front wheels or the two rear wheels to enable the integrated cleaning and ice-breaking protection robot to turn during walking and adjust its position on the ice surface during ice-breaking. The integrated cleaning and ice-breaking protection robot achieves continuous ice-breaking by retreating during ice-breaking.

[0054] The front side of the first box body 2 is provided with a second box body 5, and the front side wall of the first box body 2 has two vertical grooves 21 formed inwardly concave. The inner side of each vertical groove 21 is provided with two mounting shafts arranged one high and one low, and the rear side of the second box body 5 is movably connected to the first box body 2 through a lifting and adjusting mechanism, and the lifting and adjusting mechanism drives the second box body 5 and the driving device 4 to rise or fall relative to the bottom frame 1.

[0055] The electronic control unit includes a PLC controller, a signal conversion module, a gyroscope sensor and a lidar sensor. The PLC controller and the signal conversion module are arranged inside the first box 2, the gyroscope sensor is installed on the top of the first box 2, and the lidar sensor is arranged on the front side of the second box 5.

[0056] Two groups of binocular cameras are respectively provided on the left and right sides of the first box body 2, and the gyroscope sensor, laser radar sensor and binocular camera are respectively connected to the PLC controller for communication.

[0057] Specifically, the lifting and lowering adjustment mechanism includes two groups of rocker arms 61 symmetrically arranged on the front side of the first box body 2, each group of rocker arms 61 includes two rocker arms 61 arranged in parallel, one above and one below. The rear end of each rocker arm 61 extends into the corresponding vertical groove 21 and is hinged to the first box body 2 through the installation axis, and the front end is hinged to the rear side of the second box body 5.

[0058] An electric telescopic cylinder 62 is provided above each group of rocker arms 61. The rear end of the cylinder body of the electric telescopic cylinder 62 is hinged to the top of the front side of the first box body 2, and the front end of the piston rod is hinged to the middle part of the rocker arm 61 located above. The signal end of the electric telescopic cylinder 62 is connected to the PLC controller for communication, and the two electric telescopic cylinders 62 respectively drive the two groups of rocker arms 61 to move synchronously.

[0059] A water spray assembly is provided at the lower front part of the second box 5, and the water spray assembly is connected to the water tank through a hose and an electric control valve. The water spray assembly includes a water supply pipe 81 and a plurality of nozzles 82. The water supply pipe 81 is transversely installed on the front side wall of the second box 5, one end of which is closed and the other end is connected to the hose. All nozzles 82 are arranged on the water supply pipe at equal intervals.

[0060] The driving device 4 is arranged inside the second box 5 through the mounting frame 51, and its execution end extends out of the bottom of the second box 5. The mounting frame 51 is a three-dimensional steel frame structure made of square tubes welded together. The second box 5 is a sealed square box. The mounting frame 51 is located inside the second box 5 as a whole and is fixedly connected to the inner wall of the second box 5 through multiple connection point bolts. The ice breaking mechanism is installed at the execution end of the driving device 4, and the execution end of the driving device 4 drives the ice breaking mechanism to reciprocate up and down to break the ice layer on the sea surface.

[0061] Specifically, the driving device 4 includes a crankshaft 41, a third servo motor and a gear assembly. The crankshaft 41 is horizontally arranged on the upper part of the mounting frame 51, and both ends of the crankshaft 41 are respectively rotatably matched with the mounting frame 51. The third servo motor is arranged on the mounting frame 51, and its output end drives the crankshaft 41 to rotate through the gear assembly. Both ends of the crankshaft 41 are rotatably matched with the mounting frame 51 through bearings, and its left end passes through the left side wall of the mounting frame 51.

[0062] The gear assembly includes a second gear 42 and a third gear 43. The third servo motor is located at the rear side of the crankshaft 41 and is bolted to the mounting frame 51. The third gear 43 is installed on the output shaft of the third servo motor. The second gear 42 is installed at the left end of the crankshaft 41 and meshes with the third gear 43. In the working state, the third servo motor drives the third gear 43 to rotate, and the rotation of the third gear 43 drives the crankshaft 41 to rotate at a uniform speed through the second gear 42. The third servo motor is powered by a rechargeable lithium battery. At the same time, the signal end of the third servo motor is connected to the PLC controller for communication. The PLC controller controls the speed of the output end of the third servo motor through program instructions.

[0063] The crankshaft 41 has two groups of cranks located on both sides of the main journal axis thereof, each group of cranks includes four cranks, and the two groups of cranks are alternately arranged in sequence along the axial direction of the crankshaft 41. The crankshaft 41 adopts a crankshaft already available in the prior art, and the crankshaft 41 includes a total of eight cranks. The lower part of the mounting frame 51 is provided with vertical shafts 44 that are equal in number to the cranks of the crankshaft 41 and have positions corresponding to each other. The number of vertical shafts 44 is also eight, and the eight vertical shafts 44 correspond vertically to the positions of the eight cranks one by one.

[0064] Each vertical shaft 44 is vertically slidably matched with the mounting frame 51 through a guide sleeve 45 sleeved on the outside thereof, and the upper end of the vertical shaft 44 is movably connected with the connecting rod journal of the corresponding crankshaft through a transmission rod 46. The guide sleeve 45 is a section of round tube arranged vertically, and the inner diameter of the guide sleeve 45 is adapted to the diameter of the vertical shaft 44, and its outer wall is fixedly welded to the mounting frame 51 as a whole. The lower end of the transmission rod 46 is rotatably connected to the upper end of the corresponding vertical shaft 44, and the upper end is fixedly connected with a shaft sleeve, which is rotatably matched with the connecting rod journal of the corresponding crankshaft through a bearing.

[0065] The ice-breaking mechanism includes impact heads 47, which are equal in number to the vertical shafts 44. The impact heads 47 are eight in number. The impact heads 47 are steel column structures, and the lower part is a pointed cone. The impact heads 47 are arranged vertically and the upper ends are fixedly connected with the corresponding vertical shafts 44 by bolts. A card slot is provided on the lower end surface of the vertical shaft 44, and a card block matching the card slot is fixed on the upper end surface of the impact head 47. The card block of the impact head 47 is inserted into the card slot at the lower end of the vertical shaft 44 and fixedly connected with the vertical shaft 44 by bolts. When the crankshaft 41 rotates, the vertical shafts 44 connected to the lower part of each group of cranks are driven to alternately reciprocate up and down in sequence through two groups of cranks, and the vertical shafts 44 drive the impact heads 47 to impact and break the ice layer on the sea surface.

[0066] The rear part of the chassis 1 is provided with a screw propulsion device 7, which includes a fourth servo motor 71, a slewing mechanism, a propeller 72 and a gear driving mechanism. The slewing mechanism includes a fixed support seat 73 and a slewing bracket 74. The slewing bracket 74 is an integrated structure formed by welding a bottom plate 741 and an arc side plate 742. The bottom plate 741 is a 1 / 3 circular plate structure, and the arc side plate 742 is located above the bottom plate 741, and its lower end is fixedly welded to the outer edge of the bottom plate 741 to form an integral body.

[0067] The fixed support seat 73 is installed at the rear side of the chassis 1, and the upper surface of the fixed support seat 73 has a vertically arranged fixed shaft. The bottom plate 741 is located above the fixed support seat 73, and the front part of the bottom plate 741 is sleeved on the fixed shaft and rotatably cooperates with the fixed support seat 73. The gear drive mechanism can drive the swivel bracket 74 to rotate relative to the fixed support seat 73. The fourth servo motor 71 is located at the front side of the fixed support seat 73 and is installed at the rear of the chassis 1. The propeller 72 is rotatably arranged on the swivel bracket 74. The fourth servo motor 71 drives the propeller 72 to rotate forward or reversely.

[0068] Specifically, a bearing sleeve 743 is fixedly embedded on the arc side plate 742, the propeller shaft of the propeller 72 is inserted into the bearing sleeve 743 and is rotatably connected thereto, and the front end of the propeller shaft of the propeller 72 is connected to the output end of the fourth servo motor 71 through a universal coupling 75. The output shaft of the fourth servo motor 71 passes through the rear side of the chassis 1 and is rotatably matched with the bearing seat provided on the fixed support seat 73, and the output shaft of the fourth servo motor 71 drives the propeller 72 to rotate through the universal coupling 75.

[0069] The gear drive mechanism includes a first gear, an arc rack 76 and a fifth servo motor. The fifth servo motor is installed on one side below the fixed support seat 73. The first gear is set on the output shaft of the fifth servo motor. The arc rack 76 is installed on the outside of the slewing bracket 74 and meshes with the first gear. Each servo motor in this embodiment adopts a waterproof packaging structure. The fifth servo motor drives the first gear to rotate. The first gear drives the slewing bracket 74 to rotate through the arc rack 76 to adjust the direction of the propeller 72, so as to adjust the direction of the cleaning and ice-breaking protection integrated robot in the process of advancing in the water.

[0070] When the cleaning and ice-breaking protection integrated robot is breaking ice, it may fall into the sea due to large-scale ice breaking. The gyroscope sensor located on the top of the first box 2 is used to determine whether the cleaning and ice-breaking protection integrated robot has fallen into the water. After it is determined that it has fallen into the water, the cleaning and ice-breaking protection integrated robot will float on the sea surface due to the closed cavity of the first box 2. The first servo motor drives the crampon wheel to rotate, and the crampon 15 of the crampon wheel paddles the water. The laser radar sensor determines the cross-section of the ice layer and determines the position of the cleaning and ice-breaking protection integrated robot climbing the cross-section of the ice layer. The propeller 72 rotates to drive it to turn in the sea water and move to the edge of the ice layer.

[0071] After reaching the edge of the ice layer, the lifting and adjusting mechanism drives the second box body 5 to rise. At the same time, the impact head 47 moves downward, and its lower end is inserted into the ice surface and hooked. The two ice claw wheels on the front side climb onto the ice layer. During the climbing process, the propeller 72 provides forward driving force, so that the integrated cleaning and ice-breaking protection robot returns to the ice surface, adjusts its posture, and continues to break ice.

[0072] Embodiment 2, combined Figures 2 to 4 A cleaning and ice-breaking protection integrated robot for floating marine photovoltaic structures is provided, which is used for breaking the ice layer around the floating marine photovoltaic structure. Its main structure is the same as the main structure of the cleaning and ice-breaking protection integrated robot in Example 1. The difference between this embodiment and Example 1 is that its ice-breaking mechanism uses eight ice-breaking knives to replace the impact heads 47 in Example 1. The ice-breaking knife 48 is a long metal plate with a double-edged structure at the bottom. The top of the ice-breaking knife 48 is fixedly connected to a knife seat 49, and the top of the knife seat is fixedly connected to the lower end bolt of the vertical shaft 44 corresponding to one group of cranks through a connecting portion 491. The blade seat 49 is in the shape of a long strip arranged horizontally, and a mounting groove is provided at the bottom of the blade seat 49. The top of the ice-breaking blade 48 is located in the mounting groove of the blade seat 49 and is fixedly connected to the blade seat 49 by multiple bolts. The connecting part 491 adopts a rod structure, and the lower end is fixedly welded to the blade seat 49. During the ice-breaking process, the crankshaft 41 drives the ice-breaking blade 48 to reciprocate up and down through the vertical shaft 44, impacting the ice surface and breaking it, and intermittently moving backward to realize continuous ice-breaking. During the rotation of the crankshaft 41, the other four vertical shafts 44 that are not connected to the blade seat 49 will not interfere with the blade seat 49 during the up and down movement.

[0073] Embodiment 3, combined Figure 2 , Figure 5 and Figure 6A cleaning and icebreaking protection integrated robot for floating marine photovoltaic structures, which is used to clean the surface of floating marine photovoltaic structures, includes a base frame 1, a walking device, a first box body 2, a steering mechanism 3, a driving device 4, an icebreaking mechanism, a cleaning mechanism and an electronic control unit. The base frame 1 is a horizontally arranged square steel frame structure, the first box body 2 is fixedly installed above the base frame 1, the inner side of the first box body 2 has a steel frame, and the interior of the first box body 2 is provided with a water tank and a rechargeable lithium battery.

[0074] Four hanging nodes are installed on the top of the first box 2, and the four hanging nodes are respectively located at the four corners of the square or rectangle. The four hanging nodes are used to hoist the cleaning and icebreaking protection integrated robot. When the sea surface is frozen in winter, the cleaning and icebreaking protection integrated robot can walk on the ice to reach the periphery of the floating marine photovoltaic structure and climb to the surface of the photovoltaic solar panel. When the sea surface is in a non-freezing state, the cleaning and icebreaking protection integrated robot is transported to the periphery of the floating marine photovoltaic structure by a surface mother ship, and is placed on the surface of the photovoltaic solar panel by the lifting equipment of the surface mother ship. After the cleaning work is completed, the lifting equipment will lift the cleaning and icebreaking protection integrated robot to the surface mother ship.

[0075] The walking device includes two front wheels 11 and two rear wheels 12. The front wheels 11 and the rear wheels 12 are both rubber wheels. The outer side of the wheel hub of the rubber wheel is provided with an annular rubber layer. When the front wheels 11 and the rear wheels 12 are walking on the surface of the photovoltaic solar panel, they can play an anti-skid role. Each front wheel 11 and the rear wheel 12 is arranged on the side of the base frame 1 through a wheel frame 13. The top of the wheel frame 13 is rotatably connected to the base frame 1 through a vertical shaft 14. There are two steering mechanisms 3, which are respectively arranged at the front and rear of the base frame 1. The upper end of the vertical shaft 14 passes through the base frame 1 and is connected to the steering mechanism 3.

[0076] A first servo motor is installed on the wheel frame 13, and the front wheel 11 or the rear wheel 12 rotates in coordination with the corresponding wheel frame 13. The first servo motor drives the front wheel 11 or the rear wheel 12 to rotate. The first servo motor is powered by a rechargeable lithium battery, and a signal end of the first servo motor is communicatively connected to a PLC controller.

[0077] Specifically, the steering mechanism 3 at the front is connected to the two front wheels 11, and the steering mechanism 3 at the rear is connected to the two rear wheels 12. A crossbeam 16 is provided at the front and rear of the chassis 1, respectively, and the two steering mechanisms 3 are respectively arranged on the two crossbeams 16 and arranged front and rear.

[0078] The steering mechanism 3 includes a rack seat 31, a first connecting rod 32, a second connecting rod 35, a second servo motor 33 and a gear rack assembly. The rack seat 31 is located above the crossbeam 16, and its bottom is laterally slidably engaged with the crossbeam 16. The second servo motor 33 is installed on the base frame 1, and its output end drives the rack seat 31 to move left and right relative to the base frame 1 through the gear rack assembly.

[0079] The left and right ends of the rack seat 31 are respectively provided with a first connecting rod 32, and the first connecting rod 32 is connected to the vertical shaft 14 on the same side through the second connecting rod 35. When the rack seat 31 moves left and right, the wheel frames 13 on both sides thereof are driven to rotate synchronously and in the same direction around the vertical shaft 14 through the first and second connecting rods 35. During the walking process, the two steering mechanisms 3 respectively control the direction of the two front wheels 11 or the rear wheels 12, adjust the walking direction of the cleaning and ice-breaking protection integrated robot, and realize steering.

[0080] The upper surface of the crossbeam 16 has a dovetail groove 161 extending transversely, and a guide slider matching the dovetail groove 161 is arranged inside the dovetail groove 161, and the top of the guide slider is fixedly connected to the rack seat 31. The gear rack assembly includes a spur rack 34 and a spur gear 36, the spur rack 34 is fixed to the front and rear sides of the rack seat 31, and the spur gear 36 is fixedly installed at the output end of the second servo motor 33 and meshes with the spur rack 34. One end of each of the first connecting rods 32 is hinged to the corresponding end of the rack seat 31, and the other end thereof is hinged to one end of the second connecting rod 35, and the other end of the second connecting rod 35 is fixedly connected to the upper end of the vertical shaft 14 on the same side.

[0081] The front side of the first box body 2 is provided with a second box body 5, the inner side of the first box body 2 has a steel frame, and the front side wall thereof has two vertical grooves 21 formed inwardly concave. The rear side of the second box body 5 is movably connected to the first box body 2 through a lifting and adjusting mechanism, and the lifting and adjusting mechanism drives the second box body 5 and the driving device 4 to rise or fall relative to the bottom frame 1.

[0082] The electronic control unit includes a PLC controller, a signal conversion module, a gyroscope sensor and a lidar sensor. The PLC controller and the signal conversion module are arranged inside the first box 2, the gyroscope sensor is installed on the top of the first box 2, and the lidar sensor is arranged on the front side of the second box 5.

[0083] Two sets of binocular cameras are respectively arranged on the left and right sides of the first box 2, and the gyroscope sensor, the laser radar sensor and the binocular camera are respectively connected to the PLC controller for communication. The gyroscope sensor monitors the posture of the integrated cleaning and ice-breaking protection robot in real time, determines whether the integrated cleaning and ice-breaking protection robot falls into water during operation, and sends a signal to the PLC controller.

[0084] Specifically, the lifting and lowering adjustment mechanism includes two groups of rocker arms 61 symmetrically arranged on the front side of the first box body 2, each group of rocker arms 61 includes two rocker arms 61 arranged in parallel, one above and one below, and the rear end of each rocker arm 61 extends into the corresponding vertical groove 21 and is hinged to the first box body 2, and the front end is hinged to the rear side of the second box body 5.

[0085] An electric telescopic cylinder 62 is provided above each group of rocker arms 61. The rear end of the cylinder body of the electric telescopic cylinder 62 is hinged to the top of the front side of the first box body 2, and the front end of the piston rod is hinged to the middle part of the rocker arm 61 located above. The signal end of the electric telescopic cylinder 62 is connected to the PLC controller for communication, and the two electric telescopic cylinders 62 respectively drive the two groups of rocker arms 61 to move synchronously.

[0086] A water spray assembly is provided at the lower front part of the second box 5, and the water spray assembly is connected to the water tank through a hose and an electric control valve. The water spray assembly includes a water supply pipe 81 and a plurality of nozzles 82. The water supply pipe 81 is transversely installed on the front side wall of the second box 5, one end of which is closed and the other end is connected to the hose. All nozzles 82 are arranged at equal intervals on the water supply pipe. In the process of cleaning the photovoltaic solar panel, the plurality of nozzles 82 spray water onto the surface of the photovoltaic solar panel.

[0087] The driving device 4 is arranged inside the second box 5 through the mounting frame 51, and its execution end extends out of the bottom of the second box 5. The mounting frame 51 is a three-dimensional steel frame structure made of square tubes welded together. The second box 5 is a sealed square box. The mounting frame 51 is located inside the second box 5 as a whole and is fixedly connected to the inner wall of the second box 5 by bolts at multiple connection points. The cleaning mechanism is installed at the execution end of the driving device 4. The execution end of the driving device 4 can drive the cleaning mechanism to move up and down to adjust the height of the cleaning mechanism. The cleaning mechanism cleans the surface of the solar panel of the photovoltaic structure.

[0088] Specifically, the driving device 4 includes a crankshaft 41, a third servo motor and a gear assembly. The crankshaft 41 is horizontally arranged on the upper part of the mounting frame 51 and is rotatably matched with the mounting frame 51. The third servo motor is arranged on the mounting frame 51, and its output end drives the crankshaft 41 to rotate through the gear assembly. Both ends of the crankshaft 41 are rotatably matched with the mounting frame 51 through bearings, and its left end passes through the left side wall of the mounting frame 51.

[0089] The gear assembly includes a second gear 42 and a third gear 43. The third servo motor is located at the rear side of the crankshaft 41 and is bolted to the mounting frame 51. The third gear 43 is installed on the output shaft of the third servo motor. The second gear 42 is installed at the left end of the crankshaft 41 and meshes with the third gear 43. In the working state, the third servo motor drives the third gear 43 to rotate, and the rotation of the third gear 43 drives the crankshaft 41 to rotate at a uniform speed through the second gear 42. The third servo motor is powered by a rechargeable lithium battery. At the same time, the signal end of the third servo motor is connected to the PLC controller for communication. The PLC controller controls the speed of the output end of the third servo motor through program instructions.

[0090] The crankshaft 41 has two groups of cranks located on both sides of the crankshaft axis, each group of cranks includes four cranks, and the two groups of cranks are alternately arranged in sequence along the axial direction of the crankshaft 41. The crankshaft 41 adopts a crankshaft already available in the prior art, and the crankshaft 41 includes a total of eight cranks. The lower part of the mounting frame 51 is provided with vertical shafts 44, which are equal in number to the cranks of the crankshaft 41 and have corresponding positions. Each vertical shaft 44 is vertically slidably matched with the mounting frame 51 through a guide sleeve 45 sleeved on the outside thereof, and the upper end of the vertical shaft 44 is movably connected to the connecting rod journal of the corresponding crank through a transmission rod 46.

[0091] The third servo motor adopts a servo motor with a brake, and the cleaning mechanism includes a clamp 91 and a sponge head 92. The clamp is long and horizontally arranged below the second box 5, and a mounting groove is provided at the bottom thereof. The top of the sponge head 92 is located in the mounting groove of the clamp 91 and is fixedly connected to the clamp 91. A distance measuring sensor is provided on one side of the clamp 91, and the distance measuring sensor is connected to the PLC controller for communication, and monitors the height of the clamp 91 relative to the photovoltaic solar panel in real time, and adjusts the height of the clamp 91 through the driving device, so that the sponge head 92 keeps in contact with the photovoltaic solar panel. When the cleaning and ice-breaking protection integrated robot is retreating, the sponge head 92 cleans the surface of the photovoltaic solar panel.

[0092] There are four rod bodies 93 above the clamp 91, the number of which is equal to that of the same group of cranks and the positions of which are corresponding to each other. The lower end of each of the rod bodies 93 is fixedly connected to the top of the clamp 91, and the upper ends of the four rod bodies 93 are respectively fixedly connected to the lower end bolts of four vertical shafts 44 connected to the bottom of the same group of cranks. The other four vertical shafts 44 will not interfere with the clamp 91 during movement.

[0093] The rear part of the chassis 1 is provided with a screw propulsion device 7, which includes a fourth servo motor 71, a slewing mechanism, a propeller 72 and a gear driving mechanism. The slewing mechanism includes a fixed support seat 73 and a slewing bracket 74. The slewing bracket 74 is an integrated structure formed by welding a bottom plate 741 and an arc side plate 742. The bottom plate 741 is a 1 / 3 circular plate structure, and the arc side plate 742 is located above the bottom plate 741, and its lower end is fixedly welded to the outer edge of the bottom plate 741 to form an integral body.

[0094] The fixed support seat 73 is installed at the rear side of the chassis 1, and the upper surface of the fixed support seat 73 has a vertically arranged fixed shaft. The bottom plate 741 is located above the fixed support seat 73, and the front part of the bottom plate 741 is sleeved on the fixed shaft and rotatably cooperates with the fixed support seat 73. The gear drive mechanism can drive the swivel bracket 74 to rotate relative to the fixed support seat 73. The fourth servo motor 71 is located at the front side of the fixed support seat 73 and is installed at the rear of the chassis 1. The propeller 72 is rotatably arranged on the swivel bracket 74. The fourth servo motor 71 drives the propeller 72 to rotate forward or reversely.

[0095] Specifically, a bearing sleeve 743 is fixedly embedded on the arc side plate 742, the propeller shaft of the propeller 72 is inserted into the bearing sleeve 743 and is rotatably connected thereto, and the front end of the propeller shaft of the propeller 72 is connected to the output end of the fourth servo motor 71 through a universal coupling 75. The output shaft of the fourth servo motor 71 passes through the rear side of the chassis 1 and is rotatably matched with the bearing seat provided on the fixed support seat 73, and the output shaft of the fourth servo motor 71 drives the propeller 72 to rotate through the universal coupling 75.

[0096] The gear drive mechanism includes a first gear, an arc rack 76 and a fifth servo motor. The fifth servo motor is installed on one side below the fixed support seat 73. The first gear is set on the output shaft of the fifth servo motor. The arc rack 76 is installed on the outside of the slewing bracket 74 and meshes with the first gear. Each servo motor in this embodiment adopts a waterproof packaging structure. The fifth servo motor drives the first gear to rotate. The first gear drives the slewing bracket 74 to rotate through the arc rack 76 to adjust the direction of the propeller 72, so as to adjust the direction of the cleaning and ice-breaking protection integrated robot in the process of advancing in the water.

[0097] After the integrated cleaning and icebreaking protection robot accidentally falls into the water, it will float on the sea surface due to the enclosed cavity of the first box body 2, and the propeller 72 will start to rotate and enable the integrated cleaning and icebreaking protection robot to move and turn in the water. At the same time, the laser radar sensor determines the direction of the photovoltaic solar panel and determines its landing position on the marine photovoltaic structure. After the integrated cleaning and icebreaking protection robot approaches the marine photovoltaic structure, the first servo motor drives the rubber wheel to rotate, and the integrated cleaning and icebreaking protection robot climbs from the edge of the marine photovoltaic structure to the photovoltaic solar panel. During the climbing process, the propeller 72 continuously provides forward driving force, so that the integrated cleaning and icebreaking protection robot returns to the top of the photovoltaic solar panel, and after adjusting its posture, it continues to clean the surface of the solar panel.

[0098] Parts not described in the present invention can be implemented by adopting or drawing on existing technologies.

[0099] Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0100] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0101] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An integrated cleaning and ice-breaking protection robot for floating marine photovoltaic structures, characterized in that: It includes a chassis, a walking device, a first box, a steering mechanism, a driving device, an ice-breaking mechanism, a cleaning mechanism and an electronic control unit. The chassis is a horizontally arranged square steel frame structure. The first box is fixedly installed above the chassis. A water storage tank and a rechargeable lithium battery are arranged inside the first box. The walking device includes two front wheels and two rear wheels. There are two steering mechanisms, which are respectively arranged at the front and rear of the chassis. The steering mechanism at the front is connected to the two front wheels, and the steering mechanism at the rear is connected to the two rear wheels. A second box is provided at the front side of the first box, the driving device is installed inside the second box, and its execution end extends out of the bottom of the second box. The ice-breaking mechanism or the cleaning mechanism is respectively installed at the execution end of the driving device. The execution end of the driving device drives the ice-breaking mechanism to reciprocate up and down to break the ice layer on the sea surface, or the execution end of the driving device adjusts the height of the cleaning mechanism to clean the surface of the solar panel of the photovoltaic structure; The rear side of the second box is movably connected to the first box through a lifting and adjusting mechanism, and the lifting and adjusting mechanism drives the second box and the driving device to rise or fall relative to the base frame. A water spray assembly is provided at the lower front side of the second box, and the water spray assembly is connected to the water storage tank through a hose and an electric control valve. The first box body has a steel frame on the inner side, and its front side wall has two vertical grooves that are recessed inwards; The lifting and lowering adjustment mechanism includes two groups of rocker arms symmetrically arranged on the front side of the first box body, each group of rocker arms includes two rocker arms arranged in parallel, one above and one below, the rear end of each rocker arm extends into the corresponding vertical slot and is hinged to the first box body, and the front end is hinged to the rear side of the second box body; An electric telescopic cylinder is provided above each set of rocker arms. The rear end of the cylinder body of the electric telescopic cylinder is hinged to the top of the front side of the first box body, and the front end of the piston rod is hinged to the middle of the rocker arm located above. The signal end of the electric telescopic cylinder is connected to the PLC controller for communication. The two electric telescopic cylinders drive the two sets of rocker arms to move synchronously respectively. The electronic control unit includes a PLC controller, a signal conversion module, a gyro sensor and a laser radar sensor. The PLC controller and the signal conversion module are arranged inside the first box, the gyro sensor is installed on the top of the first box, and the laser radar sensor is arranged on the front side of the second box; Two groups of binocular cameras are respectively provided on the left and right sides of the first box body, and the gyroscope sensor, laser radar sensor and binocular camera are respectively connected to the PLC controller for communication.

2. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 1, characterized in that: Each front wheel and rear wheel is arranged on the side of the chassis through a wheel frame, the top of the wheel frame is rotatably connected to the chassis through a vertical shaft, and the upper end of the vertical shaft passes through the chassis and is connected to the steering mechanism; A first servo motor is installed on the wheel frame, and the front wheel or the rear wheel rotates in coordination with the corresponding wheel frame. The first servo motor drives the front wheel or the rear wheel to rotate. The first servo motor is powered by a rechargeable lithium battery, and a signal end of the first servo motor is communicatively connected to a PLC controller.

3. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 2 is characterized in that: A crossbeam is provided at the front and rear of the chassis respectively, and two steering mechanisms are respectively arranged on the two crossbeams and arranged front and rear oppositely; The steering mechanism includes a rack seat, a first connecting rod, a second connecting rod, a second servo motor and a gear rack assembly. The rack seat is located above the crossbeam, and its bottom is laterally slidably matched with the crossbeam. The second servo motor is installed on the chassis, and its output end drives the rack seat to move left and right relative to the chassis through the gear rack assembly. The left and right ends of the rack seat are respectively provided with a first connecting rod, which is connected to the vertical shaft on the same side through the second connecting rod. When the rack seat moves left and right, the wheel frames on both sides thereof are driven to rotate synchronously and in the same direction around the vertical shaft through the first and second connecting rods.

4. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 3 is characterized in that: The upper surface of the crossbeam is provided with a dovetail slide groove extending laterally, a guide slide block matching the dovetail slide groove is provided inside the dovetail slide groove, and the top of the guide slide block is fixedly connected to the rack seat; The gear rack assembly includes a spur rack and a spur gear, the spur rack is fixed to the front and rear sides of the rack seat, and the spur gear is fixedly installed at the output end of the second servo motor and meshes with the spur rack; One end of each of the first connecting rods is hinged to the corresponding end of the rack seat, and the other end thereof is hinged to one end of the second connecting rod, and the other end of the second connecting rod is fixedly connected to the upper end of the vertical shaft on the same side.

5. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 1, characterized in that: The driving device includes a crankshaft, a third servo motor and a gear assembly. The crankshaft is horizontally arranged on the upper part of the mounting frame and is rotatably matched with the mounting frame. The third servo motor is arranged on the mounting frame, and its output end drives the crankshaft to rotate through the gear assembly. The crankshaft has two groups of crank throws located on both sides of the crankshaft axis, each group of crank throws includes at least two crank throws, and the two groups of crank throws are alternately arranged in sequence along the axial direction of the crankshaft; The lower part of the mounting frame is provided with vertical shafts whose number is equal to the crankshaft cranks and whose positions correspond one to one. Each vertical shaft is vertically slidably matched with the mounting frame through a guide sleeve sleeved on the outside thereof, and the upper end of the vertical shaft is movably connected to the connecting rod journal of the corresponding crank through a transmission rod.

6. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 5, characterized in that: The front wheel and the rear wheel both use crampon wheels, which include a wheel hub and a plurality of crampons regularly arranged outside the wheel hub. The crampons are triangular arc-shaped metal plates, one side of which is welded to the circumferential outer wall of the wheel hub, and the end away from the wheel hub is pointed. The ice-breaking mechanism includes ice-breaking knives or impact heads whose number is equal to that of the vertical shafts and whose positions correspond one to one. The ice-breaking knives are long strips of metal plates, and their bottoms are double-edged structures. The tops of the ice-breaking knives are fixedly connected to knife seats, and the tops of the knife seats are fixedly connected to the lower end bolts of the vertical shafts corresponding to one of the cranks through a connecting part. The lower part of each impact head is in the shape of a pointed cone, the impact head is arranged vertically and the upper end is fixedly connected with the corresponding vertical axis bolt.

7. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 5, characterized in that: The front wheels and the rear wheels are both rubber wheels, and the water spray assembly includes a water supply pipe and a plurality of nozzles. The water supply pipe is transversely installed on the front side wall of the second box body, one end of which is closed and the other end is connected to the hose, and all the nozzles are arranged on the water supply pipe at equal intervals; The third servo motor is a servo motor with a brake, and the cleaning mechanism includes a clamp and a sponge head. The clamp is long and horizontally arranged below the second box body, and a mounting groove is provided at the bottom thereof. The top of the sponge head is located in the mounting groove of the clamp and is fixedly connected to the clamp. The top of the clamp is provided with rods with the same number and corresponding positions as the cranks in the same group. The lower end of each rod is fixedly connected to the top of the clamp, and the upper end is fixedly connected to the corresponding lower end bolt of the vertical shaft.

8. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 1, characterized in that: A screw propulsion device is provided at the rear of the chassis, and the screw propulsion device includes a fourth servo motor, a slewing mechanism, a propeller and a gear driving mechanism. The slewing mechanism includes a fixed support seat and a slewing bracket, and the slewing bracket is an integrated structure formed by welding a bottom plate and an arc side plate; The fixed support seat is installed at the rear side of the base frame, the bottom plate is located above the fixed support seat and rotates with it, and the gear drive mechanism can drive the swivel bracket to rotate relative to the fixed support seat; The fourth servo motor is arranged on the front side of the fixed support seat, the propeller is rotatably arranged on the slewing bracket, and the fourth servo motor drives the propeller to rotate in the forward direction or the reverse direction.

9. The cleaning and ice-breaking integrated robot for floating marine photovoltaic structures according to claim 8, characterized in that: A bearing sleeve is fixedly embedded on the arc side plate, the propeller shaft is inserted into the bearing sleeve and is rotatably connected thereto, and the front end of the propeller shaft is connected to the output end of the fourth servo motor through a universal coupling; The gear drive mechanism includes a first gear, an arc rack and a fifth servo motor. The fifth servo motor is installed on one side below the fixed support seat. The first gear is set on the output shaft of the fifth servo motor. The arc rack is installed on the outside of the rotating bracket and meshes with the first gear.

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