Vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environment working conditions

Abstract

The invention discloses a vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environment working conditions. The vehicle-mounted photovoltaic panel cleaning robot comprises a cleaning device, a mechanical arm transmission device, a balancing device, a power device, a water treatment and storage device, a walking device, a waste water collecting device and an impurity filtering device. The upper end of the balancing device is connected with the mechanical arm transmission device and the cleaning device, and the lower end is fixedly provided with the hydraulic device, the water treatment and storage device and the walking device. The function of automatically adjusting the length of the brush head of the cleaning device in the operation process of the cleaning robot is achieved, the problem that the brush head of an existing cleaning robot needs to be customized according to the specification of a photovoltaic panel is solved, and meanwhile the balance device is arranged so that the upper cleaning device can continuously keep the stable working state when the robot body deviates. In addition, the waste water collecting device and the impurity filtering device are arranged and can collect waste water generated after the photovoltaic panel is cleaned and filter impurities, and cyclic utilization of water is achieved.

Description

Technical Field

[0001] The present invention relates to the photovoltaic intelligent robot industry, and in particular to a vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental working conditions. Background Art

[0002] The photovoltaic industry uses solar panels to convert sunlight into electrical energy. Compared with existing thermal power, photovoltaic power generation can reduce the emission of greenhouse gases such as carbon dioxide, has minimal impact on the environment, and is a powerful driving force for achieving the "dual carbon" goal. Globally, photovoltaic power generation has become the second largest power source after thermal power, and has become the main force on the road to energy transformation. In particular, the northwest region of my country is mostly desert areas, where the ground is often full of gullies and the soil is mostly sandy or clay. These factors may cause the robot to tilt or overturn during operation, making it difficult to ensure normal operation. As the use time of photovoltaic panels increases, a large amount of dust and gravel are easily accumulated on their surface, reducing the power generation efficiency of photovoltaic panels; some impurities such as bird droppings, feathers, and leaves will also accumulate on their surface. Although these impurities have relatively little impact on photovoltaic panels, long-term accumulation will also affect their power generation efficiency. Therefore, scientific cleaning and maintenance have become an inevitable requirement for the development of the photovoltaic industry. Through research, it is found that there are many problems with the existing vehicle-mounted photovoltaic panel cleaning robots used in the northwest region, mainly as follows:

[0003] 1. The existing cleaning robot brush heads in the industry are of single variety and function. Different photovoltaic power stations need to customize the brush heads of the cleaning robot cleaning devices according to the specifications of their photovoltaic panels, which greatly increases the cost of the cleaning robot and the cost of photovoltaic panel cleaning.

[0004] 2. When the existing cleaning robot is working, if there are potholes or uneven ground, the robot body will tilt or even overturn during the operation, causing the brush head on the upper part of the body to tilt and shake significantly, thereby causing the end cleaning device to scratch the photovoltaic panel or cause the spraying water pressure to be too high to damage the photovoltaic panel and cause hidden cracks.

[0005] 3. Existing cleaning robots mainly use water to clean photovoltaic panels. In areas with dry weather and water shortage, cleaning robots consume a lot of water during the cleaning process, and the waste water after cleaning cannot be recycled and reused, resulting in waste of water resources and high costs. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions.

[0007] The object of the present invention is achieved through the following technical solutions: a vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions, characterized in that it includes a cleaning device, a mechanical arm transmission device, a balancing device, a power device, a water treatment and storage device, a walking device, a wastewater collection device and an impurity filtering device;

[0008] The cleaning device is connected to the mechanical arm transmission device through threads, the mechanical arm transmission device is connected to the top of the balancing device through threads, the balancing device is connected to 4 independent hydraulic devices through threads, the power device is fixed to the top of the walking device through threads, the water treatment and storage device is placed on the upper part of the walking device through a fixing plate, the wastewater collection device is fixed to the side of the walking device through threads, and the impurity filtering device is fixed inside the wastewater collection device through a transmission shaft;

[0009] The cleaning device is provided with a right brush head shell, a left brush head shell and a roller brush, a fixed mounting plate, a telescopic rod, a slider, a screw rod matching sleeve, a screw rod, a brush head stabilizing block, and a telescopic motor. The right brush head shell is provided with a stabilizing slide groove, a slide groove, a water delivery channel, and a fixing hole. The left brush head shell is provided with a roller brush mounting hole and a length adjustment slide groove. The fixed mounting plate is provided with telescopic rod mounting holes on both sides. The telescopic rod is provided with a rotating mounting hole. The slider is provided with mounting holes on both sides. The middle end is provided with a screw rod matching hole. The upper and lower ends are provided with matching sleeve slide grooves. The screw rod matching sleeve is provided with a slide groove. The upper end of the brush head stabilizing block is provided with a matching sleeve stabilizing hole, and the lower end is provided with a trapezoidal groove.

[0010] The bottom of the mechanical arm transmission device is provided with a motor, and the base is connected to the mechanical arm through a rotating joint;

[0011] The balancing device is provided with a balancing load-bearing plate, and a balancing sensor and a visual sensor are provided on the upper end of the balancing load-bearing plate;

[0012] The power device is provided with a hydraulic device, a cross-axis universal joint, and a hydraulic telescopic rod, and the upper surface of the cross-axis universal joint is provided with a threaded mounting hole;

[0013] The water treatment and storage device is equipped with a large water tank, a wastewater sedimentation system, a precision filtration system, and a chemical decomposition system. An electric control system is provided on the side of the large water tank.

[0014] The walking device is provided with a bottom plate and a fixing plate, and a driving motor, a crawler track and crawler wheels are provided on both sides of the bottom plate;

[0015] The wastewater collection device is provided with a water collecting box body, a waste collection box is provided on the left side of the water collecting box body, a wastewater receiving plate and a mounting plate are provided on the front side, a telescopic long arm, a telescopic short arm and a control motor are provided inside, matching shafts, water baffles and matching holes are provided on both sides of the wastewater receiving plate, the mounting plate is provided with a fixed mounting hole and a mounting plate fixing hole, the control motor is provided with a threaded hole, a hole is provided inside the water collecting box body, the wastewater receiving plate is fixed by providing a connecting hole, the sprocket shaft is fixed by providing a keyway hole, the telescopic short arm is provided with a matching hole, and the telescopic long arm is provided with a rotating matching hole and a mounting hole;

[0016] The impurity filtering device is provided with a driving control motor, a filter screen, a chain, a sprocket, and a sprocket shaft. The filter screen is arranged inside the chain, and the chain link is fixed to the filter screen by arranging a chain plate, a long pin shaft and a pin hole.

[0017] The slider is connected to the rotating mounting hole of the telescopic rod, the sliding groove of the screw rod matching sleeve cooperates with the matching sleeve sliding groove in the slider, the screw rod matching hole of the slider cooperates with the screw rod, and the right brush head shell and the left brush head shell are connected to the telescopic rod through the mounting hole of the fixed mounting plate.

[0018] The stabilizing groove of the brush head shell cooperates with the trapezoidal groove at the lower end of the brush head stabilizing block, the groove cooperates with the length adjustment groove, a water delivery channel is provided in the middle of the upper end of the brush head shell, and the mounting plate of the brush head shell is fixed through the mounting hole of the brush head shell.

[0019] A cross-axis universal joint is arranged at the upper end of the hydraulic rod, and the balance bearing plate is fixedly connected through a threaded mounting hole at the upper end of the cross-axis universal joint. Four independent hydraulic devices control the extension and retraction of the hydraulic telescopic rod through sensors.

[0020] The wastewater receiving plate is connected with the hole of the wastewater collecting box through a matching shaft, and the control motor controls the movement of the crank rocker mechanism composed of the telescopic short arm and the telescopic long arm, thereby driving the opening and closing of the wastewater receiving plate.

[0021] The filter screen is installed on the chain pin shaft, and the chain is driven to rotate through the sprocket wheel to drive the filtered impurities to fall into the waste collection box.

[0022] The working process comprises the following steps:

[0023] S1: Preparation before cleaning:

[0024] S11: The length of the brush head is adjusted appropriately according to the width of the photovoltaic panel to be cleaned. The telescopic motor drives the screw to rotate, driving the slider to move downward and driving the telescopic rods at both ends to move in opposite directions in the vertical plane, thereby driving the left brush head shell and the right brush head shell to engage and change the overall length of the brush head to match the width of the photovoltaic panel to be cleaned;

[0025] S12: Before the cleaning robot starts to clean the photovoltaic panel, the mechanical arm places the left brush head housing and the right brush head housing at a suitable angle and distance above the photovoltaic panel;

[0026] S2: Operation of the balancing device of the cleaning robot (if the ground is flat, skip step S2):

[0027] S21: During the operation of the cleaning robot, the visual sensor predicts the road condition ahead of the cleaning robot in advance to prepare for the operation of the balance sensor. When the balance sensor detects that the road surface is rough, the balance device starts to operate;

[0028] S22: The balance sensor controls the operation of four independent hydraulic devices to drive the hydraulic telescopic rod to extend and retract so that the balance load-bearing plate is in a stable state, so that the cleaning device of the cleaning robot remains stable during operation and effectively avoids damage to the photovoltaic panel. The cross-axis universal joint increases the spatial freedom in the moving direction to avoid generating additional force and torque on the balance load-bearing plate.

[0029] S3: Operation of wastewater collection and filtration devices:

[0030] S31: When the cleaning robot starts working, the control motor rotates the mechanical short arm clockwise (seen from the left) to drive the mechanical long arm to move outward, so that the water receiving plate opens outward at a suitable water receiving angle and is located below the photovoltaic panel to better collect waste water after cleaning the photovoltaic panel. When the work is completed, the mechanical short arm rotates counterclockwise (seen from the left) to drive the mechanical long arm to move inward, so that the water receiving plate is retracted;

[0031] S32: When wastewater collection starts, the control motor drives the two sprockets to rotate, thereby driving the filter screen fixed on the long pin shaft above the chain to rotate, driving the debris falling on the filter screen to move to the waste collection box installed on the leftmost side of the water collection box;

[0032] S33: The filtered wastewater is controlled by the electronic control system and first transported to the wastewater sedimentation system for sedimentation, then transported to the precision filtration system to filter the sediment, then transported to the chemical decomposition system to chemically decompose substances such as cleaning fluid, and finally transported to the large water tank for cleaning photovoltaic panels.

[0033] The beneficial effects of the present invention are:

[0034] 1. The function of automatically adjusting the length of the brush head of the cleaning device of the cleaning robot during operation is realized, which effectively avoids the disadvantage that the cleaning brush head of the existing cleaning robot needs to be customized according to the specifications of the photovoltaic panels in different photovoltaic sites, and reduces the manufacturing cost and the cost of cleaning the photovoltaic panels.

[0035] 2. The stability of the cleaning robot body during operation is achieved, so that the cleaning device of the cleaning robot remains stable during operation, effectively avoiding the brush head shaking and scratching the photovoltaic panel surface and the hidden cracks on the photovoltaic panel surface caused by excessive water pressure.

[0036] 3. It realizes the collection and reuse of wastewater after cleaning photovoltaic panels, effectively reducing the problem of water resource waste similar to that in Northwest my country, and effectively reducing the cost of cleaning photovoltaic panels. At the same time, it filters the coarse impurities in the wastewater, effectively avoiding the blockage caused by coarse impurities in the subsequent wastewater treatment process, and reducing the cost of wastewater treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the appearance and device layout of the present invention;

[0038] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0039] Figure 3 It is a schematic diagram of the telescopic and adjustable cleaning device of the present invention;

[0040] Figure 4 A schematic diagram of the side coordination of the brush head of the telescopic and adjustable cleaning device of the present invention;

[0041] Figure 5 It is a schematic diagram of the cooperation between the brush head and the matching fixed block in the telescopic and adjustable cleaning device of the present invention;

[0042] Figure 6 This is a schematic diagram of the characteristics of the fixing block of the present invention;

[0043] Figure 7 It is a schematic diagram of the structure of the slider of the present invention;

[0044] Figure 8 It is a schematic diagram of the hydraulic balancing device of the present invention;

[0045] Fig. 9 It is a schematic diagram of the characteristics of the wastewater collection box of the present invention;

[0046] Fig.10 It is a schematic diagram of the structural characteristics of the water receiving plate of the present invention;

[0047] Fig.11 It is a characteristic schematic diagram of the telescopic mechanism of the water receiving plate of the present invention;

[0048] Fig.12 It is a characteristic schematic diagram of the impurity filtering device of the present invention;

[0049] Fig.13 This is a schematic diagram of the installation position of the impurity filtering device of the present invention;

[0050] Fig.14 It is a schematic diagram of the appearance characteristics of the chain link of the present invention;

[0051] In the figure, 1, cleaning device; 101, right brush head housing; 101-1, stabilizing slide; 101-2, slide; 101-3, water delivery channel; 101-4, fixing hole; 102, roller brush; 103, left brush head housing; 103-1, roller brush mounting hole; 103-2, length adjustment slide; 104, fixed mounting plate; 104-1, telescopic rod mounting hole; 105, telescopic rod; 105-1, rotating mounting hole; 106, slider; 106-1, rotating mounting hole; 106-2, screw rod matching hole; 106-3, matching sleeve slide ; 107, telescopic motor; 108, screw rod matching sleeve; 108-1, slide groove; 109, screw rod; 110, brush head stabilizing block; 110-1, trapezoidal groove; 110-2, matching sleeve stabilizing hole; 2, mechanical arm transmission device; 201, mechanical arm; 202, base; 203, motor; 204 rotary joint; 3, balancing device; 301, balancing load-bearing plate; 302, balancing sensor; 303, visual sensor; 4, power device; 401, hydraulic device; 402, cross-axis universal joint; 402-1, threaded mounting hole; 4 03, hydraulic telescopic rod; 5, water treatment and storage device; 501, large water tank; 502, electric control system; 503, wastewater sedimentation system; 504, precision filtration system; 505, chemical decomposition system; 6, walking device; 601, drive motor; 602, crawler; 603, crawler wheel; 604, fixed plate; 605, bottom plate; 7, wastewater collection device; 701, waste collection box; 702, wastewater receiving plate; 702-1, matching shaft; 702-2, water retaining plate; 702-3, matching hole; 703, mounting plate; 703- 1. Fixed installation hole; 703-2. Mounting plate fixing hole; 704. Telescopic long arm; 704-1. Installation hole; 704-2. Rotation matching hole; 705. Telescopic short arm; 705-1. Matching hole; 706. Control motor; 706-1. Threaded hole; 707. Water collecting box; 707-1. Hole; 707-2. Connection hole; 707-3. Keyway hole; 8. Impurity filtering device; 801. Drive control motor; 802. Filter; 803. Chain; 803-1. Chain plate; 803-2. Long pin shaft; 803-3. Pin hole. DETAILED DESCRIPTION

[0052] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] like Figure 1-14As shown, a vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions is characterized in that it includes a cleaning device 1, a mechanical arm transmission device 2, a balancing device 3, a power device 4, a water treatment and storage device 5, a walking device 6, a wastewater collection device 7 and an impurity filtering device 8; the cleaning device 1 is connected to the mechanical arm transmission device 2 through a thread, the mechanical arm transmission device 2 is connected to the top of the balancing device 3 through a thread, the balancing device 3 is connected to four independent hydraulic devices 4 through a thread, the power device 4 is fixed to the top of the walking device 6 through a threaded connection, and the water treatment and storage device 5 is placed on the walking device 6 through a fixing plate The wastewater collecting device 7 is fixed to the side of the walking device 6 by a threaded connection, and the impurity filtering device 8 is fixed to the inside of the wastewater collecting device 7 by a transmission shaft; the cleaning device 1 is provided with a right brush head shell 101, a left brush head shell 103 and a roller brush 102, a fixed mounting plate 104, a telescopic rod 105, a slider 106, a screw rod matching sleeve 108, a screw rod 109, a brush head stabilizing block 110, and a telescopic motor 107. The right brush head shell 101 is provided with a stabilizing slide groove 101-1, a slide groove 101-2, a water delivery channel 101-3, and a fixing hole 101-4. The left brush head shell 103 is provided with a roller brush mounting hole 103-1 and a length adjustment slide The fixed mounting plate 10 is provided with telescopic rod mounting holes 104-1 on both sides, the telescopic rod 105 is provided with a rotating mounting hole 105-1, the slider 106 is provided with mounting holes 106-1 on both sides, the middle end is provided with a screw rod matching hole 106-2, the upper and lower ends are provided with matching sleeve sliding grooves 106-3, the screw rod matching sleeve 108 is provided with a sliding groove 108-1, the brush head stabilizing block 110 is provided with a matching sleeve stabilizing hole 110-2 at the upper end, and a trapezoidal groove 110-1 at the lower end; the bottom of the mechanical arm transmission device 2 is provided with a motor 203, and the base 202 is connected to the mechanical arm 201 through a rotating joint 204; the balancing device 3 is provided with A balance bearing plate 301 is provided with a balance sensor 302 and a visual sensor 303 at the upper end of the balance bearing plate 301; the power device 4 is provided with a hydraulic device 401, a cross-axis universal joint 402, and a hydraulic telescopic rod 403, and a threaded mounting hole 402-1 is provided on the upper surface of the cross-axis universal joint 402; the water treatment and storage device 5 is provided with a large water tank 501, a wastewater sedimentation system 503, a precision filtration system 504, and a chemical decomposition system 505, and an electric control system 502 is provided on the side of the large water tank 501; the walking device 6 is provided with a bottom plate 605 and a fixing plate 604, and a driving motor 601, a crawler 602 and a crawler wheel 603 are provided on both sides of the bottom plate 605;The wastewater collecting device 7 is provided with a water collecting box 707, a waste collecting box 701 is provided on the left side of the water collecting box 707, a wastewater receiving plate 702 and a mounting plate 703 are provided on the front side, a telescopic long arm 704, a telescopic short arm 705, and a control motor 706 are provided inside, and a matching shaft 702-1, a water baffle 702-2 and a matching hole 702-3 are provided on both sides of the wastewater receiving plate 702, the mounting plate 703 is provided with a fixed mounting hole 703-1, a mounting plate fixing hole 703-2, the control motor 706 is provided with a threaded hole 706-1, the water collecting box 707 is provided with a hole 707-1 inside, and the wastewater collecting box 707 is provided with a wastewater collecting box 707. The water receiving plate 702 is fixed by setting a connection hole 707-2, the sprocket shaft 805 is fixed by setting a keyway hole 707-3, the telescopic short arm 705 is provided with a matching hole 705-1, and the telescopic long arm is provided with a rotation matching hole 704-2 and a mounting hole 704-1; the impurity filtering device 8 is provided with a driving control motor 801, a filter screen 802, a chain 803, a sprocket 804, and a sprocket shaft 805, the filter screen 802 is arranged on the inner side of the chain 803, and the chain link 803 is fixed to the filter screen 802 by setting a chain plate 803-1, a long pin shaft 803-2 and a pin hole 803-3. ;

[0057] In one implementation case, the right brush head shell 101 and the left brush head shell 103 are connected to the telescopic rod 105 through the mounting hole 104-1 of the fixed mounting plate 104, and the slider 106 is connected to the rotating mounting hole 105-1 of the telescopic rod 105. The slide groove 108-1 inside the screw rod matching sleeve 108 cooperates with the matching sleeve slide groove 106-3 inside the slider 106 to control the slider 106 to move up and down along a straight line as the screw rod 109 rotates and drives the telescopic rod 105 to move and drive the right brush head shell 101 and the left brush head shell 103 to engage and slide, thereby adjusting the overall length of the brush head.

[0058] In one implementation case, the stabilizing groove 101-1 of the brush head shell 101 cooperates with the trapezoidal groove 110-1 of the brush head stabilizing block 110 to stabilize the brush head part, the groove 101-2 cooperates with the length adjustment groove 103-2 to adjust the overall length of the brush head, the water supply channel 101-3 is used to place the water supply pipe, and the mounting plate 104 is fixed through the mounting hole 101-4 of the brush head shell 101.

[0059] In one embodiment, a cross-axis universal joint 402 is provided at the upper end of the hydraulic rod 403, and the balancing load-bearing plate 301 is fixedly connected through a threaded mounting hole 402-1 at the upper end of the cross-axis universal joint 402. The four independent hydraulic devices 401 control the hydraulic telescopic rod 403 to extend and retract through the sensor 302 to keep the balancing load-bearing plate 301 stable, thereby keeping the cleaning mechanism 1 in a stable state during operation and preventing the cleaning angle of the brush head from changing.

[0060] In one embodiment, the wastewater receiving plate 702 is connected to the hole 707-2 of the wastewater collection box 707 through the matching shaft 702-1, and the control motor 706 controls the movement of the crank rocker mechanism composed of the telescopic short arm 705 and the telescopic long arm 704 to control the water receiving angle of the wastewater receiving plate 702 so as to better collect the wastewater after cleaning the photovoltaic panels and store the wastewater receiving plate 702.

[0061] In one embodiment, the working process includes the following steps:

[0062] S1: Preparation before cleaning:

[0063] S11: The length of the brush head is adjusted appropriately according to the width of the photovoltaic panel to be cleaned. The telescopic motor 107 drives the wire 109 to rotate, driving the slider 106 to move downward and driving the telescopic rods 105 at both ends to move in the opposite direction in the vertical plane, thereby driving the left brush head outer shell 103 and the right brush head outer shell 101 to engage and change the overall length of the brush head to match the width of the photovoltaic panel to be cleaned;

[0064] S12: before the cleaning robot starts to clean the photovoltaic panel, the mechanical arm 201 places the left brush head housing 103 and the right brush head housing 101 at a suitable angle and distance above the photovoltaic panel;

[0065] S2: Operation of the balancing device 3 of the cleaning robot:

[0066] S21: When the cleaning robot is working, the visual sensor 303 predicts the road condition ahead of the cleaning robot in advance to prepare for the balance sensor 302 to work in advance. When the balance sensor 302 detects that the road surface is rough, the balance device 3 starts to operate;

[0067] S22: The balance sensor 302 controls the operation of the four independent hydraulic devices 401 to drive the hydraulic telescopic rod 403 to extend and retract so that the balance load-bearing plate 301 is in a stable state, so that the cleaning device 1 of the cleaning robot remains stable during operation and effectively avoids damage to the photovoltaic panel. The cross-axis universal joint 402 increases the spatial freedom in the moving direction to avoid causing additional force and torque to the balance load-bearing plate 301;

[0068] S3: Operation of wastewater collection and filtration devices:

[0069] S31: When the cleaning robot starts working, the control motor 706 drives the mechanical long arm 705 to move outward by rotating the mechanical short arm 704 clockwise (as viewed from the left), so that the water receiving plate 702 opens outward at a suitable water receiving angle and is located below the photovoltaic panel to better collect waste water after cleaning the photovoltaic panel. When the work is completed, the mechanical short arm 704 rotates counterclockwise (as viewed from the left) to drive the mechanical long arm 705 to move inward, so that the water receiving plate 702 is retracted;

[0070] S32: When wastewater collection starts, the control motor 801 drives the two sprockets 804 to rotate, thereby driving the filter screen 802 fixed on the long pin shaft 803-2 above the chain 803 to rotate, driving the debris falling on the filter screen 802 to move to the leftmost side of the water collection box and fall into the waste collection box 701;

[0071] S33: The filtered wastewater is controlled by the electronic control system 502 to be first transported to the wastewater sedimentation system 503 for sedimentation, then transported to the precision filtration system 504 to filter the sediment, then transported to the chemical decomposition system 505 to chemically decompose substances such as cleaning fluid, and finally transported to the large water tank 501 for cleaning the photovoltaic panels.

Claims

1. A vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions, characterized in that: It comprises a cleaning device (1), a mechanical arm transmission device (2), a balancing device (3), a power device (4), a water treatment and storage device (5), a walking device (6), a wastewater collection device (7) and an impurity filtering device (8); The cleaning device (1) is connected to the mechanical arm transmission device (2) through a thread, the mechanical arm transmission device (2) is connected to the top of the balancing device (3) through a thread, the balancing device (3) is connected to four independent hydraulic devices (4) through a thread, the power device (4) is fixed to the top of the walking device (6) through a threaded connection, the water treatment and storage device (5) is placed on the upper part of the walking device (6) through a fixing plate, the wastewater collection device (7) is fixed to the side of the walking device (6) through a threaded connection, and the impurity filtering device (8) is fixed to the inside of the wastewater collection device (7) through a transmission shaft; The cleaning device (1) is provided with a right brush head housing (101), a left brush head housing (103), a roller brush (102), a fixed mounting plate (104), a telescopic rod (105), a slider (106), a screw rod matching sleeve (108), a screw rod (109), a brush head stabilizing block (110), and a telescopic motor (107); the right brush head housing (101) is provided with a stabilizing slide groove (101-1), a slide groove (101-2), a water delivery channel (101-3), and a fixing hole (101-4); the left brush head housing (103) is provided with a roller brush mounting hole (103-1) and a length adjustment hole (103-4); The fixed mounting plate (104) is provided with telescopic rod mounting holes (104-1) on both sides, the telescopic rod (105) is provided with a rotation mounting hole (105-1), the sliding block (106) is provided with rotation mounting holes (106-1) on both sides, a screw rod matching hole (106-2) is provided at the middle end, matching sleeve sliding grooves (106-3) are provided at the upper and lower ends, the screw rod matching sleeve (108) is provided with a sliding groove (108-1), the brush head stabilizing block (110) is provided with a matching sleeve stabilizing hole (110-2) at the upper end, and a trapezoidal groove (110-1) is provided at the lower end; The bottom of the mechanical arm transmission device (2) is provided with a motor (203), and the base (202) is connected to the mechanical arm (201) via a rotating joint (204); The balancing device (3) is provided with a balancing load-bearing plate (301), and a balancing sensor (302) and a visual sensor (303) are provided on the upper end of the balancing load-bearing plate (301); The power device (4) is provided with a hydraulic device (401), a cross-axis universal joint (402), and a hydraulic telescopic rod (403); the upper surface of the cross-axis universal joint (402) is provided with a threaded mounting hole (402-1); The water treatment and storage device (5) is provided with a large water tank (501), a wastewater sedimentation system (503), a precision filtration system (504), and a chemical decomposition system (505). An electric control system (502) is provided on the side of the large water tank (501); The walking device (6) is provided with a bottom plate (605) and a fixing plate (604), and a driving motor (601), a crawler track (602) and crawler wheels (603) are provided on both sides of the bottom plate (605); The wastewater collection device (7) is provided with a water collection box (707), a waste collection box (701) is provided on the left side of the water collection box (707), a wastewater receiving plate (702) and a mounting plate (703) are provided on the front side, and a telescopic long arm (704), a telescopic short arm (705), and a control motor (706) are provided inside. The wastewater receiving plate (702) is provided with a matching shaft (702-1), a water baffle (702-2) and a matching hole (702-3) on both sides, and the mounting plate (703) is provided with a fixed mounting hole (703-1), a mounting plate The control motor (706) is provided with a threaded hole (706-1), the water collecting box (707) is provided with a hole (707-1), the wastewater receiving plate (702) is fixed by providing a connecting hole (707-2), the sprocket shaft (805) is fixed by providing a keyway hole (707-3), the telescopic short arm (705) is provided with a matching hole (705-1), and the telescopic long arm (704) is provided with a rotation matching hole (704-2) and a mounting hole (704-1); The impurity filtering device (8) is provided with a driving control motor (801), a filter screen (802), a chain (803), a sprocket (804), and a sprocket shaft (805); the filter screen (802) is arranged on the inner side of the chain (803); and the chain link (803) is fixed to the filter screen (802) by arranging a chain plate (803-1), a long pin shaft (803-2), and a pin hole (803-3).

2. The vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions according to claim 1, characterized in that: The slider (106) is connected to the rotating mounting hole (105-1) of the telescopic rod (105); the slide groove (108-1) of the screw rod matching sleeve (108) matches with the matching sleeve slide groove (106-3) in the slider (106); the screw rod matching hole (106-2) of the slider (106) matches with the screw rod (109); the right brush head housing (101) and the left brush head housing (103) are connected to the telescopic rod (105) through the mounting hole (104-1) of the fixed mounting plate (104).

3. The vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions according to claim 1, characterized in that: The stabilizing groove (101-1) of the brush head housing (101) cooperates with the trapezoidal groove (110-1) of the brush head stabilizing block (110), the groove (101-2) cooperates with the length adjustment groove (103-2), a water delivery channel (101-3) is provided in the middle of the upper end of the brush head housing (101), and the mounting plate (104) is fixed through the mounting hole (101-4) of the brush head housing (101).

4. The vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions according to claim 1, characterized in that: The upper end of the hydraulic rod (403) is provided with a cross-axis universal joint (402), the balance bearing plate (301) is fixedly connected through a threaded mounting hole (402-1) at the upper end of the cross-axis universal joint (402), and four independent hydraulic devices (401) control the extension and retraction of the hydraulic telescopic rod (403) through a sensor (302).

5. The vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions according to claim 1, characterized in that: The wastewater receiving plate (702) is connected to the hole (707-2) of the wastewater collecting box (707) through a matching shaft (702-1), and the control motor (706) controls the movement of the crank rocker mechanism composed of the telescopic short arm (705) and the telescopic long arm (704), thereby driving the opening and closing of the wastewater receiving plate (702).

6. The vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions according to claim 1, characterized in that: The filter screen (802) is installed on the chain pin shaft (803-2), and the chain (803) is driven to rotate by the sprocket (804), so that the filtered impurities fall into the waste collection box (701).

7. The vehicle-mounted photovoltaic panel cleaning robot suitable for extreme environmental conditions according to claim 1, characterized in that: The working process includes the following steps: S1: Preparation before cleaning: S11: The length of the brush head is adjusted appropriately according to the width of the photovoltaic panel to be cleaned, and the telescopic motor (107) drives the screw rod (109) to rotate, driving the slider (106) to move downward, driving the telescopic rods (105) at both ends to move in opposite directions in the vertical plane, thereby driving the left brush head housing (103) and the right brush head housing (101) to engage with each other, thereby changing the overall length of the brush head to match the width of the photovoltaic panel to be cleaned; S12: before the cleaning robot starts cleaning the photovoltaic panel, the mechanical arm (201) places the left brush head housing (103) and the right brush head housing (101) at a suitable angle and distance above the photovoltaic panel; S2: Operation of the cleaning robot balancing device (3) (if the ground is flat, skip step S2): S21: During the operation of the cleaning robot, the visual sensor (303) predicts the road condition ahead of the cleaning robot in advance to prepare for the operation of the balancing sensor (302). When the balancing sensor (302) detects that the road surface is rough, the balancing device (3) starts to operate; S22: The balance sensor (302) controls the operation of four independent hydraulic devices (401) to drive the hydraulic telescopic rod (403) to extend and retract so that the balance load-bearing plate (301) is in a stable state, so that the cleaning device (1) of the cleaning robot remains stable during operation and effectively avoids damage to the photovoltaic panel. The cross-axis universal joint (402) increases the spatial freedom in the moving direction, thereby avoiding the balance load-bearing plate (301) from generating additional force and torque; S3: Operation of wastewater collection and filtration devices: S31: When the cleaning robot starts working, the control motor (706) drives the mechanical long arm (705) to move outward by rotating the mechanical short arm (704) clockwise (as viewed from the left), thereby causing the water receiving plate (702) to open outward to a suitable water receiving angle and be located below the photovoltaic panel to better collect waste water after cleaning the photovoltaic panel. When the work is completed, the mechanical short arm (704) rotates counterclockwise (as viewed from the left) to drive the mechanical long arm (705) to move inward, thereby causing the water receiving plate (702) to be retracted; S32: When wastewater collection starts, the control motor (801) drives the two sprockets (804) to rotate, thereby driving the filter (802) fixed on the long pin (803-2) above the chain (803) to rotate, driving the debris falling on the filter (802) to move to the leftmost side of the water collection box and fall into the waste collection box (701); S33: The filtered wastewater is controlled by the electronic control system (502) to be first transported to the wastewater sedimentation system (503) for sedimentation, then transported to the precision filtration system (504) to filter the sediment, and then transported to the chemical decomposition system (505) to decompose substances such as cleaning fluid, and finally transported to the large water tank (501) for cleaning the photovoltaic panels.

Images