A photovoltaic module cleaning robot

Abstract

The present invention relates to the technical field of photovoltaic module cleaning, and specifically to a photovoltaic module cleaning robot, comprising a moving seat, a mechanical arm fixed to the top surface of the moving seat, and a force arm, a support assembly fixed to one end of the force arm, and the support assembly comprising a support tube, a crossbeam fixed to the bottom of the support tube, and a cleaning mechanism 1 and a plurality of cleaning mechanisms 2 slidably arranged on the crossbeam. In the present invention, the mechanical arm cooperates with the force arm to drive the crossbeam to move toward the photovoltaic panel with the brush body at the bottom of the shaft rod 1 and the shaft rod 2, and the plurality of brush bodies that resist the photovoltaic panel scrape from one end of the photovoltaic panel to the other end, so as to pre-clean the impurities on the surface of the photovoltaic panel and expose the stubborn stains, and the motor drives the support tube to rotate to rotate the brush body to clean the photovoltaic panel, and at the same time the watering mechanism sprays water on the brush body, so as to facilitate the cleaning robot to perform protective cleaning on different types of photovoltaic panels.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic component cleaning, in particular to a photovoltaic component cleaning robot. Background Art

[0002] Photovoltaic modules refer to devices that convert solar energy into direct current electricity. They are also called solar panels, photocells or photovoltaic panels. There are two main types of photovoltaic modules currently in use: one is a rigid straight photovoltaic panel arranged in an inclined manner, and the other is a flexible photovoltaic panel arranged in a curved manner. During the long-term use of these photovoltaic modules, dust, gravel and other impurities will accumulate on the surface of the photovoltaic panels. The impurities will block direct sunlight from reaching the photovoltaic panels, reducing the photoelectric conversion efficiency. By cleaning the photovoltaic panels, these obstructions can be removed, so that the photovoltaic panels can better absorb sunlight and improve power generation efficiency.

[0003] A photovoltaic module cleaning robot is a device that replaces manpower to efficiently and automatically clean photovoltaic panels. It generally includes a mobile base with a robotic arm installed on the mobile base. The robotic arm is transmission-connected to specific structural components for cleaning photovoltaic panels. Although structural components such as brush rollers or brushes for cleaning photovoltaic panels on traditional cleaning robots can efficiently clean flat photovoltaic panels, it is not easy to perform cleaning operations on the curved surface of flexible photovoltaic panels. The applicability and scalability of the cleaning robot are poor. During the cleaning process of the photovoltaic module cleaning robot, if the structural components for cleaning photovoltaic panels are directly used to rotate and clean the surface of the photovoltaic panels, impurities such as gravel are likely to scratch the surface of the photovoltaic panels under the drive of the cleaning photovoltaic panel structure, which is not conducive to protecting the photovoltaic panels during the cleaning process. Summary of the invention

[0004] The purpose of the present invention is to provide a photovoltaic module cleaning robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A photovoltaic module cleaning robot comprises a mobile seat, a mechanical arm is fixed on the top surface of the mobile seat, and further comprises:

[0007] A force arm is fixed at one end of the mechanical arm, and the force arm comprises a square tube, and a square rod is slidably connected inside the square tube;

[0008] A support assembly, comprising a support tube rotatably connected to the end of the square rod, a crossbeam fixed to the bottom of the support tube, and a water bucket fixedly connected to the crossbeam arranged inside the support tube;

[0009] A cleaning mechanism 1, comprising a shaft rod 1, the shaft rod 1 being slidably inserted between the bucket and the cross beam, two elastic bands 1 being fixed between the top end of the shaft rod 1 and the cross beam, and a brush body 1 being detachably fixed at the bottom end of the shaft rod 1;

[0010] A water tank, fixed to the top surface of the movable seat, is used to transport water to the water bucket for use by the cleaning mechanism one;

[0011] A plurality of cleaning mechanisms 2 are evenly distributed on the cross beam, the cleaning mechanism 2 comprises a shaft rod 2 slidably connected to the cross beam, an elastic band 2 is fixed between the top end of the shaft rod 2 and the cross beam, and a brush body 2 is detachably fixed to the bottom end of the shaft rod 2;

[0012] A plurality of universal wheels are respectively mounted and fixed on the bottom ends of the shaft rod 1 and the shaft rod 2, so as to facilitate the brush body 1 and the brush body 2 to move smoothly on the surface of the photovoltaic module;

[0013] A plurality of watering mechanisms are respectively movably sleeved on the outer sides of the first brush body and the second brush body, and are used not only to spray water on the first brush body and the second brush body, but also to constrain the first brush body and the second brush body from spreading circumferentially.

[0014] Furthermore, track wheels are installed and fixed on both sides of the movable seat, the mechanical arm includes a rotating seat rotatably connected to the movable seat, a support arm is rotatably provided on the top of the rotating seat, an adjusting arm is rotatably provided on the top of the support arm, a connecting arm 1 is rotatably provided on the top of the adjusting arm, a connecting arm 2 is rotatably provided at one end of the connecting arm 1, and the connecting arm 2 is fixedly connected to the square tube.

[0015] Furthermore, a cylinder for driving the square rod to move is fixed on the top of the square tube, a motor is fixed on the top of the square rod, a gear is fixed on the output end of the motor, and a gear ring meshing with the gear is fixed on the top of the support tube.

[0016] Further, the water tank comprises:

[0017] The first hose has one end connected and fixed to the water tank, and a water pump for pumping water to the first hose is fixed inside the water tank;

[0018] One end of the connecting pipe is connected and fixed with the hose, and the other end of the connecting pipe is rotatably plugged with the shaft.

[0019] Furthermore, an L-shaped hole rotatably connected to the connecting pipe is provided at the top end of the shaft rod, the L-shaped hole is connected to the inside of the bucket, and a positioning rod rotatably connected to the connecting pipe is fixed to one end of the square rod.

[0020] Furthermore, a limiting ring 1 is fixedly sleeved on the outer side of the shaft rod 1, a columnar cavity 1 is opened inside the shaft rod 1, a water inlet hole connected to the columnar cavity 1 is opened on the outer side of the shaft rod 1, a sealing tube sleeved on the outer side of the shaft rod 1 is fixed to the bottom of the crossbeam, and two connecting ears are fixed to the top of the shaft rod 1, and the connecting ears are supported under an elastic band 1.

[0021] Furthermore, a limiting ring 2 is fixed on the outer side of the shaft rod 2, a columnar cavity 2 is opened on the inner bottom of the shaft rod 2, and a hose 2 is fixedly connected between two adjacent columnar cavities 2 and between a columnar cavity 1 and an adjacent columnar cavity 2.

[0022] Furthermore, the bottoms of the shaft rod 1 and the shaft rod 2 are both detachably sleeved and fixed with fixing rings, the brush body 1 and the brush body 2 are the same structural components, and the brush body 1 and the brush body 2 are respectively fixedly connected to the fixing rings at corresponding positions.

[0023] Further, the watering mechanism comprises:

[0024] The annular water bag is respectively sleeved on the outer sides of the first brush body and the second brush body, and a receiving cavity for containing water is reserved inside the annular water bag;

[0025] A plurality of elastic ropes are fixed at equal angles in a ring shape on the top of the annular water bag, and the top ends of the elastic ropes are fixedly connected to the fixing ring;

[0026] A water delivery pipe is connected and fixed to the containing cavity inside the annular water bag, wherein the top end of one of the water delivery pipes is connected and fixed to the first columnar cavity, and the other multiple water delivery pipes are connected and fixed to the second columnar cavities at corresponding positions respectively;

[0027] A plurality of drainage holes are arranged in a circular shape at equal angles on the bottom surface of the annular water bag, and arc-shaped spring pieces are embedded and fixed at the open ends of the drainage holes.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. A plurality of shaft rods 2 and 1 are evenly slidably inserted on the top of the crossbeam, and brush bodies (including brush body 1 and brush body 2) are fixed at the bottom of shaft rod 1 and shaft rod 2. The mechanical arm in the prior art drives the plurality of brush bodies to contact the photovoltaic panel through the force arm. When the photovoltaic panel is a straight rigid photovoltaic panel, the plurality of brush bodies are at the same position and highly resist the photovoltaic panel. When the photovoltaic panel is a flexible curved photovoltaic panel, shaft rod 1 and shaft rod 2 slide on the crossbeam so that the brush bodies at different positions can be at different positions and highly resist the photovoltaic panel, so that the brush bodies can adapt to resist the outside of different types of photovoltaic panels. The motor drives the support tube to rotate so that the support tube rotates with shaft rod 1 and shaft rod 2 on the crossbeam, so that the plurality of brush bodies can rotate to clean the photovoltaic panel with a straight or curved shape, which is beneficial to improving the applicability and expansibility of the cleaning robot in cleaning photovoltaic modules.

[0030] 2. Use the crossbeam to move the shaft rod 1 and the shaft rod 2 downward, so that the shaft rod 1 and the shaft rod 2 with the brush body are arranged linearly at one end of the photovoltaic panel (refer to the instruction manual). Fig.10), continue to move the crossbeam with the shaft rod 1 and the shaft rod 2 downward, so that the brush body 1 and the brush body 2 are squeezed and moved toward the photovoltaic panel. After being squeezed, the brush body expands and deforms toward the circumference to increase the cleaning area of ​​the brush body (refer to the instruction manual Fig. 9 The brush cleaning area indicated by the dotted line in the middle), so that multiple brush bodies are connected in series to form a long straight cleaning area that can adapt to the outside of the photovoltaic panel;

[0031] The mechanical arm cooperates with the force arm to make the crossbeam carry multiple brush bodies to move to the other end of the photovoltaic panel, so that the brush bodies in the long straight cleaning area can scrape the surface of the photovoltaic panel once or scrape back and forth multiple times in advance, so as to clean the impurities blocking the surface of the photovoltaic panel before the brush body rotates to clean the photovoltaic panel. To a certain extent, it is prevented that the brush body directly rotates and cleans the surface of the photovoltaic panel, causing impurities such as gravel to scratch the surface of the photovoltaic panel under the drive of the brush body, which is beneficial to protecting the surface of the photovoltaic panel.

[0032] The brush with a long straight cleaning area is used by the crossbeam to scrape the surface of the photovoltaic panel multiple times, so that the stains that are firmly adhered to the surface of the photovoltaic panel are exposed, and the brush body is convenient for later targeting and focusing on cleaning the area with serious stains. The brush body after being pressed down not only increases the cleaning area of ​​the brush body, but also changes the hardness of the brush body, because the elastic band 1 and the elastic band 2 respectively apply a downward elastic force to the brush body through the shaft rod 1 and the shaft rod 2, which makes it easier for the brush body to fully squeeze and rotate to clean the area with serious stains.

[0033] 3. The water tank uses hose 1 to pump water into the bucket. When the photovoltaic panel needs to be washed, the crossbeam can be moved toward the photovoltaic panel, so that the water inlet hole outside the shaft rod 1 moves to the inside of the bucket relative to the crossbeam. The water inside the bucket enters the columnar cavity 1 through the water inlet hole, and then is dispersed and transported to different columnar cavities 2 through hose 2. The water in the columnar cavity 2 is then transported to the annular water bag through the water pipe, and finally sprinkled to the brush body from the drainage hole of the annular water bag, so that the brush body can wash the photovoltaic panel. By designing the water inlet hole to gradually increase from top to bottom, the closer the crossbeam moves to the photovoltaic panel, the more water enters the water inlet hole, the more water is transported to the brush body, and at the same time, the greater the force of the brush body to squeeze and clean the photovoltaic panel, so that the water volume increases with the increase of the force of the brush body to squeeze and clean the photovoltaic panel, which is beneficial to improve the effect of cleaning stubborn dirt.

[0034] 4. By sleeved the annular water bag on the outside of the brush body, when the annular water bag is filled with water, the annular water bag can not only transport water to the brush body to assist in washing the brush body, but also use its own gravity to restrain the outside of the brush body that is unfolded on the side, preventing the brush body from unfolding too much, and making the unfolded brush body more compact, thereby improving the cleaning effect of the brush body. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 This is a schematic diagram of the overall structure of the bottom of the lever arm in the present invention. Figure 1 ;

[0037] Figure 3 This is a schematic diagram of the overall structure of the bottom of the lever arm in the present invention. Figure 2 ;

[0038] Figure 4 It is a schematic diagram of the force arm structure in the present invention;

[0039] Figure 5 It is a schematic diagram of the support assembly structure in the present invention;

[0040] Figure 6 It is a structural schematic diagram of a cleaning part in the present invention;

[0041] Figure 7 This is a schematic diagram of the internal structure of the shaft rod of the present invention;

[0042] Figure 8 It is a schematic diagram of the structure of the water sprinkling mechanism in the present invention;

[0043] Fig. 9 It is a schematic diagram of the combined structure of multiple brush bodies in the present invention;

[0044] Fig.10 It is a schematic diagram of the structure in which multiple brush bodies contact a flexible photovoltaic panel in the present invention.

[0045] In the figure: 100, moving seat; 110, crawler wheel; 200, mechanical arm; 210, rotating seat; 220, supporting arm; 230, adjusting arm; 240, connecting arm 1; 250, connecting arm 2; 300, force arm; 310, square tube; 320, square rod; 321, motor; 322, positioning rod; 330, cylinder; 400, supporting assembly; 410, supporting tube; 420, crossbeam; 421, blocking tube; 430, bucket; 500, cleaning mechanism 1; 510, shaft rod 1; 511, L-shaped hole; 512, columnar cavity 1; 5 13. Water inlet hole; 514. Connecting ear; 520. Elastic belt one; 530. Brush body one; 600. Water tank; 610. Hose one; 611. Connecting pipe; 700. Cleaning mechanism two; 710. Axle two; 711. Columnar cavity two; 720. Elastic belt two; 730. Brush body two; 740. Hose two; 800. Universal wheel; 900. Sprinkling mechanism; 910. Annular water bag; 920. Elastic rope; 930. Water pipe; 940. Drain hole; 941. Arc-shaped spring piece; 1000. Brush cleaning area; 2000. Flexible photovoltaic panel. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0047] For example, see Figure 1-10 In an embodiment of the present invention, a photovoltaic module cleaning robot includes a moving seat 100, a mechanical arm 200 is fixed on the top surface of the moving seat 100, and also includes a force arm 300 fixed at one end of the mechanical arm 200, the force arm 300 includes a square tube 310, a square rod 320 is slidably connected inside the square tube 310, and a support assembly 400 is rotatably connected at the end of the square rod 320, the support assembly 400 includes a support tube 410, a crossbeam 420 is fixed at the bottom of the support tube 410, a bucket 430 fixedly connected to the crossbeam 420 is arranged inside the support tube 410, a cleaning mechanism 1 500 and a plurality of cleaning mechanisms 2 700 are slidably inserted on the outer side of the crossbeam 420, the cleaning mechanism 1 500 includes a shaft rod 1 510, the shaft rod 1 510 is slidably inserted between the bucket 430 and the crossbeam 420, two elastic bands 1 520 are fixed between the top of the shaft rod 1 510 and the crossbeam 420, and the bottom end of the shaft rod 1 510 is detachable The cleaning mechanism 700 includes a shaft rod 710 slidably connected to the cross beam 420, an elastic band 720 is fixed between the top of the shaft rod 710 and the cross beam 420, and the brush body 730 is detachably fixed at the bottom of the shaft rod 710. The top surface of the movable seat 100 is fixed with a water tank 600 for conveying water to the water bucket 430 for use by the cleaning mechanism 500. The bottom ends of the shaft rods 510 and 710 are both equipped with a The universal wheel 800 enables the bottom ends of the shaft 1 510 and the shaft 2 710 to roll and contact the photovoltaic panel, so that the brush body 1 530 and the brush body 2 730 can move smoothly on the surface of the photovoltaic panel. The outer sides of the brush body 1 530 and the brush body 2 730 are movably connected with a sprinkler mechanism 900. The sprinkler mechanism 900 is not only used to sprinkle water on the brush body 1 530 and the brush body 2 730, but also used to constrain the brush body 1 530 and the brush body 2 730 to expand circumferentially.

[0048] Specifically, a plurality of shaft rods 1 510 and shaft rods 2 710 are slidably plugged on the cross beam 420, the top of the shaft rod 1 510 abuts against the elastic band 1 520, and the top of the shaft rod 2 710 abuts against the elastic band 2 720, and the robot arm 200 cooperates with the force arm 300 to drive the cross beam 420 with the brush bodies at the bottom of the shaft rods 1 510 and the shaft rod 2 710 to move toward the photovoltaic panel, and the brush bodies are squeezed on the surface of the photovoltaic panel under the tensile elastic force of the elastic bands 1 520 and the elastic bands 2 720. Since the shaft rods 1 510 and the shaft rods 2 710 can move up and down on the cross beam 420, the brush bodies at different positions can not only be at the same height and linearly arranged on the flat photovoltaic panel surface, but also at different heights. The flexible photovoltaic panel 2000 is arranged on the surface of the curved flexible photovoltaic panel 2000 according to a curved trajectory. The beam 420 carries a plurality of brush bodies through the shaft including shaft 1 510 and shaft 2 710 to scrape from one end of the photovoltaic panel to the other end, so as to pre-clean impurities on the surface of the photovoltaic panel and prevent the brush body from directly rotating on the surface of the photovoltaic panel to scratch the surface of the photovoltaic panel due to impurities such as gravel driven by the brush body. This is beneficial to protecting the surface of the photovoltaic panel and also facilitates revealing stubborn stains. The motor 321 drives the support tube 410 to rotate so that the beam 420 carries the brush bodies on the plurality of shafts to rotate and clean the photovoltaic panel. At the same time, the watering mechanism 900 sprays water on the brush body, so as to facilitate the cleaning robot to perform protective cleaning on different types of photovoltaic panels.

[0049] like Figure 1 As shown, in the present embodiment, track wheels 110 are fixedly installed on both sides of the moving seat 100, and the mechanical arm 200 includes a rotating seat 210 rotatably connected to the moving seat 100, a support arm 220 is rotatably provided on the top of the rotating seat 210, an adjusting arm 230 is rotatably provided on the top of the support arm 220, a connecting arm 1 240 is rotatably provided on the top of the adjusting arm 230, a connecting arm 250 is rotatably provided at one end of the connecting arm 1 240, and the connecting arm 250 is fixedly connected to the square tube 310.

[0050] In this embodiment, the track wheel 110 rolls on the ground to drive the mobile base 100 to move the cleaning robot as a whole to the position of the photovoltaic component to be cleaned. The relevant structure of the mechanical arm 200 can provide the force arm 300 with a more flexible cleaning angle, which facilitates the movement of the cleaning component body under the force arm 300 to the surface of the photovoltaic panel at different positions. The mechanical arm 200 and the track wheel 110 are both commonly used components in the prior art, and the specific working principles will not be elaborated here.

[0051] like Figure 2 As shown, in this embodiment, a cylinder 330 for driving the square rod 320 to move is fixed to the top of the square tube 310, a motor 321 is fixed to the top of the square rod 320, a gear is fixed to the output end of the motor 321, and a gear ring that meshes with the gear is fixed to the top of the support tube 410.

[0052] In this embodiment, the output end of the cylinder 330 moves the square rod 320 out of the square tube 310 or moves and retracts, so that the square rod 320 and the overall structure for cleaning the photovoltaic components under the support tube 410 can be linearly adjusted in position, and the coordinated action of the track wheel 110 can make the overall structure for cleaning the photovoltaic components move from one end of the photovoltaic panel to the other end, and the motor 321 rotates the gear, and the gear rotates the gear ring to rotate the support tube 410, thereby rotating the support tube 410 and the crossbeam 420, so that multiple brush bodies can perform brushing operations.

[0053] like Figure 1 and Figure 4 As shown, in this embodiment, the water tank 600 includes a hose 610 connected and fixed to the water tank 600, a water pump for pumping water to the hose 610 is fixed inside the water tank 600, and a connecting pipe 611 is connected and fixed to one end of the hose 610 away from the water pump, and the other end of the connecting pipe 611 is rotatably connected to the shaft 510.

[0054] In this embodiment, when water needs to be transported to the water bucket 430 for washing photovoltaic panels, the water pump inside the water tank 600 pumps the water into the connecting pipe 611 through the hose 1 610, and then transports the water to the water bucket 430 through the L-shaped hole 511 on the shaft 1 510 for standby use.

[0055] like Figure 4 and Figure 7 As shown, in this embodiment, an L-shaped hole 511 rotatably connected to a connecting tube 611 is provided at the top end of the shaft rod 510, the L-shaped hole 511 is connected to the interior of the bucket 430, and a positioning rod 322 rotatably connected to the connecting tube 611 is fixed to one end of the square rod 320.

[0056] The connecting pipe 611 is rotatably connected to the L-shaped hole 511 , so the water transported by the connecting pipe 611 is not affected by the movement state of the shaft rod 510 , and the positioning rod 322 is used to install and fix the connecting pipe 611 on the top of the shaft rod 510 .

[0057] like Figure 6 As shown, in this embodiment, a limiting ring 1 is fixedly sleeved on the outer side of the shaft rod 510, a columnar cavity 512 is opened inside the shaft rod 510, a water inlet hole 513 connected to the columnar cavity 512 is opened on the outer side of the shaft rod 510, a sealing tube 421 sleeved on the outer side of the shaft rod 510 is fixed to the bottom of the crossbeam 420, and two connecting ears 514 are fixed to the top of the shaft rod 510, and the connecting ears 514 are supported under the elastic band 520.

[0058] The limiting ring 1 prevents the shaft 1 510 from falling off the cross beam 420. In the initial state, the blocking tube 421 is sleeved on the outside of the water inlet hole 513 of the shaft 1 510. At this time, there is no water in the column cavity 1 512. When it is necessary to transport water while the shaft 1 510 moves up relative to the cross beam 420, the shaft 1 510 moves up to the inside of the water bucket 430, and the water inlet hole 513 is connected with the inside of the water bucket 430, so that the water in the water bucket 430 enters the column cavity 1 512 from the water inlet hole 513. At this time, the external connection tube 611 can still Water is added to the water bucket 430 through the L-shaped hole 511. By designing the water inlet hole 513 to gradually increase in size from top to bottom, the further the shaft rod 510 moves upward, the more water will enter the water inlet hole 513, thereby achieving the effect of controlling the water consumption. The two ends of the elastic band 520 are fixed on the beam 420, and the top of the elastic band 520 is sleeved on the connecting ear 514. The elastic band 520 is convenient for giving the shaft rod 510 a compression elastic force when the beam 420 moves downward, so that the brush body at the bottom of the shaft rod 510 can resist deformation.

[0059] like Figure 6 , Figure 7 , Fig. 9 As shown, in this embodiment, a limiting ring 2 is fixed to the outer side of the second shaft rod 710, a columnar cavity 2 711 is opened at the inner bottom of the second shaft rod 710, and a hose 2 740 is fixed and connected between two adjacent columnar cavities 2 711 and between the columnar cavity 1 512 and the adjacent columnar cavity 2 711.

[0060] In this embodiment, the limiting ring 2 prevents the shaft rod 2 710 from detaching from the bottom of the beam 420. After the columnar cavity 1 512 is filled with water, the water in the columnar cavity 1 512 is transported to the columnar cavity 2 711 of the shaft rod 2 710 through the hose 2 740, and then transported from the water pipe 930 to the sprinkler mechanism 900 to be sprinkled onto the brush body.

[0061] like Figure 6 , Figure 7 As shown, in this embodiment, the bottoms of shaft rod 1 510 and shaft rod 2 710 are both detachably sleeved and fixed with fixing rings, brush body 1 530 and brush body 2 730 are the same structural components, and brush body 1 530 and brush body 2 730 are respectively fixedly connected to the fixing rings at corresponding positions.

[0062] In this embodiment, the fixing ring can be removably fixed to the bottom of the shaft 1 510 and the shaft 2 710, so that the brush body can be replaced conveniently by removing the fixing ring. The brush body 1 530 and the brush body 2 730 are truncated cone-shaped in shape, and a space for accommodating a universal wheel 800 is reserved in the middle of the brush body. The universal wheel 800 enables the bottom end of the shaft to move smoothly on the surface of the photovoltaic panel.

[0063] Embodiment 2, based on embodiment 1, is to enable water to be sprayed toward the brush body during the process of rotating the brush body to clean the photovoltaic component, and to enable the brush body to squeeze and clean the photovoltaic panel tightly.

[0064] like Figure 8 As shown, in this embodiment, the watering mechanism 900 includes a plurality of annular water bags 910 sleeved on the outside of the brush body 1 530 and the brush body 2 730, and a receiving cavity for containing water is reserved inside the annular water bag 910. A plurality of elastic ropes 920 are fixed at equal angles in an annular shape on the top of the annular water bag 910, and the top of the elastic rope 920 is fixedly connected to the fixing ring. A water pipe 930 is fixed on the outside of the annular water bag 910, and the water pipe 930 is connected and fixed to the receiving cavity inside the annular water bag 910, wherein the top of one water pipe 930 is connected and fixed to the columnar cavity 1 512, and the other plurality of water pipes 930 are respectively connected and fixed to the columnar cavity 2 711 at corresponding positions, and a plurality of drainage holes 940 are opened at equal angles in an annular shape on the bottom surface of the annular water bag 910, and an arc-shaped spring piece 941 is embedded and fixed at the open end of the drainage hole 940.

[0065] The elastic rope 920 flexibly suspends the annular water bag 910 on the outside of the brush body, which does not affect the expansion of the brush body around the side while also restraining the brush body from expanding too much around. The water pipe 930 can transport the water inside the columnar cavity 1 512 and the columnar cavity 2 711 into the annular water bag 910, and then drops the water from the multiple drainage holes 940 onto the brush body. By installing arc-shaped spring pieces 941 inside the drainage holes 940, the drainage holes 940 of the annular water bag 910 can always remain open, and the drainage holes 940 will not shrink due to the expansion of the brush body. The annular water bag 910 uses its own weight after being filled with water to be sleeved on the outside of the brush body, so that the expanded brush body can be tightly pressed onto the photovoltaic panel.

[0066] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0067] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A photovoltaic module cleaning robot, comprising a mobile seat (100), a mechanical arm (200) being fixed on the top surface of the mobile seat (100), characterized in that: Also includes: A force arm (300) is fixed to one end of the mechanical arm (200), the force arm (300) comprises a square tube (310), and a square rod (320) is slidably connected inside the square tube (310); A support assembly (400) comprises a support tube (410) rotatably connected to the end of the square rod (320), a crossbeam (420) being fixed to the bottom of the support tube (410), and a water bucket (430) being arranged inside the support tube (410) and fixedly connected to the crossbeam (420); A cleaning mechanism (500) comprises a shaft (510) which is slidably inserted between the bucket (430) and the crossbeam (420), two elastic bands (520) being fixed between the top of the shaft (510) and the crossbeam (420), and a brush body (530) being detachably fixed at the bottom of the shaft (510); The outer side of the shaft rod (510) is sleeved with a limit ring (510), the interior of the shaft rod (510) is provided with a columnar cavity (512), the outer side of the shaft rod (510) is provided with a water inlet hole (513) connected to the columnar cavity (512), and the water inlet hole (513) is designed to gradually increase in size from top to bottom. The bottom of the crossbeam (420) is fixed with a blocking tube (421) sleeved on the outer side of the shaft rod (510), and the top of the shaft rod (510) is fixed with two connecting ears (514), and the connecting ears (514) are supported below the elastic band (520); A water tank (600) is fixed to the top surface of the movable seat (100) and is used to transport water to the water bucket (430) for use by the cleaning mechanism 1 (500); A plurality of cleaning mechanisms (700) are evenly distributed on the cross beam (420), wherein the cleaning mechanism (700) comprises a shaft (710) slidably connected to the cross beam (420), a second elastic band (720) is fixed between the top of the shaft (710) and the cross beam (420), and a second brush body (730) is detachably fixed to the bottom of the shaft (710); A plurality of universal wheels (800) are respectively mounted and fixed on the bottom ends of the first shaft (510) and the second shaft (710), so as to facilitate the smooth movement of the first brush body (530) and the second brush body (730) on the surface of the photovoltaic module; A plurality of watering mechanisms (900) are movably sleeved on the outer sides of the first brush body (530) and the second brush body (730), respectively, and are used not only to spray water on the first brush body (530) and the second brush body (730), but also to constrain the first brush body (530) and the second brush body (730) to expand circumferentially.

2. The photovoltaic module cleaning robot according to claim 1, characterized in that: Track wheels (110) are fixedly mounted on both sides of the moving seat (100). The mechanical arm (200) comprises a rotating seat (210) rotatably connected to the moving seat (100). A support arm (220) is rotatably mounted on the top of the rotating seat (210). An adjusting arm (230) is rotatably mounted on the top of the supporting arm (220). A connecting arm 1 (240) is rotatably mounted on the top of the adjusting arm (230). A connecting arm 2 (250) is rotatably mounted at one end of the connecting arm 1 (240). The connecting arm 2 (250) is fixedly connected to the square tube (310).

3. The photovoltaic module cleaning robot according to claim 1, characterized in that: A cylinder (330) for driving the square rod (320) to move is fixed on the top of the square tube (310), a motor (321) is fixed on the top of the square rod (320), a gear is fixed on the output end of the motor (321), and a gear ring meshing with the gear is fixed on the top of the support tube (410).

4. The photovoltaic module cleaning robot according to claim 1, characterized in that: The water tank (600) comprises: A hose 1 (610) has one end connected and fixed to the water tank (600), and a water pump for pumping water to the hose 1 (610) is fixed inside the water tank (600); One end of the connecting tube (611) is connected and fixed to the hose 1 (610), and the other end of the connecting tube (611) is rotatably plugged into the shaft 1 (510).

5. The photovoltaic module cleaning robot according to claim 4, characterized in that: An L-shaped hole (511) rotatably connected to the connecting pipe (611) is formed at the top end of the shaft rod (510); the L-shaped hole (511) is connected to the interior of the water bucket (430); and a positioning rod (322) rotatably connected to the connecting pipe (611) is fixed to one end of the square rod (320).

6. The photovoltaic module cleaning robot according to claim 1, characterized in that: A limiting ring 2 is fixed on the outer side of the second shaft rod (710), and a columnar cavity 2 (711) is opened at the inner bottom of the second shaft rod (710). A hose 2 (740) is fixedly connected between two adjacent columnar cavities 2 (711) and between the first columnar cavity (512) and the adjacent columnar cavity 2 (711).

7. The photovoltaic module cleaning robot according to claim 6, characterized in that: The bottoms of shaft rod one (510) and shaft rod two (710) are both detachably sleeved and fixed with fixing rings, and brush body one (530) and brush body two (730) are identical structural components. Brush body one (530) and brush body two (730) are respectively fixedly connected to the fixing rings at corresponding positions.

8. The photovoltaic module cleaning robot according to claim 7, characterized in that: The watering mechanism (900) comprises: The annular water bag (910) is respectively sleeved on the outer sides of the first brush body (530) and the second brush body (730), and a receiving cavity for containing water is reserved inside the annular water bag (910); A plurality of elastic ropes (920) are fixed to the top of the annular water bag (910) in a ring-shaped manner at equal angles, and the top ends of the elastic ropes (920) are fixedly connected to the fixing ring; The water delivery pipe (930) is connected and fixed to the accommodation cavity inside the annular water bag (910), wherein the top end of one water delivery pipe (930) is connected and fixed to the columnar cavity 1 (512), and the other multiple water delivery pipes (930) are respectively connected and fixed to the columnar cavity 2 (711) at corresponding positions; A plurality of drainage holes (940) are provided in a circular shape at equal angles on the bottom surface of the annular water bag (910), and an arc-shaped spring piece (941) is embedded and fixed at the open end of the drainage hole (940).

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