Amphibious photovoltaic power station cleaning manipulator device

Abstract

The invention discloses an amphibious photovoltaic power station cleaning manipulator device, and belongs to the field of amphibious photovoltaic power station cleaning mechanical equipment. The multi-degree-of-freedom moving module comprises a moving end; the rotating module comprises a rotating end, and the rotating end is connected with the moving end in a rotating mode; the liquid connecting module comprises a first connecting end and a second connecting end which are movably connected with each other, the first connecting end is fixedly connected with the moving end, the second connecting end is fixedly connected with the rotating end, a first flow channel penetrating through the positioning part is arranged in the first connecting end, and a second flow channel penetrating through the second connecting end is arranged in the second connecting end. Through cooperation of the multi-degree-of-freedom moving module and the rotating module, the working range of the photovoltaic power station cleaning manipulator device is widened, cleaning liquid is provided for the cleaning device through a liquid supply flow channel of the liquid connecting module, and the problem that a liquid supply pipeline is damaged in an accelerated mode is solved.

Description

Technical Field

[0001] The invention relates to the technical field of amphibious photovoltaic power station cleaning mechanical equipment, in particular to an amphibious photovoltaic power station cleaning mechanical arm device. Background Art

[0002] Amphibious photovoltaic power station is a photovoltaic power generation method that uses the space above the pond to build photovoltaics and the land area to build photovoltaics. After using the amphibious photovoltaic power station for a period of time, the photovoltaic surface will be covered with dust particles, which will block sunlight, reduce the transmittance of the photovoltaic module surface glass, and affect the photovoltaic power generation.

[0003] In order to solve the above technical problems, a photovoltaic cleaning inspection vehicle is disclosed in a Chinese patent application with application number CN202321892470.4 and application date of July 18, 2023. The patent includes a movable chassis, a mechanical arm assembly and a cleaning mechanism. This cleaning equipment can meet the needs of use on the road. However, since the mechanical arm assembly and the cleaning mechanism are usually connected by a hose, a part of the amphibious photovoltaic power station will be set on the water surface. During the operation of the cleaning mechanism, the position of the cleaning mechanism needs to be repeatedly adjusted, causing the problem of accelerated damage to the liquid supply pipeline. Summary of the invention

[0004] The purpose of the present invention is to provide an amphibious photovoltaic power station cleaning robot device to solve the technical problem that a part of the current amphibious photovoltaic power station is set on the water surface, and the cleaning mechanism needs to repeatedly adjust the position of the cleaning mechanism, causing accelerated damage to the liquid supply pipeline.

[0005] Based on the above-mentioned purpose, the present invention provides an amphibious photovoltaic power station cleaning robot device, comprising: a device base; a multi-degree-of-freedom mobile module, fixedly connected to the device base, including a mobile end that can be moved and fixed with multiple degrees of freedom; a rotating module, including a rotating end, and the rotating end is connected to the mobile end by rotation; a liquid connecting module, including a first connecting end and a second connecting end that are movably connected to each other, the first connecting end is fixedly connected to the mobile end, and the second connecting end is fixedly connected to the rotating end, a first flow channel penetrating a positioning portion is provided in the first connecting end, and a second flow channel penetrating the second connecting end is provided in the second connecting end, the first flow channel is connected to the second flow channel, and the first flow channel is combined to form a liquid supply flow channel.

[0006] Preferably, the device base has a rotating table with a vertical axis as the rotation center, and the multi-degree-of-freedom mobile module is fixedly connected to the rotating table.

[0007] Preferably, the multi-degree-of-freedom mobile module includes a first rotating arm and a second rotating arm, one end of the first rotating arm is connected to the rotating table by rotation, the other end of the first rotating arm is connected to the second rotating arm by rotation, the rotation centerline of the first rotating arm is set along the horizontal plane direction, and the rotation centerline of the second rotating arm is parallel to the rotation centerline of the first rotating arm.

[0008] Preferably, the first rotating arm includes a first arm body and a first telescopic rod connected to the rotating table by rotation, the telescopic end of the first telescopic rod is connected to the first arm body by rotation, the end of the first arm body is connected to the second rotating arm by rotation, and the rotation centerline of the first telescopic rod is parallel to the rotation centerline of the first arm body.

[0009] Preferably, the second rotating arm includes a rotating shaft, a second arm body, a telescopic arm body and an arm body motor, both ends of the rotating shaft are connected to the first arm body by means of rotation, the second arm body is fixedly mounted on the outer wall of the rotating shaft, and is driven to rotate by the rotating shaft, the arm body motor is fixedly connected to the first arm body, the output shaft of the arm body motor is drivingly connected to the rotating shaft, the telescopic arm body is connected to the second arm body by means of sliding, a plurality of transmission teeth are provided on the outer wall of the telescopic arm body, a driving motor is fixed on the telescopic arm body, a driving gear is fixed on the output shaft of the driving motor, a driven shaft is fixed on the second arm body by means of rotation, a driven gear is fixed on the outer wall of the driven shaft, and the driven gear is meshed with the driving gear and the transmission teeth.

[0010] Preferably, the mobile end includes a mobile bracket, and two driven rods and a second telescopic rod are rotatably mounted on the telescopic arm body, the end of the driven rod is connected to the mobile bracket by rotation, and the end of the second telescopic rod is connected to the mobile bracket by rotation.

[0011] Preferably, the rotating end includes a rotating bracket, a head motor is fixed on the movable bracket, a head gear is fixed on the output shaft of the head motor, a driven gear ring is fixed on the rotating bracket, and the head gear is meshed with the driven gear ring.

[0012] Preferably, the first connecting end includes a first connector fixedly connected to the telescopic arm body, the first connector is provided with a hemispherical connecting groove at an end facing away from the telescopic arm body, a rotatable connecting ball is inserted in the connecting groove, a connecting tube 1 is provided on the connecting ball, the second connecting end includes a second connector fixedly connected to the rotating bracket, the second connector is connected to the movable bracket by rotating, the second connector is provided with a connecting tube 2 at an end facing away from the rotating end, the connecting tube 2 is connected to the connecting tube 1 by sliding, a through hole 1 is provided on the connecting ball, the through hole 1, the connecting tube 1 and the connecting tube 2 are combined to form a first flow channel, and a through hole 2 is provided on the second connector, the through hole 2 is connected to the connecting tube 2, and the combination forms a second flow channel.

[0013] Preferably, a first flow guide and a second flow guide are fixed in the telescopic arm body, a third flow guide is fixed on the first arm body, the first flow guide has a first flow guide channel penetrating the first flow guide, the second flow guide has a second flow guide channel penetrating the second flow guide, the third flow guide has a third flow guide channel penetrating the third flow guide, a rotating shaft is provided in the rotating shaft, one end of the rotating shaft flow channel penetrates the outer wall of the rotating shaft, the other end of the rotating shaft flow channel penetrates one side end surface of the rotating shaft, one end of the first flow guide channel is connected to the connecting groove, the other end of the first flow guide channel is connected to the second flow guide channel through a hose, one end of the rotating shaft flow channel is connected to the second flow guide channel, and the other end of the rotating shaft flow channel is connected to the third flow guide channel.

[0014] Preferably, a plurality of guide grooves are provided in the connecting groove with the through hole 1 as the center, the guide grooves are connected with the through hole 1, and an expansion groove is provided at one end of the through hole 1 toward the connecting groove.

[0015] The beneficial effect of the present invention is that through the cooperation of the multi-degree-of-freedom mobile module and the rotating module, the cleaning mechanism can be adjusted in multiple degrees of freedom, thereby improving the working range of the photovoltaic power station cleaning robot device, meeting the use requirements when floating on the water surface, and providing cleaning liquid to the cleaning device through the liquid supply channel of the liquid connection module, solving the problem of accelerated damage to the liquid supply pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 3 It is a schematic diagram of the explosion structure of the present invention; Figure 4 It is a schematic diagram of the exploded structure of the multi-degree-of-freedom mobile module in the present invention; Figure 5 for Figure 4A magnified schematic diagram of middle I; Figure 6 It is a schematic diagram of the three-dimensional structure of the liquid connection module in the present invention; Figure 7 This is a schematic diagram of the exploded structure of the liquid connection module in the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the rotating shaft in the present invention; Fig. 9 is a schematic diagram of the three-dimensional structure of the first deflector in the present invention; Fig.10 is a schematic diagram of the three-dimensional structure of the second deflector in the present invention; Fig.11 is a schematic diagram of the three-dimensional structure of the third deflector in the present invention; Fig.12 is a schematic diagram of the three-dimensional structure of the first connector in the present invention; Fig.13 It is a schematic diagram of the three-dimensional structure of the second connector in the present invention.

[0017] In the figure: 1, device base; 11, rotating table; 2, multi-degree-of-freedom mobile module; 21, first arm body; 22, first telescopic rod; 23, rotating shaft; 231, rotating shaft flow channel; 24, second arm body; 241, vertical through groove; 25, telescopic arm body; 251, horizontal through groove; 252, transmission gear; 253, installation cavity; 26, arm body motor; 27, driving motor; 28, driving gear; 29, driven shaft; 210, driven gear; 211, mobile bracket; 213, first deflector; 2131, first deflector; 214, second Guide; 2141, second guide channel; 2142, guide groove; 215, third guide; 2151, third guide channel; 3, rotation module; 31, rotation bracket; 32, driven rod; 33, second telescopic rod; 34, head motor; 35, head gear; 36, driven gear ring; 4, liquid connection module; 41, first connector; 411, connecting groove; 4111, guide groove; 42, connecting ball; 421, connecting tube one; 43, second connector; 431, connecting tube two; 432, through hole one; 4321, expansion groove. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0019] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. "Include" or "comprise" and other similar words used in the present disclosure mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and other similar words are not limited to physical or mechanical connections, but may also include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0020] In one embodiment, see Figure 1 to Figure 2 As shown, the present invention provides an amphibious photovoltaic power station cleaning robot device, comprising: a device base 1, a multi-degree-of-freedom mobile module 2, a rotation module 3 and a liquid connection module 4. The device base 1 serves as a carrier of the photovoltaic power station cleaning robot device, and is used to connect an external amphibious carrier vehicle or carrier ship.

[0021] The multi-degree-of-freedom mobile module 2 is fixedly connected to the device base 1, and includes a mobile terminal that can be moved and fixed with multiple degrees of freedom. The mobile terminal can move with multiple degrees of freedom, thereby increasing the application range of the photovoltaic power station cleaning robot device.

[0022] The rotating module 3 includes a rotating end, which is connected to the moving end by rotating, wherein the rotating end is used to fix an external cleaning mechanism, so that the cleaning mechanism can be adjusted in multiple degrees of freedom to meet the cleaning needs in different states.

[0023] The liquid connection module 4 includes a first connection end and a second connection end that are movably connected to each other, the first connection end is fixedly connected to the movable end, the second connection end is fixedly connected to the rotating end, a first flow channel penetrating the positioning portion is provided in the first connection end, a second flow channel penetrating the second connection end is provided in the second connection end, the first flow channel is connected to the second flow channel, and they are combined to form a liquid supply flow channel. The liquid connection module 4 is connected to an external liquid supply device, and the external liquid supply device is used to provide cleaning liquid.

[0024] Specifically, the present invention enables the cleaning mechanism to be adjusted in multiple degrees of freedom through the cooperation of the multi-degree-of-freedom mobile module 2 and the rotating module 3, thereby improving the working range of the photovoltaic power station cleaning robot device and meeting the use requirements when floating on the water surface. The liquid supply channel of the liquid connecting module 4 is used to provide cleaning liquid for the cleaning device, thereby solving the problem of accelerated damage to the liquid supply pipeline.

[0025] As an example, see Figures 1 to 3As shown, in order to further increase the working range of the photovoltaic power station cleaning robot device, the device base 1 has a rotating table 11 with a vertical axis as the rotation center, and the multi-degree-of-freedom mobile module 2 is fixedly connected to the rotating table 11. Among them, the device base 1 includes a base motor, and the operation of the base motor drives the rotating table 11 to rotate.

[0026] Specifically, in this example, the rotating table 11 drives the multi-degree-of-freedom mobile module 2 to rotate, so that the cleaning mechanism has more degrees of freedom to move, thereby increasing the working range of the photovoltaic power station cleaning robot.

[0027] As an example, see Figures 1 to 3 As shown, in order to further increase the working range of the photovoltaic power station cleaning robot device, the multi-degree-of-freedom mobile module 2 includes a first rotating arm and a second rotating arm, one end of the first rotating arm is connected to the rotating table 11 by rotation, and the other end of the first rotating arm is connected to the second rotating arm by rotation, the rotation centerline of the first rotating arm is set along the horizontal plane direction, and the rotation centerline of the second rotating arm is parallel to the rotation centerline of the first rotating arm.

[0028] Specifically, in this example, the first rotating arm and the second rotating arm are rotated in coordination, so that the cleaning mechanism has more degrees of freedom to move, thereby increasing the working range of the photovoltaic power station cleaning robot.

[0029] As an example, see Figures 1 to 3 As shown, in order to further increase the working range of the photovoltaic power station cleaning robot device, the first rotating arm includes a first arm body 21 and a first telescopic rod 22 connected to the rotating platform 11 through a rotating shaft, the telescopic end of the first telescopic rod 22 is connected to the first arm body 21 through a rotating shaft, the end of the first arm body 21 is connected to the second rotating arm through a rotating shaft, and the rotation centerline of the first telescopic rod 22 is parallel to the rotation centerline of the first arm body 21.

[0030] Specifically, in this example, the rotation of the first arm 21 is controlled by the telescopic end of the first telescopic rod 22, so that the cleaning mechanism has more degrees of freedom to move, thereby increasing the working range of the photovoltaic power station cleaning robot.

[0031] As an example, see Figures 1 to 5 As shown, the second rotating arm includes a rotating shaft 23, a second arm body 24, a telescopic arm body 25 and an arm body motor 26. Both ends of the rotating shaft 23 are connected to the first arm body 21 by bearing connections. The telescopic arm body 25 is provided with a penetrating transverse through groove 251. The rotating shaft 23 passes through the transverse through groove 251. The second arm body 24 is fixed to the outer wall of the rotating shaft 23 by a key connection, and is rotated by the drive of the rotating shaft 23.

[0032] The arm motor 26 is fixedly connected to the first arm 21, the output shaft of the arm motor 26 is connected to the rotating shaft 23 by a coupling, a sliding groove is provided on the second arm 24, the telescopic arm 25 is slidably inserted in the sliding groove, a plurality of transmission teeth 252 are provided on the upper end surface of the telescopic arm 25, a driving motor 27 is fixed to the telescopic arm 25 by bolts, a driving gear 28 is fixed to the output shaft of the driving motor 27 by a key connection, a driven shaft 29 is fixed to the upper end of the second arm 24 by a bearing connection, a driven gear 210 is fixed to the outer wall of the driven shaft 29, a vertical through groove 241 penetrating the second arm 24 is provided at the upper end of the second arm 24, the driven gear 210 passes through the vertical through groove 241, and the driven gear 210 is meshed with the driving gear 28 and the transmission teeth 252. Among them, the driving motor 27 adopts a motor with a self-locking function.

[0033] Specifically, in this example, the output shaft of the arm motor 26 drives the driving gear 28 to rotate, the driving gear 28 drives the driven gear 210 to rotate, the driven gear 210 drives the transmission gear 252 to move, and the transmission gear 252 drives the telescopic arm 25 to move, thereby achieving control over the telescopic arm 25, allowing the cleaning mechanism to move with more degrees of freedom, and improving the working range of the photovoltaic power station cleaning robot.

[0034] As an example, see Figures 1 to 5 As shown, the mobile end includes a mobile bracket 211, and two driven rods 32 and a second telescopic rod 33 are installed on the telescopic arm body 25 by a rotating shaft. The end of the driven rod 32 is connected to the mobile bracket 211 through the rotating shaft, and the end of the second telescopic rod 33 is connected to the mobile bracket 211 through the rotating shaft.

[0035] Specifically, this example combines two driven rods 32 and the second telescopic rod 33 into a quadrilateral structure, controls the mobile bracket 211 to flip, and allows the cleaning mechanism to move with more degrees of freedom, thereby improving the working range of the photovoltaic power station cleaning robot.

[0036] As an example, see Figures 1 to 5 As shown, the rotating end includes a rotating bracket 31, a head motor 34 is fixed to the mobile bracket 211 by bolts, a head gear 35 is fixed to the output shaft of the head motor 34 by key connection, a driven gear ring 36 is fixed to the rotating bracket 31 by bolts, and the head gear 35 is meshed with the driven gear ring 36. The rotating bracket 31 is connected to an external cleaning mechanism.

[0037] Specifically, in this example, the head motor 34 works to drive the head gear 35 to rotate, the head gear 35 drives the driven gear ring 36 to rotate, the driven gear 210 drives the rotating bracket 31 to rotate, and the rotating bracket 31 drives the cleaning mechanism to rotate, so that the cleaning mechanism has more degrees of freedom to move, thereby improving the working range of the photovoltaic power station cleaning robot.

[0038] As an example, see Figures 1 to 7 As shown, in order to avoid the problem of accelerated damage of the liquid supply pipeline caused by bumps at the connection between the photovoltaic panel cleaning mechanism and the mechanical arm, the first connecting end includes a first connector 41 fixedly connected to the telescopic arm body 25 by bolts, and the first connector 41 is provided with a hemispherical connecting groove 411 at the end away from the telescopic arm body 25, and a rotatable connecting ball 42 is inserted in the connecting groove 411, and a connecting pipe 1 421 is provided on the connecting ball 42, and the second connecting end includes a second connector 43 fixedly connected to the rotating bracket 31, and the second connector 43 is connected to the movable bracket 211 by a bearing connection. The second connector 43 is provided with a connecting pipe 2 431 at the end away from the rotating end, and the connecting pipe 2 431 is connected to the connecting pipe 1 421 by sliding, and a through hole 1 432 is provided on the connecting ball 42, and the through hole 1 432, the connecting pipe 1 421 and the connecting pipe 2 431 are combined to form a first flow channel, and a through hole 2 is provided on the second connector 43, and the through hole 2 is connected to the connecting pipe 2 431, and they are combined to form a second flow channel.

[0039] Specifically, this example realizes the diversion of cleaning liquid through the cooperation of the first connector 41, the connecting ball 42 and the second connector 43, reduces the layout of pipelines, avoids the acceleration friction of the pipelines connected to the cleaning mechanism during rotation and movement, and improves the service life of the amphibious photovoltaic power station cleaning robot.

[0040] As an example, see Figures 1 to 11 As shown, the first flow guide 213 and the second flow guide 214 are fixed in the telescopic arm 25 by bolts, and the third flow guide 215 is fixed on the first arm 21 by bolts. The telescopic arm 25 has a mounting cavity 253, the first flow guide 213 is fixed at one end of the mounting cavity 253 close to the first connector 41, the first flow guide 213 is connected to the first connector 41, and the second flow guide 214 is fixed in the mounting cavity 253.

[0041] The first flow guide 213 has a first flow guide channel 2131 penetrating the first flow guide 213, the second flow guide 214 has a second flow guide channel 2141 penetrating the second flow guide 214, and the third flow guide 215 has a third flow guide channel 2151 penetrating the third flow guide 215. The second flow guide 214 is provided with a flow guide groove 2142 penetrating the second flow guide 214, the rotating shaft 23 passes through the flow guide groove 2142, and the second flow guide channel 2141 passes through the outer wall of the second flow guide 214 and is connected to the flow guide groove 2142.

[0042] A shaft flow channel 231 is provided in the rotating shaft 23, one end of the shaft flow channel 231 penetrates the outer wall of the rotating shaft 23, the other end of the shaft flow channel 231 penetrates one end surface of the rotating shaft 23, one end of the first flow channel 2131 is connected to the connecting groove 411, the other end of the first flow channel 2131 is connected to the second flow channel 2141 through a hose, one end of the shaft flow channel 231 is connected to the second flow channel 2141, and the other end of the shaft flow channel 231 is connected to the third flow channel 2151. The cleaning liquid first flows into the shaft flow channel 231 through the third flow guide 215, then flows into the first flow channel 2131 through the second flow channel 2141, and finally flows into the first flow channel, thereby guiding the cleaning liquid.

[0043] Specifically, this example realizes the diversion of the cleaning liquid through the cooperation of the first deflector 213, the second deflector 214 and the third deflector 215, further reduces the layout of the pipelines and the friction of the pipelines, and improves the service life of the amphibious photovoltaic power station cleaning robot.

[0044] As an example, see Figures 1 to 13 As shown, a plurality of guide grooves 4111 are provided in the connection groove 411 with the through hole 1 432 as the center. The guide grooves 4111 are connected to the through hole 1 432 . An expansion groove 4321 is provided at one end of the through hole 1 432 toward the connection groove 411 .

[0045] Specifically, this example adds a guide groove 4111 so that the connecting ball 42 can have a larger connection angle when rotating, thereby improving the rotation range of the cleaning mechanism. At the same time, the added expansion groove 4321 can increase the flow rate of the cleaning liquid, so that when the cleaning mechanism rotates to a wide range of angles, the cleaning liquid maintains a set flow rate, thereby ensuring the cleaning effect of the photovoltaic panel.

[0046] In general, the present invention enables the cleaning mechanism to be adjusted in multiple degrees of freedom through the cooperation of the multi-degree-of-freedom mobile module 2 and the rotating module 3, thereby improving the working range of the photovoltaic power station cleaning robot device and meeting the use requirements when floating on the water surface. In addition, through the cooperation of the first connector 41, the connecting ball 42 and the second connector 43, the diversion of the cleaning liquid is achieved, the layout of the pipelines is reduced, and the accelerated friction of the pipelines connected to the cleaning mechanism during rotation and movement is avoided, thereby improving the service life of the amphibious photovoltaic power station cleaning robot.

[0047] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. An amphibious photovoltaic power station cleaning robot device, characterized in that: include: Device base (1); A multi-degree-of-freedom mobile module (2) is fixedly connected to the device base (1), and comprises a mobile end capable of being moved and fixed with multiple degrees of freedom; The rotating module (3) comprises a rotating end, wherein the rotating end is connected to the moving end by means of rotation; The liquid connection module (4) comprises a first connection end and a second connection end which are movably connected to each other, the first connection end is fixedly connected to the movable end, the second connection end is fixedly connected to the rotating end, a first flow channel penetrating the positioning portion is arranged in the first connection end, a second flow channel penetrating the second connection end is arranged in the second connection end, the first flow channel is connected to the second flow channel, and they are combined to form a liquid supply flow channel.

2. The amphibious photovoltaic power station cleaning robot device according to claim 1 is characterized in that: The device base (1) has a rotating platform (11) with a vertical axis as the rotation center, and the multi-degree-of-freedom mobile module (2) is fixedly connected to the rotating platform (11).

3. The amphibious photovoltaic power station cleaning robot device according to claim 1 is characterized in that: The multi-degree-of-freedom mobile module (2) comprises a first rotating arm and a second rotating arm, one end of the first rotating arm is connected to the rotating platform (11) by means of rotation, the other end of the first rotating arm is connected to the second rotating arm by means of rotation, the rotation center line of the first rotating arm is arranged along a horizontal plane direction, and the rotation center line of the second rotating arm is parallel to the rotation center line of the first rotating arm.

4. The amphibious photovoltaic power station cleaning robot device according to claim 3 is characterized in that: The first rotating arm comprises a first arm body (21) connected to the rotating platform (11) by means of rotation, and a first telescopic rod (22); the telescopic end of the first telescopic rod (22) is connected to the first arm body (21) by means of rotation; the end of the first arm body (21) is connected to the second rotating arm by means of rotation; and the rotation center line of the first telescopic rod (22) is parallel to the rotation center line of the first arm body (21).

5. The amphibious photovoltaic power station cleaning robot device according to claim 4 is characterized in that: The second rotating arm comprises a rotating shaft (23), a second arm body (24), a telescopic arm body (25) and an arm body motor (26); both ends of the rotating shaft (23) are connected to the first arm body (21) by means of rotation; the second arm body (24) is fixedly mounted on the outer wall of the rotating shaft (23) and is driven to rotate by the rotating shaft (23); the arm body motor (26) is fixedly connected to the first arm body (21); the output shaft of the arm body motor (26) is drivingly connected to the rotating shaft (23); the telescopic arm body (25) is driven by means of a sliding The telescopic arm (25) is connected to the second arm body (24) in a movable manner, a plurality of transmission teeth (252) are provided on the outer wall of the telescopic arm body (25), a driving motor (27) is fixed to the telescopic arm body (25), a driving gear (28) is fixed to the output shaft of the driving motor (27), a driven shaft (29) is fixed to the second arm body (24) in a rotatable manner, a driven gear (210) is fixed to the outer wall of the driven shaft (29), and the driven gear (210) is meshed with the driving gear (28) and the transmission teeth (252).

6. The amphibious photovoltaic power station cleaning robot device according to claim 5 is characterized in that: The mobile end comprises a mobile bracket (211), and two driven rods (32) and a second telescopic rod (33) are rotatably mounted on the telescopic arm (25); the end of the driven rod (32) is connected to the mobile bracket (211) by means of rotation, and the end of the second telescopic rod (33) is connected to the mobile bracket (211) by means of rotation.

7. The amphibious photovoltaic power station cleaning robot device according to claim 6 is characterized in that: The rotating end comprises a rotating bracket (31), a head motor (34) is fixed on the movable bracket (211), a head gear (35) is fixed on the output shaft of the head motor (34), a driven gear ring (36) is fixed on the rotating bracket (31), and the head gear (35) is meshed with the driven gear ring (36).

8. The amphibious photovoltaic power station cleaning robot device according to claim 7 is characterized in that: The first connection end comprises a first connector (41) fixedly connected to the telescopic arm (25); the first connector (41) is provided with a hemispherical connection groove (411) at one end thereof facing away from the telescopic arm (25); a rotatable connection ball (42) is inserted into the connection groove (411); a connection tube (421) is provided on the connection ball (42); the second connection end comprises a second connector (43) fixedly connected to the rotating bracket (31); the second connector (43) is connected to the movable bracket (31) by rotating. 211), the second connector (43) is provided with a second connecting pipe (431) at the end facing away from the rotating end, the second connecting pipe (431) is connected to the first connecting pipe (421) by sliding, the connecting ball (42) is provided with a through hole (432), the through hole (432), the first connecting pipe (421) and the second connecting pipe (431) are combined to form a first flow channel, the second connector (43) is provided with a through hole (2), the through hole (2) is connected to the second connecting pipe (431), and the combination forms a second flow channel.

9. The amphibious photovoltaic power station cleaning robot device according to claim 8 is characterized in that: A first flow guide (213) and a second flow guide (214) are fixed in the telescopic arm (25); a third flow guide (215) is fixed on the first arm (21); the first flow guide (213) has a first flow guide channel (2131) penetrating the first flow guide (213); the second flow guide (214) has a second flow guide channel (2141) penetrating the second flow guide (214); the third flow guide (215) has a third flow guide channel (2151) penetrating the third flow guide (215); and a third flow guide (2151) is provided in the rotating shaft (23). A rotating shaft flow channel (231) is provided, one end of the rotating shaft flow channel (231) passes through the outer wall of the rotating shaft (23), the other end of the rotating shaft flow channel (231) passes through one end surface of the rotating shaft (23), one end of the first flow channel (2131) is connected to the connecting groove (411), the other end of the first flow channel (2131) is connected to the second flow channel (2141) through a hose, one end of the rotating shaft flow channel (231) is connected to the second flow channel (2141), and the other end of the rotating shaft flow channel (231) is connected to the third flow channel (2151).

10. The amphibious photovoltaic power station cleaning robot device according to claim 9, characterized in that: A plurality of flow guiding grooves (4111) are provided in the connection groove (411) with the through hole 1 (432) as the center. The flow guiding grooves (4111) are connected to the through hole 1 (432). An expansion groove (4321) is provided at one end of the through hole 1 (432) facing the connection groove (411).

Images