Photovoltaic panel cross-row cleaning system and method

Abstract

The invention relates to the technical field of photovoltaic panel cleaning, and discloses a photovoltaic panel cross-row cleaning system and method.The photovoltaic panel cross-row cleaning system comprises a connecting rail, a rail transferring device and a photovoltaic panel cleaning robot; the photovoltaic panel cleaning robot can move on the photovoltaic panel to clean the photovoltaic panel; the connecting rail is arranged on the same side of the front-row photovoltaic panel and the rear-row photovoltaic panel, one end of the connecting rail is arranged above the front-row photovoltaic panel, the other end of the connecting rail is arranged above the rear-row photovoltaic panel, and the rail transferring device can move the photovoltaic panel cleaning robot to the rear-row photovoltaic panel from the front-row photovoltaic panel through the connecting rail; the track transfer device can turn the cleaning surface of the photovoltaic panel cleaning robot to face the surface of the photovoltaic panel in the back row; the connecting rails are arranged on the end sides of the front row of photovoltaic panels and the rear row of photovoltaic panels, S-shaped bypassing and row crossing are not needed, the used connecting rails are short, the cost can be effectively reduced, the walking time is short, and the row crossing cleaning efficiency of the photovoltaic panels can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and more specifically, to a photovoltaic panel cross-row cleaning system and a photovoltaic panel cross-row cleaning method. Background Art

[0002] Photovoltaic power generation has achieved unprecedented development with the support of the rapid development of semiconductor technology and production processes. Since photovoltaic panels are installed in vast plains or mountainous areas, they are easily accumulated with the increase of use time, which affects the power generation efficiency of photovoltaic panels. Affected by the geographical environment, manual cleaning is difficult, and photovoltaic panel cleaning robots are usually used to clean photovoltaic panels.

[0003] The invention patent application with application publication number CN114888021A discloses a cleaning device and a cleaning device and a cleaning system and a cleaning method for photovoltaic panels, which are applicable to the field of photovoltaic power generation technology; the technical scheme adopted is: a cleaning device for photovoltaic panels, the photovoltaic panels are fixedly mounted on a photovoltaic panel mounting frame, a main rail and a secondary guide rail are fixedly mounted at the upper and lower ends of the photovoltaic panel mounting plate along the long direction of the photovoltaic panel mounting plate, and a cleaning device is slidably mounted between the main rail and the secondary guide rail through a cleaning device walking mechanism; a photovoltaic panel cleaning system is also disclosed, a main rail guide slide rail for moving the cleaning device from the front group of photovoltaic panels to the rear group of photovoltaic power stations is installed between the main rails of the front and rear groups of photovoltaic panels, and a secondary guide rail guide slide rail is installed between the removal end of the secondary guide rail of the front group of photovoltaic panels and the removal end of the secondary guide rail of the rear group of photovoltaic panels.

[0004] In the above scheme, the main rail is S-shaped and runs between the front and rear rows of photovoltaic panels. The main rail used is relatively long, and the cleaning equipment needs to travel a long distance on the main rail, which takes a long time and affects the cleaning efficiency of the photovoltaic panels. Summary of the invention

[0005] The present invention aims to overcome the defects of the above-mentioned prior art and provides a photovoltaic panel cross-row cleaning system and a photovoltaic panel cross-row cleaning method, which are used to solve the technical problem that the main rail is S-shaped and bypasses between the front and rear rows of photovoltaic panels, and the cleaning equipment needs to travel a long distance on the main rail, which takes a long time and affects the cleaning efficiency of the photovoltaic panels.

[0006] The technical solution adopted by the present invention is a photovoltaic panel cross-row cleaning system, including a connecting rail, a track transfer device and a photovoltaic panel cleaning robot; the photovoltaic panel cleaning robot can move on the photovoltaic panels to clean the photovoltaic panels; the connecting rail is arranged on the same side of the front row of photovoltaic panels and the rear row of photovoltaic panels, one end of the connecting rail is arranged above the front row of photovoltaic panels, and the other end of the connecting rail is arranged above the rear row of photovoltaic panels, and the track transfer device can move the photovoltaic panel cleaning robot from the front row of photovoltaic panels to the rear row of photovoltaic panels through the connecting rail; the track transfer device can turn the cleaning surface of the photovoltaic panel cleaning robot to face the rear row of photovoltaic panels.

[0007] After the photovoltaic panel cleaning robot finishes cleaning the front row of photovoltaic panels, the track transfer device moves the photovoltaic panel cleaning robot from the front row of photovoltaic panels to the rear row of photovoltaic panels through the connecting rail. During the movement, the track transfer device can turn the cleaning surface of the photovoltaic panel cleaning robot to face the rear row of photovoltaic panels, so that after moving to the rear row of photovoltaic panels, the rear row of photovoltaic panels can be cleaned. In this solution, the connecting rails are arranged on the end sides of the front and rear rows of photovoltaic panels, and there is no need to bypass the rows in an S shape. The connecting rails used are shorter, which can effectively reduce costs, and the walking time is short, which can effectively improve the cleaning efficiency of photovoltaic panels across rows.

[0008] Furthermore, a rotating mechanism is installed on the track transfer device for turning the cleaning surface of the photovoltaic panel cleaning robot. When the photovoltaic panel cleaning robot crosses the front and rear photovoltaic panels from the same side, the distance is short, and the length of the connecting rail set up in this way is the shortest. When moving to the rear photovoltaic panels in this way, the cleaning surface of the photovoltaic panel cleaning robot faces away from the rear photovoltaic panels. Therefore, the cleaning surface of the photovoltaic panel cleaning robot is turned by the rotating mechanism so that it can face the surface of the rear photovoltaic panels, thereby achieving cleaning of the rear photovoltaic panels.

[0009] Furthermore, the rotating mechanism includes a rotating shaft and a driving component 3, wherein the rotating shaft is rotatably mounted on the photovoltaic panel cleaning robot, and the driving component 3 is mounted on the photovoltaic panel cleaning robot and is used to drive the rotating shaft to rotate, and one end of the rotating shaft is fixedly connected to the track transfer device. The driving component 3 drives the rotating shaft to rotate, and the rotating shaft drives the track transfer device to rotate. Since the track transfer device is set on the connecting rail and cannot rotate, the photovoltaic panel cleaning robot on which the rotating shaft is mounted rotates, so that the cleaning surface of the photovoltaic panel cleaning robot is reversed.

[0010] Furthermore, guide mechanisms are provided at both ends of the connecting rails, respectively, for driving the photovoltaic panel cleaning robot to rotate to have the same inclination as the photovoltaic panel. When the photovoltaic panel cleaning robot moves onto the photovoltaic panel, it is required to have the same inclination as the photovoltaic panel. By driving the photovoltaic panel cleaning robot to rotate through the guide mechanism, its inclination can be the same as that of the photovoltaic panel, so that it can move smoothly onto the photovoltaic panel.

[0011] Furthermore, the connecting rail has a circular cross section; the guiding mechanism has the same direction as the connecting rail, and the guiding mechanism is a guiding plate, one end of which is butted against the side end of the photovoltaic panel and has the same inclination as the photovoltaic panel, and the other end is in a vertical state, and the photovoltaic panel cleaning robot cooperates with the guiding plate. The connecting rail and the guiding plate with a circular cross section are easy to manufacture and have low cost, and the guiding plate has a strong load capacity, and can be applied to situations where the photovoltaic panel cleaning robot is heavy.

[0012] Furthermore, the guide mechanism is an open groove arranged along the connecting rail, the opening direction of the open groove at the end of the connecting rail is the same as the tilt direction of the photovoltaic panel, the opening direction of the open groove in the middle of the connecting rail is toward the vertical direction, and the track transfer device cooperates with the open groove. The cross section of the connecting rail is rectangular. Compared with the circular cross-section connecting rail, the rectangular connecting rail needs to be provided with an open groove, which is relatively difficult to manufacture and has a small load capacity of the open groove. It is suitable for the case where the photovoltaic panel cleaning robot is light in weight, but its structure is relatively simple and easy to install.

[0013] Furthermore, a positioning mechanism is provided on the connecting rail, and the positioning mechanism includes a positioning synapse and a proximity switch. The positioning synapse is provided on the connecting rail between the two guide mechanisms, and the proximity switch is installed on the track transfer device, and the positioning synapse cooperates with the proximity switch. The positioning mechanism is mainly used to control the timing of the photovoltaic panel cleaning robot turning its cleaning surface. When the track transfer device moves to the middle of the connecting rail, away from the two guide mechanisms, when the proximity switch senses the positioning synapse, the photovoltaic panel cleaning robot is controlled to turn its cleaning surface, which can effectively prevent the photovoltaic panel cleaning robot from interfering with the guide mechanism when rotating.

[0014] Furthermore, the track transfer device includes a main box, a sliding limit wheel and a driving wheel installed on the main box, the sliding limit wheel rollingly cooperates with the connecting rail, and can suspend the main box on the connecting rail, the driving wheel rollingly cooperates with the outer peripheral surface of the connecting rail, and the driving wheel is driven to rotate by a driving structure installed inside the main box. The sliding limit wheel can move on the connecting rail and will not detach from the connecting rail, and can constrain the track transfer device on the connecting rail. The driving wheel provides power to the track transfer device by rotating, so that the track transfer device can move and operate on the connecting rail.

[0015] Furthermore, one end of the connecting rail is parallel to the top edge of the front photovoltaic panel, and the other end of the connecting rail is parallel to the top edge of the rear photovoltaic panel. The end of the connecting rail is arranged to be parallel to the photovoltaic panel, which makes it easier for the photovoltaic panel cleaning robot to move onto the photovoltaic panel surface.

[0016] The present invention also discloses a photovoltaic panel cross-row cleaning method, comprising the following steps:

[0017] S1, after the photovoltaic panel cleaning robot moves and cleans the front row of photovoltaic panels, the photovoltaic panel cleaning robot moves to the end side of the front row of photovoltaic panels, the track transfer device moves the upper connecting rail, the photovoltaic panel cleaning robot detaches from the front row of photovoltaic panels, and under the action of the guide mechanism at one end of the connecting rail, the photovoltaic panel cleaning robot gradually rotates from the inclined direction to the vertical direction;

[0018] S2, turning the cleaning surface of the photovoltaic panel cleaning robot by means of a rotating mechanism so that it can face the surface of the photovoltaic panel in the rear row when moving to the photovoltaic panel in the rear row;

[0019] S3. The track transfer device gradually moves to the guide mechanism at the other end of the connecting rail. Under the guiding action of the guide mechanism at the other end of the connecting rail, the photovoltaic panel cleaning robot gradually rotates from a vertical state to the same inclination as the rear row of photovoltaic panels. The photovoltaic panel cleaning robot moves to the rear row of photovoltaic panels and detaches from the connecting rail to clean the rear row of photovoltaic panels.

[0020] During the crossing process, the cleaning surface of the photovoltaic panel cleaning robot is turned so that it can clean the back row of photovoltaic panels, and can cross from the same side of the front and rear rows of photovoltaic panels. The connecting rail is arranged on the end side of the photovoltaic panel, and the shadow will not fall on the photovoltaic panel, and will not affect the normal operation of the photovoltaic panel. The connecting rail used is short and single-rail, and the cost is low. The photovoltaic panel cleaning robot has a short distance to travel and a short time to cross the rows, which can greatly improve the efficiency of the photovoltaic panel cleaning robot in cleaning the photovoltaic panel array.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] After the photovoltaic panel cleaning robot finishes cleaning the front row of photovoltaic panels, the track transfer device moves the photovoltaic panel cleaning robot from the front row of photovoltaic panels to the rear row of photovoltaic panels through the connecting rail. During the movement, the track transfer device can turn the cleaning surface of the photovoltaic panel cleaning robot to face the rear row of photovoltaic panels, so that after moving to the rear row of photovoltaic panels, the rear row of photovoltaic panels can be cleaned; the connecting rail is arranged on the same side of the front and rear rows of photovoltaic panels, and there is no need to bypass the rows in an S shape. The connecting rail used is shorter, which can effectively reduce costs, and the walking time is short, which can effectively improve the cleaning efficiency of photovoltaic panels across rows. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of the photovoltaic panel cleaning robot during rotation in the first embodiment of the present invention.

[0025] Figure 3 It is a schematic diagram of the structure of the track transfer device in the first embodiment of the present invention.

[0026] Figure 4 It is a schematic diagram of the structure of the cleaning device in the first embodiment of the present invention.

[0027] Figure 5 It is a schematic diagram of the structure of the mobile device in the first embodiment of the present invention.

[0028] Figure 6 It is a schematic structural diagram of the telescopic mechanism and the cleaning mechanism in the first embodiment of the present invention.

[0029] Figure 7 It is a schematic diagram of the overall structure of the second embodiment of the present invention.

[0030] Figure 8 It is a schematic diagram of the structure of the track transfer device in the second embodiment of the present invention.

[0031] In the figure: 1. connecting rail; 2. track transfer device; 3. photovoltaic panel cleaning robot; 4. rotating mechanism; 5. guiding mechanism; 6. positioning mechanism; 7. positioning synapse; 8. proximity switch; 9. main box; 10. sliding limit wheel; 11. driving wheel; 12. spring; 13. auxiliary wheel; 14. moving device; 15. cleaning device; 16. main box; 17. suspension wheel; 18. power wheel; 19. universal wheel; 20. ultrasonic ranging sensor; 21. telescopic mechanism; 22. cleaning mechanism; 23. roller frame; 24. cleaning roller; 25. driving component one; 26. scissors telescopic frame; 27. driving component two; 28. gap; 29. ​​rotating shaft; 30. driving component three; 31. supporting plate. DETAILED DESCRIPTION

[0032] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0033] Embodiment 1

[0034] like Figure 1-6 As shown, the present embodiment discloses a photovoltaic panel cross-row cleaning system, including a connecting rail 1, a track transfer device 2 and a photovoltaic panel cleaning robot 3. The photovoltaic panel cleaning robot 3 can move at the top of the photovoltaic panel to clean the photovoltaic panel. One end of the connecting rail 1 is arranged above one side of the front-row photovoltaic panel, and the other end of the connecting rail 1 is arranged above one side of the rear-row photovoltaic panel. The track transfer device 2 can move the photovoltaic panel cleaning robot 3 from the top of the front-row photovoltaic panel to the top of the rear-row photovoltaic panel through the connecting rail 1, so that the photovoltaic panel cleaning robot 3 can clean the photovoltaic panels across the rows. The track transfer device 2 can turn the cleaning surface of the photovoltaic panel cleaning robot 3 to face the rear-row photovoltaic panel surface.

[0035] The connecting rail 1 is arranged on the same side of the front row of photovoltaic panels and the rear row of photovoltaic panels. When the track transfer device 2 moves the photovoltaic panel cleaning robot from the front row of photovoltaic panels to the rear row of photovoltaic panels, the cleaning surface of the photovoltaic panel cleaning robot 3 can be adjusted from facing the front row of photovoltaic panels to facing the rear row of photovoltaic panels. The cleaning surface of the photovoltaic panel cleaning robot 3 can act on the surface of the photovoltaic panel to contact and clean the photovoltaic panel surface.

[0036] Specifically, a rotating mechanism 4 is installed on the track transfer device 2, which is used to drive the photovoltaic panel cleaning robot 3 to rotate so as to turn the cleaning surface of the photovoltaic panel cleaning robot 3. When the track transfer device 2 moves from the front row of photovoltaic panels to the back row of photovoltaic panels, the rotating mechanism 4 drives the photovoltaic panel cleaning robot 3 to rotate 180 degrees, so that the cleaning surface of the photovoltaic panel cleaning robot 3 is adjusted from facing the front row of photovoltaic panels to facing the back row of photovoltaic panels.

[0037] The connecting rail 1 is in a U-shaped structure, one end of the connecting rail 1 is parallel to the top edge of the front row photovoltaic panel, and the other end of the connecting rail 1 is parallel to the top edge of the rear row photovoltaic panel.

[0038] The connecting rail 1 is provided with guide mechanisms 5 at both ends, respectively, for driving the photovoltaic panel cleaning robot 3 to tilt so that it has the same inclination as the photovoltaic panel, so that the photovoltaic panel cleaning robot 3 can move from the connecting rail 1 to the photovoltaic panel or from the photovoltaic panel to the connecting rail 1. Specifically, the connecting rail 1 has a circular cross section, that is, a circular connecting rail 1; the guide mechanism 5 is a guide plate, which has the same direction as the connecting rail 1, one end of the guide plate is butted against the side end of the photovoltaic panel, and has the same inclination as the photovoltaic panel; it is gradually twisted from one end of the guide plate to the other end, and the other end of the guide plate is in a vertical state.

[0039] It also includes a positioning mechanism 6, which includes a positioning synapse 7 and a proximity switch 8. The positioning synapse 7 is arranged on the connecting rail 1 between the two guide mechanisms 5, and the proximity switch 8 is installed on the track transfer device 2. The positioning synapse 7 cooperates with the proximity switch 8, that is, when the track transfer device 2 moves to the position of the positioning synapse 7, the proximity switch 8 detects the positioning synapse 7, thereby controlling the rotation mechanism 4 to work and drive the photovoltaic panel cleaning robot 3 to rotate 180°, so that the cleaning surface of the photovoltaic panel cleaning robot 3 can be adjusted from facing the front photovoltaic panel surface to facing the rear photovoltaic panel surface.

[0040] The track transfer device 2 can be suspended on the connecting rail 1 and can transport the photovoltaic panel cleaning robot 3 on the connecting rail 1; the track transfer device 2 includes a main box body 9, a sliding limit wheel 10 and a driving wheel 11 installed on the main box body 9, the sliding limit wheel 10 and the connecting rail 1 rolling fit, and the main box body 9 can be suspended on the connecting rail 1, the driving wheel 11 is installed on the main box body 9, and rolling fits with the outer side of the connecting rail 1, and the driving wheel 11 is driven to rotate by the driving structure installed inside the main box body 9 to provide power for the track transfer device 2; a spring 12 is installed on the main box body 9, which is used to push the driving wheel 11 to make it squeeze and fit with the outer side of the connecting rail 1 to provide greater friction and prevent slipping. Specifically, two groups of sliding limit wheels 10 are correspondingly arranged on both sides of the main box body 9, and each group is provided with four. When installed, they are arranged on both sides of the circular connecting rail 1 in pairs. The outer peripheral surface of the sliding limit wheel 10 is an arc surface that matches the outer peripheral surface of the circular connecting rail 1; the main box body 9 is also provided with an auxiliary wheel 13, and the auxiliary wheel 13 rolls with the outer surface of the circular connecting rail 1. The auxiliary wheel 13 and the main box body 9 are respectively located on the opposite sides of the connecting rail 1, and two auxiliary wheels 13 are provided and buckled on the connecting rail 1 in an eight-shaped shape.

[0041] The photovoltaic panel cleaning robot 3 includes a moving device 14 and a cleaning device 15. The moving device 14 includes a main box 16, a suspension wheel 17, and a power wheel 18. The suspension wheel 17 is fixed on the top of the main box 16, and two are respectively arranged on both sides of the main box 16, and roll with the top edge of the photovoltaic panel. Two power wheels 18 are respectively installed on both sides of the main box 16, and the power wheels 18 roll with the photovoltaic panel surface. A driving structure for driving the power wheels 18 to rotate is arranged in the main box 16. The driving structure for driving the driving wheel 11 to rotate and the driving structure for driving the power wheels 18 to rotate can both use a reduction motor, a servo motor, etc.

[0042] The photovoltaic panel cleaning robot 3 also includes an ultrasonic distance measuring sensor 20. Two ultrasonic distance measuring sensors 20 are installed on both sides of the main box 16. The ultrasonic distance measuring sensors 20 are used to detect the surrounding environment to prevent the robot from falling due to the lack of photovoltaic panels or reaching the edge.

[0043] The cleaning device 15 includes a telescopic mechanism 21 and a cleaning mechanism 22. The telescopic mechanism 21 is mounted on the main box 16, and the cleaning mechanism 22 is mounted on the telescopic mechanism 21. The telescopic mechanism 21 is used to drive the cleaning mechanism 22 to move along the width direction of the photovoltaic panel surface.

[0044] The cleaning mechanism 22 includes a roller frame 23, a cleaning roller 24 and a driving component 25. The cleaning roller 24 is rotatably mounted on the roller frame 23. The cleaning rollers 24 are arranged in parallel on the roller frame 23 along the length direction of the roller frame 23 (that is, the width direction of the photovoltaic panel). The surface formed by the movement of the cleaning rollers 24 when cleaning the photovoltaic panel surface is the cleaning surface. A plurality of cleaning rollers 24 can be arranged, and three are taken as an example in the figure. The driving component 25 is arranged on the roller frame 23 in a one-to-one correspondence with the cleaning rollers 24, and is used to drive the corresponding cleaning rollers 24 to rotate. The driving component 25 can select a reduction motor, a servo motor, etc.

[0045] The telescopic mechanism 21 includes a scissors-type telescopic frame 26 and a second driving component 27. The scissors-type telescopic frame 26 has two ends, namely a first end and a second end. The first end of the scissors-type telescopic frame 26 is connected to the main box 16, and the second end of the scissors-type telescopic frame 26 is connected to the roller frame 23. The second driving component 27 is used to drive the scissors-type telescopic frame 26 to extend and retract.

[0046] Each end of the scissors-type telescopic frame 26 has two connecting ends, namely a fixed end and a movable end. The length of the scissors-type telescopic frame 26 can be changed by changing the distance between the fixed end and the movable end. The fixed end of the first end of the scissors-type telescopic frame 26 is fixedly connected to the main box 16, and the movable end is slidably connected to the main box 16. The second driving component 27 is installed in the main box 16, and is used to drive the movable end of the first end of the scissors-type telescopic frame 26 to slide relative to the fixed end; the fixed end of the second end of the scissors-type telescopic frame 26 is fixedly connected to the roller frame 23, and the movable end of the second end of the scissors-type telescopic frame 26 is slidably connected to the roller frame 23; the second driving component 27 can select the electric telescopic rod, motor, screw and slider and other linear drive structures in the prior art. Figure 5 Taking the lead screw and slider as an example, the slider is threadedly connected to the lead screw, and the sliding end of the first end of the scissors-type telescopic frame 26 is fixedly connected to the slider. The lead screw is driven to rotate by a motor to drive the slider to slide. The slider drives the sliding end of the first end of the scissors-type telescopic frame 26 to move, thereby realizing the telescopic control of the scissors-type telescopic frame 26.

[0047] When the power wheels 18 on both sides are in contact with the photovoltaic panel surface, there is a gap 28 between the main box 16 and the photovoltaic panel. This gap 28 allows the cleaning roller 24 close to the main box 16 to pass through, so as to clean the top edge of the photovoltaic panel.

[0048] Universal wheels 19 are mounted on the roller frame 23 and roll with the photovoltaic panel to support the roller frame 23 so that the cleaning roller 24 has a suitable cleaning distance from the photovoltaic panel to improve the cleaning quality.

[0049] The rotating mechanism 4 includes a rotating shaft 29 and a driving component 3 30. The rotating shaft 29 is rotatably mounted on the photovoltaic panel cleaning robot 3. The driving component 3 30 is mounted on the photovoltaic panel cleaning robot 3 and is used to drive the rotating shaft 29 to rotate. One end of the rotating shaft 29 is fixedly connected to the track transfer device 2. Specifically, a supporting plate 31 is fixed on the main box 9 of the track transfer device 2. One end of the rotating shaft 29 is fixedly connected to the supporting plate 31. The rotating shaft 29 is rotatably mounted on the main box 16 of the mobile device 14. The driving component 3 30 is mounted in the main box 16 of the mobile device 14 and is used to drive the rotating shaft 29 to rotate. The driving component 3 30 can be a reduction motor, a servo motor, etc. The rotating mechanism 4 can also be other mechanical structures that can drive the photovoltaic panel cleaning robot 3 to rotate relative to the track transfer device 2. For example, the photovoltaic panel cleaning robot 3 can be connected to the track transfer device 2 by a shaft pin, and the photovoltaic panel cleaning robot 3 and the track transfer device 2 can be rotated relative to each other by a worm gear mechanism or a gear ring mechanism, which belongs to the technology well known to those skilled in the art and will not be described in detail here.

[0050] Instructions for use: The specific cleaning steps are as follows: First, the photovoltaic panel cleaning robot 3 moves and cleans the front photovoltaic panels. The photovoltaic panel cleaning robot 3 is suspended on the top edge of the front photovoltaic panels by the suspension wheel 17 and can move. The power wheel 18 provides power to move left and right on the photovoltaic panels. At the same time, the three driving components 1 25 drive the three cleaning rollers 24 to rotate to clean the photovoltaic panels. While moving left and right for cleaning, the driving component 2 27 drives the scissor telescopic frame 26 to telescope so that the cleaning rollers 24 move along the width direction of the photovoltaic panels, thereby completing the cleaning of the entire panel surface of the front photovoltaic panels;

[0051] S1. After cleaning is completed, the power wheel 18 provides power to move the photovoltaic panel cleaning robot 3 to the end side of the photovoltaic panel, and the circular connecting rail 1 just extends between the two opposing sliding limit wheels 10. At the same time, the two auxiliary wheels 13 are in contact with the circular connecting rail 1, and the driving wheel 11 is in contact with the circular connecting rail 1. The driving wheel 11 rolls on the side of the connecting rail 1 to provide power, so that the track transfer device 2 drives the photovoltaic panel cleaning robot 3 to move on the connecting rail 1. At the same time, the power wheel 18 and the guide plate are in rolling cooperation, that is, the photovoltaic panel cleaning robot 3 cooperates with the guide plate. Under the action of the guide plate, as it moves, the photovoltaic panel cleaning robot 3 detaches from the front row of photovoltaic panels, and gradually rotates from the inclined direction to the vertical direction under the action of the guide plate at one end of the connecting rail 1;

[0052] S2, when it moves to the proximity switch 8 and is opposite to the positioning synapse 7, the driving component 30 drives the rotating shaft 29 to rotate, so that the moving device 14 and the cleaning device 15 rotate, so as to turn the cleaning surface of the photovoltaic panel cleaning robot 3, so that it can face the surface of the photovoltaic panel in the rear row when it moves to the rear photovoltaic panel, and the photovoltaic panel cleaning robot 3 stops when the cleaning surface rotates 180°. This rotation action can be performed while the track transfer device 2 moves on the connecting rail 1;

[0053] S3. As the track transfer device 2 moves, the power wheel 18 gradually moves to the guide plate on the end side of the next row of photovoltaic panels. Under the action of the guide plate, as the movement progresses, the moving device 14 and the cleaning device 15 gradually rotate to the same inclination as the photovoltaic panels in the next row, and move to the photovoltaic panels in the next row. The track transfer device 2 detaches from the circular cross-section connecting rail 1, and the photovoltaic panel cleaning robot 3 is suspended on the top edge of the photovoltaic panels in the next row by the suspension wheel 17 to complete the cross-row. After that, the power wheel 18 provides power to move left and right on the photovoltaic panels in the next row. At the same time, the driving component 1 25 drives the cleaning roller 24 to rotate, and the driving component 2 27 drives the scissors telescopic frame 26 to telescope to make the cleaning roller 24 move along the width direction of the photovoltaic panel, thereby completing the cleaning of the entire panel surface of the next row of photovoltaic panels.

[0054] Embodiment 2

[0055] like Figure 7 and 8 The difference between this embodiment and the first embodiment is that, in this embodiment, the cross-section of the connecting rail 1 is rectangular, and the guide mechanism 5 is an open groove arranged along the connecting rail 1. The opening direction of the opening groove close to the photovoltaic panel is the same as the inclination direction of the photovoltaic panel, and gradually away from the photovoltaic panel, the opening direction of the opening groove gradually becomes vertical, that is, the opening direction of the opening groove in the middle of the connecting rail 1 is toward the vertical direction, and the entire connecting rail 1 is in a twisted state; the opening groove can also be designed as a two-stage structure similar to the guide plate, and the track transfer device 2 changes its inclination degree through the direction of the opening of the opening groove, thereby changing the inclination degree of the cleaning surface of the photovoltaic panel cleaning robot 3.

[0056] The track transfer device 2 includes a main box body 9, a sliding limit wheel 10 installed on the main box body 9, and a driving wheel 11. The sliding limit wheel 10 rolls with the connecting rail 1 and is used to suspend the main box body 9 on the connecting rail 1; the driving wheel 11 is installed on the main box body 9 and rolls with the outer side of the connecting rail 1. A spring 12 is installed on the main box body 9 to push the driving wheel 11 to make it close to the surface of the connecting rail 1. The spring 12 can make the power wheel 18 always contact the outer side of the connecting rail 1 and form an extrusion fit with the outer side of the connecting rail 1 to provide greater friction and prevent slipping.

[0057] The track transfer device 2 cooperates with the open groove. Specifically, in this embodiment, the sliding limit wheel 10 is arranged in the open groove and is connected to the main box body 9 through an axle body. The sliding limit wheel 10 rolls with the inner side of the open groove of the connecting rail 1. Two groups of sliding limit wheels 10 are correspondingly arranged on both sides of the main box body 9, and each group has two.

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A photovoltaic panel cross-row cleaning system, characterized in that: It comprises a connecting rail (1), a rail transfer device (2) and a photovoltaic panel cleaning robot (3); The photovoltaic panel cleaning robot (3) can move on the photovoltaic panels to clean the photovoltaic panels; the connecting rail (1) is arranged on the same side of the front photovoltaic panels and the rear photovoltaic panels, one end of the connecting rail (1) is arranged above the front photovoltaic panels, and the other end of the connecting rail (1) is arranged above the rear photovoltaic panels; the track transfer device (2) can move the photovoltaic panel cleaning robot (3) from the front photovoltaic panels to the rear photovoltaic panels via the connecting rail (1); the track transfer device (2) can turn the cleaning surface of the photovoltaic panel cleaning robot (3) to face the rear photovoltaic panel surface.

2. A photovoltaic panel cross-row cleaning system according to claim 1, characterized in that: The track transfer device (2) is provided with a rotating mechanism (4) for rotating the cleaning surface of the photovoltaic panel cleaning robot (3).

3. A photovoltaic panel cross-row cleaning system according to claim 2, characterized in that: The rotating mechanism (4) comprises a rotating shaft (29) and a driving component three (30), wherein the rotating shaft (29) is rotatably mounted on the photovoltaic panel cleaning robot (3), and the driving component three (30) is mounted on the photovoltaic panel cleaning robot (3) and is used to drive the rotating shaft (29) to rotate, and one end of the rotating shaft (29) is fixedly connected to the track transfer device (2).

4. A photovoltaic panel cross-row cleaning system according to claim 2, characterized in that: The two ends of the connecting rail (1) are respectively provided with guide mechanisms (5), and the guide mechanisms (5) can make the inclination of the cleaning surface of the photovoltaic panel cleaning robot (3) the same as the inclination of the photovoltaic panel.

5. A photovoltaic panel cross-row cleaning system according to claim 4, characterized in that: The connecting rail (1) has a circular cross-section; the guiding mechanism (5) has the same orientation as the connecting rail (1); the guiding mechanism (5) is a guiding plate, one end of which is butted against the side end of the photovoltaic panel and has the same inclination as the photovoltaic panel, and the other end is in a vertical state; the photovoltaic panel cleaning robot (3) cooperates with the guiding plate.

6. A photovoltaic panel cross-row cleaning system according to claim 4, characterized in that: The guide mechanism (5) is an open groove arranged along the connecting rail (1); the opening direction of the open groove at the end of the connecting rail (1) is the same as the inclination direction of the photovoltaic panel; the opening direction of the open groove in the middle of the connecting rail (1) is toward the vertical direction; and the track transfer device (2) cooperates with the open groove.

7. A photovoltaic panel cross-row cleaning system according to claim 4, characterized in that: The connecting rail (1) is provided with a positioning mechanism (6), the positioning mechanism (6) comprising a positioning synapse (7) and a proximity switch (8), the positioning synapse (7) being provided on the connecting rail (1) between the two guide mechanisms (5), the proximity switch (8) being installed on the track transfer device (2), and the positioning synapse (7) and the proximity switch (8) being matched.

8. A photovoltaic panel cross-row cleaning system according to any one of claims 1 to 7, characterized in that: The track transfer device (2) comprises a main box (9), a sliding limit wheel (10) and a driving wheel (11) installed on the main box (9); the sliding limit wheel (10) is in rolling cooperation with the connecting rail (1) and can suspend the main box (9) on the connecting rail (1); the driving wheel (11) is in rolling cooperation with the outer peripheral surface of the connecting rail (1), and the driving wheel (11) is driven to rotate by a driving structure installed inside the main box (9).

9. A photovoltaic panel cross-row cleaning system according to any one of claims 1 to 7, characterized in that: One end of the connecting rail (1) is parallel to the top edge of the front row photovoltaic panel, and the other end of the connecting rail (1) is parallel to the top edge of the rear row photovoltaic panel.

10. A photovoltaic panel cross-row cleaning method, comprising a photovoltaic panel cross-row cleaning system according to any one of claims 4 to 7, characterized in that: The steps include: S1, after the photovoltaic panel cleaning robot (3) has finished moving and cleaning the front row of photovoltaic panels, the photovoltaic panel cleaning robot (3) moves to the end side of the front row of photovoltaic panels, and the track transfer device (2) moves the upper connecting rail (1) to make the photovoltaic panel cleaning robot (3) detach from the front row of photovoltaic panels, and under the action of the guide mechanism (5) at one end of the connecting rail (1), the photovoltaic panel cleaning robot (3) gradually rotates from the inclined direction to the vertical direction; S2, rotating the cleaning surface of the photovoltaic panel cleaning robot (3) by means of a rotating mechanism (4) so ​​that the cleaning surface of the photovoltaic panel cleaning robot (3) is directed toward the surface of the photovoltaic panel in the rear row when the cleaning surface moves to the photovoltaic panel in the rear row; S3, the track transfer device (2) gradually moves to the guide mechanism (5) at the other end of the connecting rail (1), and under the guidance of the guide mechanism (5) at the other end of the connecting rail (1), the photovoltaic panel cleaning robot (3) gradually rotates from a vertical state to the same inclination as the rear photovoltaic panels, and the photovoltaic panel cleaning robot (3) moves to the rear row of photovoltaic panels and detaches from the connecting rail (1) to clean the rear photovoltaic panels.

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