Multifunctional cleaning robot for photovoltaic power station in complex region

Abstract

The invention discloses a multifunctional cleaning robot for a photovoltaic power station in a complex region, and belongs to the intelligent robot industry. The robot comprises a multi-degree-of-freedom mechanical arm, a mechanical arm compensation mechanism, a snow and ice removing mechanism, a multifunctional cleaning mechanism, a photovoltaic plate clamping mechanism, a storage and navigation module, a crawler-type vehicle and a robot balance mechanism. The adopted multi-degree-of-freedom mechanical arm can accurately adjust the needed mechanical arm length, and the problem that an existing cleaning robot mechanical arm needs to be customized according to different photovoltaic occasions and is not flexible is solved; by adopting the mechanical arm compensation mechanism, the photovoltaic panel clamping mechanism and the robot balance mechanism, deviation caused by machine body shaking in the operation process of the cleaning robot can be avoided, so that the multifunctional cleaning mechanism works stably, and the problems that a brush head shakes to scratch and crush a photovoltaic panel due to robot body shaking are solved; and the snow and ice removing mechanism can sweep accumulated snow to prevent the photovoltaic panel from being crushed by too much accumulated snow, meanwhile, the power generation efficiency is improved, and the problem that the function of the cleaning robot is single is solved.

Description

Technical Field

[0001] The present invention relates to the field of high-end intelligent equipment in the photovoltaic industry, and in particular to a multifunctional cleaning robot for photovoltaic power stations in complex areas. Background Art

[0002] With the depletion and price increase of traditional energy, photovoltaic power generation is becoming an increasingly economical form of electricity with its cost reduction advantage. By using solar energy to generate electricity, it can significantly reduce dependence on traditional fossil energy, thereby reducing the emission of greenhouse gases such as carbon dioxide. The development of the photovoltaic industry is in line with the principle of sustainable development. By using renewable energy, it can provide society with sustainable energy solutions while reducing the impact on the environment.

[0003] There are three types of existing photovoltaic panel cleaning robots: crawler type, wall-mounted type, and vehicle-mounted type. Through research, it is found that there are many problems with existing photovoltaic panel cleaning robots, mainly as follows:

[0004] 1. The existing cleaning robots in the industry are of single types and functions. Different photovoltaic power stations need to customize the length of the cleaning robot's mechanical arm according to their photovoltaic panel installation parameters and the working and moving space of the cleaning robot, which greatly increases the cost of the cleaning robot and the cost of photovoltaic panel cleaning.

[0005] 2. When the existing cleaning robot is working, if there are potholes on the ground, the robot body will shake violently or even overturn during the operation, causing the brush head to shake violently, thereby causing the cleaning device to crush or scratch the photovoltaic panel.

[0006] 3. Most of the existing cleaning robots do not have multiple functions. The winter snowfall in Northwest my country is heavy and lasts for a long time. The accumulated snow will cause the photovoltaic panels to have low power generation efficiency, and even damage will occur when the pressure is too high.

[0007] Therefore, in order to effectively solve the shortcomings of the existing vehicle-mounted photovoltaic panel cleaning robot during work, it is urgent to invent a new vehicle-mounted photovoltaic panel cleaning robot to meet the changes in the working conditions of the cleaning robot. It is necessary to flexibly and quickly adjust the length and height of the cleaning robot's mechanical arm, control the working stability of the cleaning device, and increase the functions of the cleaning robot to meet the changing working environment, so as to achieve the purpose of safely and efficiently completing the cleaning of photovoltaic panels. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a multifunctional cleaning robot for photovoltaic power stations in complex areas. The telescopic mechanical arm, the adjustment mechanical arm, the mechanical arm, the telescopic rod, the rack, the gear, etc. are used to cooperate with each other, so that the gear rolls on the rack to achieve the function of accurately adjusting the length of the mechanical arm. The limited telescopic rod, the ball hinge rod, the ball hinge cover, the ball hinge seat, the height absorption rod, etc. are used to cooperate with each other, and the movement of the ball hinge rod and the height absorption rod is adjusted to achieve the function of avoiding the deviation and shaking of the mechanical arm so that the multifunctional cleaning mechanism can work stably on the photovoltaic panel; the load-bearing wheel is used, the stable motor, the fixed bending rod, and the stabilizing wheel cooperate with each other to achieve the function of making the multifunctional cleaning mechanism stably placed on the photovoltaic panel to work; the balance ball hinge head, the balance ball hinge cover, and the balance ball hinge seat cooperate with each other to achieve the function of keeping the bottom plate always balanced. The displacement gear, the displacement rack, the parts fixing frame, and the snow and ice removal rubber cooperate with each other to achieve the function of snow and ice removal.

[0009] The object of the present invention is achieved through the following technical solutions: a multifunctional cleaning robot for photovoltaic power stations in complex areas, characterized in that it includes a multi-degree-of-freedom mechanical arm, a mechanical arm compensation mechanism, a snow sweeping device, a multifunctional cleaning mechanism, a photovoltaic panel locking mechanism, a storage and navigation module, a crawler vehicle, and a robot balancing mechanism;

[0010] The snow and ice removal mechanism is connected to the multifunctional cleaning mechanism through threads, the photovoltaic panel clamping mechanism is fixed to both sides of the multifunctional cleaning mechanism through threads, the multifunctional cleaning mechanism is connected to the mechanical arm compensation mechanism through threads, the mechanical arm compensation mechanism is connected to the multi-degree-of-freedom mechanical arm through threads, the multi-degree-of-freedom mechanical arm is fixed above the storage and navigation module through threads, the storage and navigation module is placed on the upper part of the crawler vehicle through threads, and the crawler vehicle is connected to the robot balancing mechanism through a balancing ball hinge;

[0011] The multi-degree-of-freedom mechanical arm is provided with a telescopic mechanical arm, a telescopic control motor, an adjustment mechanical arm, a mechanical arm, an adjustment stabilizing rod, a telescopic rod, an adjustment control motor, a rack, a gear, a gear mounting plate, and a mechanical arm connected to the telescopic rod. The telescopic mechanical arm is matched with the inside of the adjustment mechanical arm, the adjustment mechanical arm is mounted on the upper side of the mechanical arm, the adjustment control motor is mounted on the side of the mechanical arm, the telescopic rod is mounted on the adjustment control motor and is connected with the adjustment stabilizing rod, the gear is fixedly mounted on the gear mounting plate, the gear mounting plate is mounted on the telescopic mechanical arm, the rack is fixed inside the adjustment mechanical arm, the telescopic control motor is installed inside the whole mechanical arm, and the mechanical arm is connected to the telescopic rod and is connected with the telescopic control motor and is fixed on the telescopic mechanical arm;

[0012] The mechanical arm compensation mechanism is provided with a limit motor, a limit telescopic rod, a ball hinge rod, a ball hinge cover, a ball hinge seat, a height adjustment motor, a connecting ring, and a height absorption rod. The limit motor is fixed to the lower part of the telescopic mechanical arm and is evenly distributed on both sides of the ball hinge rod. The limit telescopic rod is matched with the inner side of the limit motor. The upper part of the ball hinge rod is connected to the telescopic mechanical arm and the lower part is located in the ball hinge seat. The ball hinge cover is connected to the ball hinge seat through a thread. The ball hinge seat is fixed above the height adjustment motor. The connecting ring is installed on the inner side below the height adjustment motor. The height absorption rod is installed between the two connecting rings.

[0013] The snow and ice removal mechanism is provided with a displacement rack, a power shaft, a displacement gear, a parts fixing frame, and a snow and ice removal rubber. The parts fixing frame is installed on the brush head housing, two displacement racks are fixed on the inner sides of the parts fixing frame, the displacement gear is meshed with the displacement rack, the power shaft cooperates with the displacement gear, and the snow and ice removal rubber is installed at the bottom of the parts fixing frame;

[0014] The multifunctional cleaning mechanism is provided with a brush head shell, a roller brush, a load-bearing wheel, a stabilizing shaft, and a visual sensor. The brush head shell is installed below the height absorption rod, the roller brush is installed inside the brush head shell, the load-bearing wheel is installed on the stabilizing shaft, the stabilizing shaft is installed at both ends of the inner side of the brush head shell, and the visual sensor is installed on both sides of the short side of the brush head shell;

[0015] The photovoltaic panel clamping mechanism is provided with a stabilizing motor, a fixed curved rod, and a stabilizing wheel. The stabilizing motor is installed outside the two sides of the brush head housing, the fixed curved rod is connected to the stabilizing motor, and the stabilizing wheel is installed on the fixed curved rod;

[0016] The storage and navigation module is provided with a water tank, a vehicle body, and a switch. The water tank is installed inside the vehicle body, the switch is installed at the rear of the vehicle body, and the camera is installed at the rear of the vehicle body.

[0017] The crawler-type vehicle is provided with a crawler, a crawler mounting plate, and a power motor, wherein the crawler is mounted outside the crawler mounting plate, and the power motor is mounted on the crawler mounting plate;

[0018] The robot balancing mechanism is provided with a bottom plate, a balancer, a balancing ball joint head, a balancing ball joint cover, and a balancing ball joint seat. The balancer is mounted on the bottom plate, the balancing ball joint head is fixed to the bottom plate, the balancing ball joint head cooperates with the balancing ball joint seat, the balancing ball joint cover is fixed above the balancing ball joint seat, and the balancing ball joint seat is fixed to the inner side of the track mounting plate;

[0019] The telescopic mechanical arm is provided with a threaded connection hole, the adjustment mechanical arm is provided with a mechanical arm mounting hole and an adjustment rod mounting hole, the gear mounting plate is provided with a gear fixing hole and a fixing hole, the ball hinge rod is fixedly connected to the telescopic mechanical arm through the threaded connection hole, the mechanical arm is fixedly connected to the adjustment mechanical arm through the mechanical arm mounting hole, and the adjustment stabilizing rod is fixedly connected to the adjustment mechanical arm through the adjustment rod mounting hole;

[0020] The ball hinge rod is provided with a mounting hole and a ball head, the ball hinge cover is provided with a threaded mounting hole, a ball head extending out, and a telescopic rod fixing hole, the ball hinge seat is provided with a threaded fixing hole, a telescopic rod matching hole, a ball head matching hole, and a hinge seat mounting hole, the telescopic mechanical forearm is fixedly connected through the mounting hole, the ball head is matched with the ball head matching hole, the threaded mounting hole is connected and fixed with the threaded fixing hole, and the limit motor is matched and stabilized through the telescopic rod matching hole;

[0021] The parts fixing frame is provided with a rubber fixing hole, a rack fixing hole, and a rubber snap-in groove. The snow and ice removal rubber is fixedly connected through the rubber fixing hole and the snow and ice removal rubber is firmly matched through the rubber snap-in groove and the snow and ice removal rubber is fixedly connected through the rubber fixing hole. The displacement rack is fixedly connected to the parts fixing frame through the rack fixing hole.

[0022] The brush head shell is provided with a flexible device mounting hole, and the height absorption rod is fixedly connected to the brush head shell through the flexible device mounting hole;

[0023] The fixed bent rod is provided with a stabilizing motor matching hole and a stabilizing wheel connecting rod, the stabilizing motor is connected through the stabilizing motor matching hole, and the stabilizing wheel is fixedly connected through the stabilizing wheel connecting rod;

[0024] The balancing ball joint head is provided with a connecting and mounting shaft and a limit pin, the balancing ball joint cover is provided with a fixing hole, a ball joint cover limit pin matching hole, and a ball head matching hole, the balancing ball joint seat is provided with a ball joint cover fixing hole, a ball joint seat limit pin matching hole, and a ball joint seat mounting hole, the bottom plate is fixedly connected to the balancing ball joint head through a connecting and mounting shaft, the limit pin is matched through the ball joint cover limit pin matching hole and the ball joint seat limit pin matching hole, the balancing ball joint cover is fixedly connected to the balancing ball joint seat through the fixing hole, the balancing ball joint head is matched through the ball head matching hole, the balancing ball joint cover is fixedly connected to the balancing ball joint seat through the ball joint cover fixing hole, and the balancing ball joint seat is fixedly connected to the track mounting plate through the ball joint seat mounting hole;

[0025] The working process includes the following steps:

[0026] S1: Preparation before cleaning:

[0027] S11: Adjust the appropriate height of the robot arm according to the installation height of the photovoltaic panel to be cleaned, and the adjustment control motor controls the telescopic rod to extend and retract, and drives the adjustment stabilizing rod to drive the adjustment robot arm to move up and down, thereby adjusting the height of the robot arm;

[0028] S12: The length of the robot arm is adjusted according to the space of the photovoltaic panel cleaning site, so as to have better flexibility and adaptability during work. The telescopic control motor controls the robot arm to connect the telescopic rod to extend and retract, driving the gear to roll on the rack to adjust the appropriate length of the robot arm;

[0029] S13: Before the cleaning robot starts to clean the photovoltaic panel, two limit motors control two limit telescopic rods to clamp into the telescopic rod matching holes on both sides of the ball hinge seat to limit the movement of the ball head of the ball hinge rod, and the height adjustment motor drives the connecting ring clamp to clamp the height absorption rod to make the robot arm compensation mechanism rigid, so as to adjust the inclination angle of the brush head housing to match the installation angle of the photovoltaic panel to be cleaned according to the installation angle of the photovoltaic panel to be cleaned;

[0030] S13: The visual sensor detects the distance between the four load-bearing wheels and the edge of the photovoltaic panel, and the telescopic control motor controls the mechanical arm connected to the telescopic rod to extend and retract, driving the gear to roll on the rack, and slightly adjusting the overall length of the mechanical arm so that the four load-bearing wheels all fall on the edge of the photovoltaic panel. The adjustment control motor controls the telescopic rod to extend and drive the adjustment mechanical arm to move downward, and the brush head shell is slowly lowered to the four load-bearing wheels and placed on the photovoltaic panel. Then, the four stabilizing motors tighten the four fixed curved rods inward so that the four stabilizing wheels clamp the side edge of the photovoltaic panel, so that the multi-functional cleaning mechanism is stably placed on the photovoltaic panel;

[0031] S14: The power shaft drives the displacement gear to rotate, thereby driving the displacement rack fixed on the parts fixing frame to move so that the snow and ice removal rubber contacts the photovoltaic panel; (if snow and ice removal is not required, skip step S14):

[0032] S2: operation of the cleaning robot;

[0033] S21: When the cleaning robot is working, two limit motors control two limit telescopic rods to withdraw from the telescopic rod matching holes on both sides of the ball hinge seat so that the ball head of the ball hinge rod can move freely to absorb the deviation caused by the shaking during the operation of the robot. The height adjustment motor stops working to make the connecting ring relax the height absorption rod so that the robot arm compensation mechanism becomes flexible, and the height absorption rod can absorb the height distance during the operation of the cleaning robot;

[0034] S22: The balancing ball joint head, the balancing ball joint cover and the balancing ball joint seat form a balancing ball joint. The balancer can counterweight the cleaning robot so that the center of gravity of the cleaning robot remains unchanged. When the cleaning robot is running on a rough road, the limit pin of the balancing ball joint head can rotate in the Z plane within the matching space formed by the ball joint cover limit pin matching hole of the balancing ball joint cover and the ball joint seat limit pin matching hole of the balancing ball joint seat so that the bottom plate always keeps balance.

[0035] S23: During the operation of the cleaning robot, the vehicle body moves, and the multifunctional cleaning mechanism is dragged by the mechanical telescopic mechanical arm to operate stably on the photovoltaic panel.

[0036] The beneficial effects of the present invention are:

[0037] 1. The cleaning robot can adjust the height and working space of the robotic arm according to different photovoltaic occasions during operation to ensure the normal operation of the cleaning robot, effectively avoiding the disadvantage that the existing cleaning robot needs to be customized according to the installation specifications of photovoltaic panels in different photovoltaic sites, and reducing the manufacturing cost and the cost of cleaning photovoltaic panels.

[0038] 2. The robot can offset the vibration of the robot arm caused by road conditions during operation, ensuring that the robot's multifunctional cleaning mechanism remains stable during operation, effectively preventing the cleaning brush head from shaking and scratching or damaging the photovoltaic panels.

[0039] 3. The snow and ice removal functions of photovoltaic panels are realized, which effectively reduces the situation where photovoltaic panels have low power generation efficiency or are damaged due to excessive snow accumulation, effectively increases the power generation efficiency of photovoltaic panels during winter snowfall, and effectively reduces the risk of damage to photovoltaic panels.

[0040] 4. The multifunctional cleaning mechanism of the cleaning robot can be dragged by the cleaning robot body and work steadily on the photovoltaic panel, which greatly improves the cleaning efficiency of the photovoltaic panel and the energy consumption during the cleaning process.

[0041] 5. The chassis of the cleaning robot is kept stable when it is working, effectively avoiding the overturning caused by road conditions when the cleaning robot is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the appearance and device layout of the present invention;

[0043] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0044] Figure 3 Schematic diagram of the internal structure of a multi-degree-of-freedom robotic arm;

[0045] Figure 4 Schematic diagram of the characteristics of the gear mounting plate parts;

[0046] Figure 5 Schematic diagram of the structure of the robot arm compensation mechanism;

[0047] Figure 6 Schematic diagram of the characteristics of the flexible ball hinge parts;

[0048] Figure 7 Schematic diagram of the characteristics of the flexible ball hinge cover parts;

[0049] Figure 8 Schematic diagram of the characteristics of the flexible ball joint seat parts;

[0050] Fig. 9 Brush head housing parts layout (left view);

[0051] Fig.10 Brush head housing parts layout (bottom view);

[0052] Fig.11 Schematic diagram of the characteristics of the snowplow parts fixing frame parts;

[0053] Fig.12 Schematic diagram of the characteristics of the stable bending rod parts;

[0054] Fig.13 Schematic diagram of the connection between the balancing device and the chassis;

[0055] Fig.14 Schematic diagram of the structural characteristics of the balanced ball hinge;

[0056] Fig.15 Schematic diagram of the characteristics of the balancing ball hinge parts;

[0057] Fig.16 Schematic diagram of the characteristics of the balancing ball hinge cover parts;

[0058] Fig.17 Schematic diagram of the characteristics of the balancing ball joint seat parts;

[0059] In the figure, 1. Multi-DOF robotic arm; 101. Telescopic robotic arm; 101-1. Threaded connection hole; 102. Telescopic control motor; 103. Adjustment of robotic arm; 103-1. Mechanical arm mounting hole; 103-2. Adjustment rod mounting hole; 104. Mechanical arm; 105. Adjustment of stabilizing rod; 106. Telescopic rod; 107. Adjustment of control motor; 108. Rack; 109. Gear; 110. Gear mounting plate 1010-1. Gear fixing hole; 1010-2. Fixing hole; 1011. Robotic arm connected to telescopic rod; 2. Robotic arm compensation mechanism; 201. Limiting motor; 2 02, limited telescopic rod; 203, ball hinge rod; 203-1, mounting hole; 203-2, ball head; 204, ball hinge cover; 204-1, threaded mounting hole; 204-2, ball head extension hole; 204-3, telescopic rod fixing hole; 205, ball hinge seat; 205-1 threaded fixing hole; 205-2, telescopic rod matching hole; 205-3, ball head matching hole; 205-4, hinge seat mounting hole; 206, height adjustment motor; 207, connecting ring; 208, height absorption rod; 3, snow and ice removal mechanism; 301, displacement rack; 302, power shaft; 303 displacement gear; 3 04. Parts fixing frame; 304-1. Rubber fixing hole; 304-2. Rack fixing hole; 304-3. Rubber snap-in slot; 305. Snow and ice removal rubber; 4. Multifunctional cleaning mechanism; 401. Brush head shell; 401-1. Flexible device mounting hole; 402. Roller brush; 403. Load-bearing wheel; 404. Stable shaft; 405. Visual sensor; 5. Photovoltaic panel snap-in mechanism; 501. Stable motor; 502. Fixed bending rod; 502-1. Stable motor matching hole; 502-2. Stable wheel connecting rod; 503. Stable wheel; 6. Storage and navigation module; 601. Water tank; 6 02. Vehicle body; 603. Switch; 7. Crawler vehicle; 701. Track; 702. Track mounting plate; 703. Power motor; 8. Robot balancing mechanism; 801. Base plate; 802. Balancer; 803. Balancing ball joint head; 803-1. Connecting mounting shaft; 803-2. Limit pin; 804. Balancing ball joint cover; 804-1. Fixing hole; 804-2. Ball joint cover limit pin matching hole; 804-3. Ball head matching hole; 805. Balancing ball joint seat; 805-1. Ball joint cover fixing hole; 805-2. Ball joint seat limit pin matching hole; 805-3. Ball joint seat mounting hole. DETAILED DESCRIPTION

[0060] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0064] like Figure 1-17 As shown, a multifunctional cleaning robot for photovoltaic power stations in complex areas is characterized in that it includes a multi-degree-of-freedom mechanical arm 1, a mechanical arm compensation mechanism 2, a snow and ice removal mechanism 3, a multifunctional cleaning mechanism 4, a photovoltaic panel locking mechanism 5, a storage and navigation module 6, a crawler vehicle 7, and a robot balancing mechanism 8;

[0065] The snow and ice removal mechanism 3 is connected to the multifunctional cleaning mechanism 4 through threads, the photovoltaic panel engaging mechanism 5 is fixed to both sides of the multifunctional cleaning mechanism 4 through threads, the multifunctional cleaning mechanism 4 is connected to the mechanical arm compensation mechanism 2 through threads, the mechanical arm compensation mechanism 2 is connected to the multi-degree-of-freedom mechanical arm 1 through threads, the multi-degree-of-freedom mechanical arm 1 is fixed above the storage and navigation module 6 through threads, the storage and navigation module 6 is placed on the upper part of the crawler vehicle 7 through threads, and the crawler vehicle 7 is connected to the robot balancing mechanism 8 through a balancing ball hinge;

[0066] The multi-degree-of-freedom mechanical arm 1 is provided with a telescopic mechanical arm 101, a telescopic control motor 102, an adjustment mechanical arm 103, a mechanical arm 104, an adjustment stabilizing rod 105, a telescopic rod 106, an adjustment control motor 107, a rack 108, a gear 109, a gear mounting plate 110, and a mechanical arm connecting telescopic rod 1011. The telescopic mechanical arm 101 is matched with the inside of the adjustment mechanical arm 103, the adjustment mechanical arm 103 is mounted on the upper side of the mechanical arm 104, and the adjustment control motor 107 is mounted On the side of the mechanical arm 104, the telescopic rod 106 is installed on the adjustment control motor 107 and is connected with the adjustment stabilizing rod 105, the gear 109 is fixedly installed on the gear mounting plate 110, the gear mounting plate 110 is installed on the telescopic mechanical arm 101, the rack 108 is fixed inside the adjustment mechanical arm 103, the telescopic control motor 102 is installed inside the whole mechanical arm 103, and the mechanical arm connecting telescopic rod 1011 is connected with the telescopic control motor 102 and fixed on the telescopic mechanical arm 101;

[0067] The mechanical arm compensation mechanism 2 is provided with a limit motor 201, a limit telescopic rod 202, a ball hinge rod 203, a ball hinge cover 204, a ball hinge seat 205, a height adjustment motor 206, a connecting ring 207, and a height absorption rod 208. The limit motor 201 is fixed to the lower part of the telescopic mechanical arm 101 and is evenly distributed on both sides of the ball hinge rod 203. The limit telescopic rod 202 cooperates with the inner side of the limit motor 201. The upper part of the ball hinge rod 203 is connected to the telescopic mechanical arm 101, and the lower part is located in the ball hinge seat 205. The ball hinge cover 204 is connected to the ball hinge seat 205 through a thread. The ball hinge seat 205 is fixed above the height adjustment motor 206. The connecting ring 207 is installed on the inner side below the height adjustment motor 206. The height absorption rod 208 is installed between the two connecting rings 207.

[0068] The snow and ice removal mechanism 3 is provided with a displacement rack 301, a power shaft 302, a displacement gear 303, a parts fixing frame 304, and a snow and ice removal rubber 305. The parts fixing frame 304 is installed on the brush head housing 401, and two displacement racks 301 are fixed to the inner sides of the parts fixing frame 304. The displacement gear 303 is meshed with the displacement rack 301, the power shaft 302 cooperates with the displacement gear 303, and the snow and ice removal rubber 305 is installed at the lower part of the parts fixing frame 304;

[0069] The multifunctional cleaning mechanism 4 is provided with a brush head housing 401, a roller brush 402, a load-bearing wheel 403, a stabilizing shaft 404, and a visual sensor 405. The brush head housing 401 is installed below the height absorption rod 208, the roller brush 402 is installed inside the brush head housing 401, the load-bearing wheel 403 is installed on the stabilizing shaft 404, the stabilizing shaft 404 is installed at both ends of the inner side of the brush head housing 401, and the visual sensor 405 is installed on both sides of the short side of the brush head housing 401;

[0070] The photovoltaic panel engaging mechanism 5 is provided with a stabilizing motor 501, a fixed curved rod 502, and a stabilizing wheel 503. The stabilizing motor 501 is installed outside the two sides of the brush head housing 401, the fixed curved rod 502 is connected to the stabilizing motor 501, and the stabilizing wheel 503 is installed on the fixed curved rod 502;

[0071] The storage and navigation module 6 is provided with a water tank 601, a vehicle body 602, and a switch 603. The water tank 601 is installed inside the vehicle body 602, the switch 603 is installed at the rear of the vehicle body 602, and the camera 604 is installed at the rear of the vehicle body 602;

[0072] The crawler vehicle 7 is provided with a crawler 701, a crawler mounting plate 702, and a power motor 703, wherein the crawler 701 is mounted outside the crawler mounting plate 702, and the power motor 703 is mounted on the crawler mounting plate 702;

[0073] The robot balancing mechanism 8 is provided with a bottom plate 801, a balancer 802, a balancing ball joint head 803, a balancing ball joint cover 804, and a balancing ball joint seat 805. The balancer 802 is mounted on the bottom plate 801, the balancing ball joint head 803 is fixed to the bottom plate 801, the balancing ball joint head 803 cooperates with the balancing ball joint seat 805, the balancing ball joint cover 804 is fixed above the balancing ball joint seat 805, and the balancing ball joint seat 805 is fixed to the inner side of the track mounting plate 702;

[0074] In this embodiment, the telescopic mechanical arm 101 is provided with a threaded connection hole 101-1, the adjustment mechanical arm 103 is provided with a mechanical arm mounting hole 103-1 and an adjustment rod mounting hole 103-2, the gear mounting plate 110 is provided with a gear fixing hole 1010-1 and a fixing hole 1010-2, the ball hinge rod 203 is fixedly connected to the telescopic mechanical arm 101 through the threaded connection hole 101-1, the mechanical arm 104 is fixedly connected to the adjustment mechanical arm 103 through the mechanical arm mounting hole 103-1, and the adjustment stabilizing rod 105 is fixedly connected to the adjustment mechanical arm 103 through the adjustment rod mounting hole 103-2;

[0075] In this embodiment, the ball hinge rod 203 is provided with a mounting hole 203-1 and a ball head 203-2, the ball hinge cover 204 is provided with a threaded mounting hole 204-1, a ball head extension hole 204-2, and a telescopic rod fixing hole 204-3, the ball hinge seat 205 is provided with a threaded fixing hole 205-1, a telescopic rod matching hole 205-2, a ball head matching hole 205-3, and a hinge seat mounting hole 205-4, the telescopic mechanical arm 101 is fixedly connected through the mounting hole 203-1, the ball head 203-2 is matched with the ball head matching hole 205-3, the threaded mounting hole 204-1 is connected and fixed with the threaded fixing hole 205-1, and the limit motor 201 is matched and stabilized through the telescopic rod matching hole 203-2;

[0076] In this embodiment, the part fixing frame 304 is provided with a rubber fixing hole 304-1, a rack fixing hole 304-2, and a rubber snap-in groove 304-3. The snow and ice removal rubber 305 is fixedly connected through the rubber fixing hole 304-1 and the snow and ice removal rubber 305 is firmly matched through the rubber snap-in groove 304-3 and the snow and ice removal rubber 305 is fixedly connected through the rubber fixing hole 304-1. The displacement rack 301 is fixedly connected to the part fixing frame 304 through the rack fixing hole 304-2.

[0077] In this embodiment, the brush head housing 401 is provided with a flexible device mounting hole 401 - 1 , and the height absorption rod 208 is fixedly connected to the brush head housing 401 through the flexible device mounting hole 401 - 1 ;

[0078] In this embodiment, the fixed bent rod 502 is provided with a stabilizing motor matching hole 502-1 and a stabilizing wheel connecting rod 502-2, the stabilizing motor 501 is connected through the stabilizing motor matching hole 502-1, and the stabilizing wheel 503 is fixedly connected through the stabilizing wheel connecting rod 502-2;

[0079] In this embodiment, the balancing ball joint head 803 is provided with a connecting installation shaft 803-1 and a limit pin 803-2, the balancing ball joint cover 804 is provided with a fixing hole 804-1, a ball joint cover limit pin matching hole 804-2, and a ball head matching hole 804-3, the balancing ball joint seat 805 is provided with a ball joint cover fixing hole 805-1, a ball joint seat limit pin matching hole 805-2, and a ball joint seat mounting hole 805-3, the bottom plate 801 is fixedly connected to the balancing ball joint head 803 by connecting the mounting shaft 803-1, and the limit pin 80 3-2 is matched through the ball joint cover limit pin matching hole 804-2 and the ball joint seat limit pin matching hole 805-2, the balancing ball joint cover 804 is fixedly connected with the balancing ball joint seat 805 through the fixing hole 804-1, the balancing ball joint head 803 is matched through the ball head matching hole 804-3, the balancing ball joint cover 804 is fixedly connected with the balancing ball joint seat 805 through the ball joint cover fixing hole 805-1, and the balancing ball joint seat 805 is fixedly connected with the track mounting plate 702 through the ball joint seat mounting hole 805-3;

[0080] In this embodiment, the working process of the cleaning robot includes the following steps:

[0081] S1: Perform preparation before cleaning;

[0082] S11: Adjust the appropriate height of the mechanical arm according to the installation height of the photovoltaic panel to be cleaned, and the adjustment control motor 107 controls the telescopic rod 106 to extend and retract, driving the adjustment stabilizing rod 105 to drive the adjustment mechanical arm 103 to move up and down, thereby adjusting the height of the mechanical arm;

[0083] S12: The length of the robot arm is adjusted according to the space of the photovoltaic panel cleaning site, so as to have better flexibility and adaptability during work. The telescopic control motor 102 controls the robot arm to connect the telescopic rod 1011 to telescope and drive the gear 109 to roll on the rack 108, thereby adjusting the appropriate length of the robot arm;

[0084] S13: Before the cleaning robot starts to clean the photovoltaic panel, the two limit motors 201 control the two limit telescopic rods 202 to clamp into the telescopic rod matching holes 205-2 on both sides of the ball hinge seat 205 to limit the movement of the ball head 203-2 of the ball hinge rod 203, and the height adjustment motor 206 drives the connecting ring 207 to clamp the height absorption rod 208 to make the robot arm compensation mechanism 2 rigid, so as to adjust the inclination angle of the brush head housing 401 to match the installation angle of the photovoltaic panel to be cleaned according to the installation angle of the photovoltaic panel to be cleaned;

[0085] S13: The visual sensor 405 detects the distance between the four load-bearing wheels 403 and the edge of the photovoltaic panel, and the telescopic control motor 102 controls the mechanical arm connected to the telescopic rod 1011 to extend and retract, driving the gear 109 to roll on the rack 108, and slightly adjusting the overall length of the mechanical arm so that the four load-bearing wheels 403 all fall on the edge of the photovoltaic panel. The adjustment control motor 107 controls the telescopic rod 106 to extend and drive the adjustment mechanical arm 103 to move downward, and the brush head housing 401 is slowly lowered to the four load-bearing wheels 403 and placed on the photovoltaic panel. Then, the four stabilizing motors 501 tighten the four fixed curved rods 502 inward to make the four stabilizing wheels 503 clamp the side edge of the photovoltaic panel so that the multifunctional cleaning mechanism 4 is stably placed on the photovoltaic panel;

[0086] S14: The power shaft 302 drives the displacement gear 303 to rotate, thereby driving the displacement rack (301) fixed on the parts fixing frame 304 to move so that the snow and ice removal rubber 305 contacts the photovoltaic panel; (if snow and ice removal is not required, skip step S14):

[0087] S2: operation of the cleaning robot;

[0088] S21: When the cleaning robot is working, the two limit motors 201 control the two limit telescopic rods 202 to withdraw from the telescopic rod matching holes 205-2 on both sides of the ball hinge seat 205, so that the ball head 203-2 of the ball hinge rod 203 can move freely to absorb the deviation caused by the shaking during the operation of the robot, and the height adjustment motor 206 stops working to make the connecting ring 207 relax the height absorption rod 208 so that the robot arm compensation mechanism 2 becomes flexible, and the height absorption rod 208 can absorb the height distance during the operation of the cleaning robot;

[0089] S22: The balancing ball joint head 803, the balancing ball joint cover 804 and the balancing ball joint seat 805 form a balancing ball joint. The balancer 802 can counterweight the cleaning robot so that the center of gravity of the cleaning robot remains unchanged. When the cleaning robot is running on a rough road, the limit pin 803-2 of the balancing ball joint head 803 can rotate in the Z plane within the matching space formed by the ball joint cover limit pin matching hole 804-2 of the balancing ball joint cover 804 and the ball joint seat limit pin matching hole 805-2 of the balancing ball joint seat 805, so that the bottom plate 801 always keeps balance;

[0090] S23: During the operation of the cleaning robot, the vehicle body moves, and the multifunctional cleaning mechanism 4 is dragged by the mechanical telescopic mechanical arm 101 to operate stably on the photovoltaic panel.

[0091] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A multifunctional cleaning robot for photovoltaic power stations in complex areas, characterized in that: It comprises a multi-degree-of-freedom robotic arm (1), a robotic arm compensation mechanism (2), a snow and ice removal mechanism (3), a multifunctional cleaning mechanism (4), a photovoltaic panel locking mechanism (5), a storage and navigation module (6), a crawler vehicle (7), and a robot balancing mechanism (8); The snow and ice removal mechanism (3) is connected to the multifunctional cleaning mechanism (4) through threads, the photovoltaic panel engaging mechanism (5) is fixed to both sides of the multifunctional cleaning mechanism (4) through threads, the multifunctional cleaning mechanism (4) is connected to the mechanical arm compensation mechanism (2) through threads, the mechanical arm compensation mechanism (2) is connected to the multi-degree-of-freedom mechanical arm (1) through threads, the multi-degree-of-freedom mechanical arm (1) is fixed to the top of the storage and navigation module (6) through threads, the storage and navigation module (6) is placed on the top of the crawler vehicle (7) through threads, and the crawler vehicle (7) is connected to the robot balancing mechanism (8) through a balancing ball hinge; The multi-degree-of-freedom mechanical arm (1) is provided with a telescopic mechanical arm (101), a telescopic control motor (102), an adjustment mechanical arm (103), a mechanical arm (104), an adjustment stabilizing rod (105), a telescopic rod (106), an adjustment control motor (107), a rack (108), a gear (109), a gear mounting plate (110), and a mechanical arm connecting telescopic rod (1011). The telescopic mechanical arm (101) is matched inside the adjustment mechanical arm (103), the adjustment mechanical arm (103) is mounted on the upper side of the mechanical arm (104), and the adjustment control motor (107) The telescopic rod (106) is installed on the side of the mechanical arm (104), the telescopic rod (106) is installed on the adjustment control motor (107) and is connected with the adjustment stabilizing rod (105), the gear (109) is fixedly installed on the gear mounting plate (110), the gear mounting plate (110) is installed on the telescopic mechanical arm (101), the rack (108) is fixed inside the adjustment mechanical arm (103), the telescopic control motor (102) is installed inside the whole mechanical arm (103), and the mechanical arm connecting telescopic rod (1011) is connected with the telescopic control motor (102) and fixed on the telescopic mechanical arm (101); The mechanical arm compensation mechanism (2) is provided with a limit motor (201), a limit telescopic rod (202), a ball hinge rod (203), a ball hinge cover (204), a ball hinge seat (205), a height adjustment motor (206), a connecting ring (207), and a height absorption rod (208). The limit motor (201) is fixed to the lower part of the telescopic mechanical arm (101) and is evenly distributed on both sides of the ball hinge rod (203). The limit telescopic rod (202) cooperates with the limit motor (201) to adjust the height of the mechanical arm (101). The upper part of the ball hinge rod (203) is connected to the telescopic mechanical arm (101), and the lower part is located in the ball hinge seat (205). The ball hinge cover (204) is connected to the ball hinge seat (205) through a thread. The ball hinge seat (205) is fixed above the height adjustment motor (206). The connecting ring (207) is installed on the inner side below the height adjustment motor (206). The height absorption rod (208) is installed between the two connecting rings (207); The snow and ice removal mechanism (3) is provided with a displacement rack (301), a power shaft (302), a displacement gear (303), a parts fixing frame (304), and a snow and ice removal rubber (305). The parts fixing frame (304) is installed on the brush head housing (401), two displacement racks (301) are fixed on the inner sides of the parts fixing frame (304), the displacement gear (303) is meshed with the displacement rack (301), the power shaft (302) is matched with the displacement gear (303), and the snow and ice removal rubber (305) is installed at the lower part of the parts fixing frame (304); The multifunctional cleaning mechanism (4) is provided with a brush head housing (401), a roller brush (402), a load-bearing wheel (403), a stabilizing shaft (404), and a visual sensor (405); the brush head housing (401) is installed below the height absorption rod (208); the roller brush (402) is installed inside the brush head housing (401); the load-bearing wheel (403) is installed on the stabilizing shaft (404); the stabilizing shaft (404) is installed at both ends of the inner side of the brush head housing (401); and the visual sensor (405) is installed on both sides of the short side of the brush head housing (401); The photovoltaic panel clamping mechanism (5) is provided with a stabilizing motor (501), a fixed curved rod (502), and a stabilizing wheel (503); the stabilizing motor (501) is installed outside the two sides of the brush head housing (401); the fixed curved rod (502) is connected to the stabilizing motor (501); and the stabilizing wheel (503) is installed on the fixed curved rod (502); The storage and navigation module (6) is provided with a water tank (601), a vehicle body (602), and a switch (603); the water tank (601) is installed inside the vehicle body (602), the switch (603) is installed at the rear of the vehicle body (602), and the camera (604) is installed at the rear of the vehicle body (602); The crawler-type vehicle (7) is provided with a crawler (701), a crawler mounting plate (702), and a power motor (703); the crawler (701) is mounted outside the crawler mounting plate (702), and the power motor (703) is mounted on the crawler mounting plate (702); The robot balancing mechanism (8) is provided with a base plate (801), a balancer (802), a balancing ball joint head (803), a balancing ball joint cover (804), and a balancing ball joint seat (805); the balancer (802) is mounted on the base plate (801); the balancing ball joint head (803) is fixed to the base plate (801); the balancing ball joint head (803) cooperates with the balancing ball joint seat (805); the balancing ball joint cover (804) is fixed above the balancing ball joint seat (805); and the balancing ball joint seat (805) is fixed to the inner side of the track mounting plate (702).

2. The multifunctional cleaning robot for photovoltaic power stations in complex areas according to claim 1 is characterized by: The telescopic mechanical arm (101) is provided with a threaded connection hole (101-1), the adjustment mechanical arm (103) is provided with a mechanical arm mounting hole (103-1) and an adjustment rod mounting hole (103-2), the gear mounting plate (110) is provided with a gear fixing hole (1010-1) and a fixing hole (1010-2), the ball hinge rod (203) is fixedly connected to the telescopic mechanical arm (101) through the threaded connection hole (101-1), the mechanical arm (104) is fixedly connected to the adjustment mechanical arm (103) through the mechanical arm mounting hole (103-1), and the adjustment stabilizing rod (105) is fixedly connected to the adjustment mechanical arm (103) through the adjustment rod mounting hole (103-2).

3. The multifunctional cleaning robot for photovoltaic power stations in complex areas according to claim 1 is characterized by: The ball hinge rod (203) is provided with a mounting hole (203-1) and a ball head (203-2); the ball hinge cover (204) is provided with a threaded mounting hole (204-1), a ball head extension hole (204-2), and a telescopic rod fixing hole (204-3); the ball hinge seat (205) is provided with a threaded fixing hole (205-1), a telescopic rod matching hole (205-2), a ball head matching hole (205-3), and a hinge seat mounting hole (205-4); the telescopic mechanical arm (101) is fixedly connected through the mounting hole (203-1); the ball head (203-2) matches with the ball head matching hole (205-3); the threaded mounting hole (204-1) is connected and fixed with the threaded fixing hole (205-1); and the limit motor (201) is matched and stabilized through the telescopic rod matching hole (203-2).

4. The multifunctional cleaning robot for photovoltaic power stations in complex areas according to claim 1, characterized in that: The part fixing frame (304) is provided with a rubber fixing hole (304-1), a rack fixing hole (304-2), and a rubber snap-in groove (304-3); the snow-removing and ice-removing rubber (305) is fixedly connected through the rubber fixing hole (304-1), and the snow-removing and ice-removing rubber (305) is matched and firmly connected through the rubber snap-in groove (304-3); and the snow-removing and ice-removing rubber (305) is fixedly connected through the rubber fixing hole (304-1); and the displacement rack (301) is fixedly connected to the part fixing frame (304) through the rack fixing hole (304-2).

5. The multifunctional cleaning robot for photovoltaic power stations in complex areas according to claim 1 is characterized by: The brush head housing (401) is provided with a flexible device mounting hole (401-1), and the height absorption rod (208) is fixedly connected to the brush head housing (401) through the flexible device mounting hole (401-1).

6. The multifunctional cleaning robot for photovoltaic power stations in complex areas according to claim 1, characterized in that: The fixed bent rod (502) is provided with a stabilizing motor matching hole (502-1) and a stabilizing wheel connecting rod (502-2); the stabilizing motor (501) is connected via the stabilizing motor matching hole (502-1); and the stabilizing wheel (503) is fixedly connected via the stabilizing wheel connecting rod (502-2).

7. The multifunctional cleaning robot for photovoltaic power stations in complex areas according to claim 1 is characterized by: The balancing ball joint head (803) is provided with a connecting installation shaft (803-1) and a limit pin (803-2); the balancing ball joint cover (804) is provided with a fixing hole (804-1), a ball joint cover limit pin matching hole (804-2), and a ball head matching hole (804-3); the balancing ball joint seat (805) is provided with a ball joint cover fixing hole (805-1), a ball joint seat limit pin matching hole (805-2), and a ball joint seat mounting hole (805-3); the bottom plate (801) is fixedly connected to the balancing ball joint head (803) via the connecting installation shaft (803-1); the limit pin (803- 2) The balancing ball hinge cover (804) is fixedly connected to the balancing ball hinge seat (805) through the fixing hole (804-1) through the ball hinge cover stop pin matching hole (804-2) and the balancing ball hinge seat stop pin matching hole (805-2), the balancing ball hinge cover (804) is fixedly connected to the balancing ball hinge seat (805) through the fixing hole (804-1) of the ball hinge cover, the balancing ball hinge head (803) is matched through the ball head matching hole (804-3), the balancing ball hinge cover (804) is fixedly connected to the balancing ball hinge seat (805) through the ball hinge cover fixing hole (805-1), and the balancing ball hinge seat (805) is fixedly connected to the track mounting plate (702) through the ball hinge seat mounting hole (805-3).

8. The multifunctional cleaning robot for photovoltaic power stations in complex areas according to claim 1, characterized in that: The working process includes the following steps: S1: Preparation before cleaning: S11: adjusting the appropriate height of the mechanical arm according to the installation height of the photovoltaic panel to be cleaned, and controlling the telescopic rod (106) to extend and retract by the adjustment control motor (107) to drive the adjustment stabilizing rod (105) to drive the adjustment mechanical arm (103) to move up and down, thereby adjusting the height of the mechanical arm; S12: adjusting the length of the mechanical arm according to the space of the photovoltaic panel being cleaned, so as to have better flexibility and adaptability during work, and the telescopic control motor (102) controls the mechanical arm to be connected to the telescopic rod (1011) to telescope and drive the gear (109) to roll on the rack (108) to adjust the appropriate length of the mechanical arm; S13: Before the cleaning robot starts to clean the photovoltaic panel, two limit motors (201) control two limit telescopic rods (202) to snap into the telescopic rod matching holes (205-2) on both sides of the ball hinge seat (205) to limit the movement of the ball head (203-2) of the ball hinge rod (203), and the height adjustment motor (206) drives the connecting ring (207) to clamp the height absorption rod (208) to make the robot arm compensation mechanism (2) rigid, so as to adjust the inclination angle of the brush head housing (401) to match the installation angle of the photovoltaic panel to be cleaned according to the installation angle of the photovoltaic panel to be cleaned; S13: The visual sensor (405) detects the distance between the four load-bearing wheels (403) and the edge of the photovoltaic panel. The telescopic control motor (102) controls the mechanical arm connected to the telescopic rod (1011) to extend and retract, driving the gear (109) to roll on the rack (108) to slightly adjust the overall length of the mechanical arm so that the four load-bearing wheels (403) all fall on the edge of the photovoltaic panel. The adjustment control motor (107) controls the telescopic rod (106) to extend and drive the adjustment mechanical arm (103) to move downward, and the brush head housing (401) is slowly lowered to the four load-bearing wheels (403) and placed on the photovoltaic panel. Then, the four stabilizing motors (501) tighten the four fixed curved rods (502) inward so that the four stabilizing wheels (503) clamp the side edge of the photovoltaic panel so that the multifunctional cleaning mechanism (4) is stably placed on the photovoltaic panel. S14: The power shaft (302) drives the displacement gear (303) to rotate, thereby driving the displacement rack (301) fixed on the parts fixing frame (304) to move so that the snow and ice removal rubber (305) contacts the photovoltaic panel; (if snow and ice removal is not required, skip step S14): S2: operation of the cleaning robot; S21: When the cleaning robot is working, the two limit motors (201) control the two limit telescopic rods (202) to withdraw from the telescopic rod matching holes (205-2) on both sides of the ball hinge seat (205), so that the ball head (203-2) of the ball hinge rod (203) can move freely to absorb the deviation caused by the shaking during the operation of the robot, and the height adjustment motor (206) stops operating to make the connecting ring (207) loosen the height absorption rod (208), so that the robot arm compensation mechanism (2) becomes flexible, and the height absorption rod (208) can absorb the height distance during the operation of the cleaning robot; S22: The balancing ball joint head (803), the balancing ball joint cover (804) and the balancing ball joint seat (805) form a balancing ball joint. The balancer (802) can counterweight the cleaning robot so that the center of gravity of the cleaning robot remains unchanged. When the cleaning robot is running on a rough road surface, the limit pin (803-2) of the balancing ball joint head (803) can rotate within the Z plane within the matching space formed by the ball joint cover limit pin matching hole (804-2) of the balancing ball joint cover (804) and the ball joint seat limit pin matching hole (805-2) of the balancing ball joint seat (805), so that the bottom plate (801) always maintains balance; S23: During the operation of the cleaning robot, the vehicle body moves, and the multifunctional cleaning mechanism (4) is dragged by the mechanical telescopic mechanical arm (101) to operate stably on the photovoltaic panel.

Images