Self-moving photovoltaic module cleaning robot

Abstract

The invention belongs to the field of photovoltaic module cleaning, and particularly relates to a self-moving photovoltaic module cleaning robot which comprises a cross-shaped main body support, a moving mechanism is arranged on the upper portion of the cross-shaped main body support, and the moving mechanism comprises a Y-axis moving assembly and an X-axis moving assembly. The X-axis moving assembly and the Y-axis moving assembly are rotationally connected through a rotating rod. When the photovoltaic modules are cleaned, the photovoltaic modules arranged in rows and at intervals can be cleaned through cooperation of the fixing mechanism and the crawler-type moving vehicle, so that the cleaning work of the photovoltaic modules can be continuously carried out; and the robot can be located between the two adjacent photovoltaic modules when the robot does not conduct cleaning work, workers do not need to take the robot away from the photovoltaic panel, the cleaning efficiency of the photovoltaic modules is greatly improved, and the situation that the photovoltaic panel is shielded when the robot is placed on the photovoltaic panel is effectively avoided.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic component cleaning, and in particular relates to a self-moving photovoltaic component cleaning robot. Background Art

[0002] With the increasing demand for clean energy in recent years, the photovoltaic industry has been vigorously developed. However, photovoltaic panels often need to be installed in areas with strong sunlight due to their characteristics of being exposed to sunlight. These areas are often accompanied by heavy dust pollution. In order to increase the power generation efficiency of photovoltaic panels, the surface of photovoltaic panels needs to be cleaned regularly.

[0003] When cleaning photovoltaic panels, cleaning robots are usually used. The cleaning robots are placed directly on the photovoltaic panels, and the motor drives the crawlers to move along the program-set route to clean the photovoltaic panels. However, this cleaning method has certain limitations. First, in large photovoltaic power stations, photovoltaic modules are often arranged in arrays. When there are gaps between photovoltaic modules installed in rows, the crawler-type movement method cannot enable the cleaning robot to cross the gaps and move to adjacent photovoltaic panels. This makes it impossible to perform comprehensive and continuous cleaning of the entire photovoltaic power station. Manual assistance or additional equipment is required to transfer the robot, which increases the cost and complexity of cleaning; second, after the robot finishes cleaning the photovoltaic modules, the staff will remove the robot from the photovoltaic modules, and then place the robot on the photovoltaic modules for the next cleaning work. It takes a certain amount of time to place the robot before each cleaning and remove the robot after cleaning. This manual operation method will extend the overall operation preparation time and reduce the efficiency of the cleaning work. Summary of the invention

[0004] In view of the above problems, an embodiment of the present application provides a self-moving photovoltaic module cleaning robot, which can not only clean photovoltaic modules that are arranged in rows and have intervals, while ensuring the cleaning effect of the photovoltaic modules, so that the cleaning work of the photovoltaic modules can be carried out continuously, but also allow the robot to be located between two adjacent photovoltaic modules when not performing cleaning work, without the need for staff to remove the robot from the photovoltaic panel, and effectively avoids blocking the photovoltaic panel when the robot is placed on the photovoltaic panel.

[0005] In order to achieve the above-mentioned purpose, the embodiments of the present application provide the following technical solutions: The present invention provides a self-moving photovoltaic module cleaning robot, comprising a cross-body bracket, a moving mechanism is arranged on the upper part of the cross-body bracket, the moving mechanism comprises a Y-axial moving component and an X-axial moving component, and the X-axial moving component and the Y-axial moving component are rotatably connected by a rotating rod.

[0006] The Y-axial moving component includes a first double-acting rodless cylinder fixedly arranged on the upper part of the cross main body bracket, a Y-axial moving bracket is fixedly arranged on the upper part of the first double-acting rodless cylinder, and the upper part of the Y-axial moving bracket is fixedly connected to the bottom end of the rotating rod, the X-axial moving component includes a second double-acting rodless cylinder rotatably arranged on the top end of the rotating rod, an X-axial moving bracket is fixedly arranged on the upper part of the second double-acting rodless cylinder, and a rotating component for driving the Y-axial moving bracket to rotate is arranged at the bottom of the X-axial moving component.

[0007] Hydraulic rods are fixedly arranged at the left and right ends of the lower side of the horizontal section of the X-axis movable bracket and the front and rear ends of the lower side of the horizontal section of the Y-axis movable bracket, and a fixing mechanism is arranged at the bottom end of the hydraulic rod. Tracked moving vehicles are arranged at the lower ends of the left and right sides of the X-axis movable bracket.

[0008] According to a preferred embodiment, the first double-acting rodless cylinder and the second double-acting rodless cylinder are both composed of a cylinder barrel and a slider, the cylinder barrel on the first double-acting rodless cylinder is fixedly connected to the inner horizontal section of the Y-axial movable bracket, the slider on the first double-acting rodless cylinder is fixedly connected to the upper part of the cross-body bracket, the cylinder barrel on the second double-acting rodless cylinder is fixedly connected to the inner horizontal section of the X-axial movable bracket, and the slider on the second double-acting rodless cylinder is rotatably connected to the top end of the rotating rod.

[0009] According to a favorable embodiment, a cleaning mechanism is commonly provided on the right side of the cross body bracket, and the cleaning mechanism includes a first motor fixedly provided on the right side of the upper part of the cross body bracket, a brush disc is rotatably provided on the right side of the bottom of the cross body bracket, and the output shaft of the first motor is connected to the top of the brush disc, and a plurality of first protrusions symmetrically distributed front and back are fixedly provided on the upper part of the cross body bracket.

[0010] According to a favorable embodiment, the rotating assembly includes two mounting plates fixedly arranged on the bottom of the second double-acting rodless cylinder and symmetrically distributed on the left and right sides, wherein a second motor is fixedly arranged on the side of one of the mounting plates away from the rotating rod, a worm is rotatably arranged between the two mounting plates, and the output shaft of the second motor is connected to one end of the worm, a worm wheel is fixedly arranged on the outer side of the rotating rod, and the worm wheel is meshed with the worm.

[0011] According to a favorable embodiment, the fixing mechanism includes a fixing plate fixedly arranged at the bottom end of the hydraulic rod, three suction cups distributed in a circular array are arranged on the fixing plate, an annular tube is commonly provided at the upper parts of the three suction cups, an air guide tube is commonly provided at the upper part of the annular tube, air pumps are fixedly provided on the left and right sides of the X-axis movable bracket and on the front and rear sides of the Y-axis movable bracket, and the air guide tube is connected to the bottom end of the air pump.

[0012] According to a favorable embodiment, the upper part of the Y-axial movable bracket is rotatably provided with two threaded rods which are symmetrically distributed front and back, the bottom ends of the threaded rods penetrate the Y-axial movable bracket and are threadedly provided with vertical plates, guide rods are fixedly provided on the left and right sides of the upper part of the vertical plates, the top ends of the guide rods penetrate the Y-axial movable bracket and are slidably connected to the Y-axial movable bracket, two rectangular openings are provided on the vertical plates for use with the cross main body bracket, and a cleaning mechanism is fixedly provided on the sides of the two vertical plates which are close to each other.

[0013] According to a favorable embodiment, the cleaning mechanism includes a horizontal plate fixedly arranged on one side of the vertical plate close to the first double-acting rodless cylinder, and two connecting rods symmetrically distributed on the left and right are slidably penetrated through the upper part of the horizontal plate, and a connecting plate is fixedly arranged on the upper parts of the two connecting rods, and the bottom of the connecting plate is in contact with the upper part of the horizontal plate, and a plurality of horizontal rods distributed in a linear array are fixedly arranged on the right side of the connecting plate, and a second protrusion used in conjunction with the first protrusion is fixedly arranged on the bottom end of the connecting rod, and a first spring is sleeved on the outer side of the connecting rod, and the two ends of the first spring are respectively connected to the bottom of the horizontal plate and the upper part of the second protrusion.

[0014] According to a favorable embodiment, a rectangular plate is fixedly provided on one side of the vertical plate away from the first double-acting rodless cylinder, and the rectangular plate and the horizontal plate are both located at the upper rectangular opening, and two grooves symmetrically distributed on the left and right are opened at the bottom of the rectangular plate, and a vibration mechanism is arranged in the groove, and the vibration mechanism includes a vertical rod slidably arranged in the groove, and the vertical cross-sections of the vertical rod and the groove are both T-shaped, a second spring is fixedly provided on the upper part of the vertical rod, and the top end of the second spring is connected to the inner wall of the groove, and the bottom end of the vertical rod passes through the groove and is fixedly provided with a third protrusion used in conjunction with the first protrusion.

[0015] According to a favorable embodiment, two shielding covers which are symmetrically distributed frontward and rearward are fixedly provided on the upper part of the Y-axis movable bracket, the top end of the threaded rod is rotatably connected to the inner wall of the shielding cover, a third motor is fixedly provided on the upper part of the shielding cover located on the front side, and the output shaft of the third motor is connected to the top end of the threaded rod located on the front side, a pulley is fixedly provided on the outer upper end of the threaded rod, and the two pulleys are connected by a belt.

[0016] According to a preferred embodiment, the upper portion of the Y-axis movable bracket is rotatably provided with a plurality of baffle rods symmetrically distributed front to back, the baffle rods are located on the inner side of the shielding cover and are rotatably connected to the inner wall of the shielding cover, and the outer side of the baffle rods abuts against the belt.

[0017] Compared with the prior art, the self-moving photovoltaic module cleaning robot provided by the embodiment of the present invention has the following beneficial effects:

[0018] 1. When cleaning photovoltaic modules, the present invention ensures the cleaning effect of photovoltaic modules through the mobile mechanism, and then utilizes the cooperation of the fixed mechanism and the crawler mobile vehicle not only to clean the photovoltaic modules in rows and at intervals, so that the cleaning work of the photovoltaic modules can be carried out continuously, but also the robot can be located between two adjacent photovoltaic modules when not cleaning, without the need for the staff to remove the robot from the photovoltaic panel, which greatly improves the cleaning efficiency of the photovoltaic modules and effectively avoids the blocking of the photovoltaic panel when the robot is placed on the photovoltaic panel.

[0019] 2. The present invention is provided with an X-axis moving component, a Y-axis moving component, a crawler-type moving vehicle and a fixing mechanism. When cleaning the photovoltaic panels, the X-axis moving bracket and the Y-axis moving bracket can be moved from one photovoltaic component to another adjacent photovoltaic component with a gap by using the cooperation of the hydraulic rod, the suction cup and the crawler-type moving vehicle. The cleaning work of the photovoltaic components can be carried out continuously, which greatly improves the cleaning efficiency of the photovoltaic components.

[0020] 3. A rotating assembly is provided in the present invention. After the cleaning of the photovoltaic assembly is completed, when the X-axis movable bracket is moved to the gap between the two groups of photovoltaic panels, the Y-axis movable bracket can also be driven to rotate to the gap between the two groups of photovoltaic panels by the rotating mechanism, which greatly reduces the shielding area of ​​the photovoltaic panel when the robot is placed on the photovoltaic panel.

[0021] 4. The present invention is provided with a first protrusion, a cleaning mechanism, and a vibration mechanism. After the robot is placed when not working, the first protrusion can be driven to move by driving the movement of the cross main body bracket. At this time, the dust on the brush plate can be cleaned by the cooperation of the cleaning mechanism and the vibration mechanism, thereby ensuring the cleaning effect when the photovoltaic components are subsequently cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of the present invention.

[0023] Figure 2 It is a structural diagram of the mobile mechanism in the present invention.

[0024] Figure 3 for Figure 2 A magnified view of the structure in part A.

[0025] Figure 4 It is a partial connection structure diagram of the hydraulic rod and the fixing mechanism in the present invention.

[0026] Figure 5 It is a cross-sectional structural diagram of the connection between the vertical plate and the cleaning mechanism in the present invention.

[0027] Figure 6 for Figure 5 A magnified view of the structure of part B.

[0028] Figure 7 It is a cross-sectional structural diagram of the connection between the vertical plate and the rectangular plate in the present invention.

[0029] Figure 8 It is a cross-sectional structural diagram of the connection between the Y-axis movable bracket and the shielding cover in the present invention.

[0030] Fig. 9 This is a diagram showing the position states of the brush plate and the vertical plate when the brush plate is working.

[0031] Fig.10 This is a diagram showing the position of the brush plate and the vertical plate during cleaning in the present invention.

[0032] Fig.11 This is a position status diagram of the robot and the photovoltaic module when the robot is not working.

[0033] Reference numerals in the figure: 1. cross main bracket; 2. moving mechanism; 201. Y-axis moving assembly; 2011. first double-acting rodless cylinder; 2012. Y-axis moving bracket; 202. X-axis moving assembly; 2021. second double-acting rodless cylinder; 2022. X-axis moving bracket; 3. rotating rod; 4. rotating assembly; 401. mounting plate; 402. second motor; 403. worm; 5. hydraulic rod; 6. fixing mechanism; 601. fixing plate; 602. suction cup; 603. annular tube; 604. air guide tube; 605. air pump; 7. crawler Mobile vehicle; 8. cleaning mechanism; 801. first motor; 802. brush plate; 9. first protrusion; 10. worm gear; 11. threaded rod; 12. vertical plate; 13. guide rod; 14. rectangular opening; 15. cleaning mechanism; 151. horizontal plate; 152. connecting rod; 153. connecting plate; 154. horizontal rod; 155. second protrusion; 156. first spring; 16. rectangular plate; 17. vibration mechanism; 171. vertical rod; 172. second spring; 173. third protrusion; 18. shielding cover; 19. third motor; 20. pulley; 21. belt; 22. stop rod. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-11 The present application is further described in detail.

[0035] Please refer to Figure 1 and Figure 3 A self-moving photovoltaic module cleaning robot includes a cross main body bracket 1, a moving mechanism 2 is arranged on the upper part of the cross main body bracket 1, the moving mechanism 2 includes a Y-axial moving component 201 and an X-axial moving component 202, and the X-axial moving component 202 and the Y-axial moving component 201 are rotatably connected through a rotating rod 3.

[0036] See also Figure 1 and Figure 2 The Y-axial moving component 201 includes a first double-acting rodless cylinder 2011 fixedly arranged on the upper part of the cross main body bracket 1, a Y-axial moving bracket 2012 is fixedly arranged on the upper part of the first double-acting rodless cylinder 2011, and the upper part of the Y-axial moving bracket 2012 is fixedly connected to the bottom end of the rotating rod 3, and the X-axial moving component 202 includes a second double-acting rodless cylinder 2021 rotatably arranged on the top end of the rotating rod 3, and an X-axial moving bracket 2022 is fixedly arranged on the upper part of the second double-acting rodless cylinder 2021.

[0037] When cleaning the photovoltaic module, the Y-axis moving component 201 and the X-axis moving component 202 can be used to drive the cross main body support 1 to move along the X-axis direction and the Y-axis direction, thereby ensuring the cleaning effect of the photovoltaic module.

[0038] It should be noted that the X-axis direction represents the left-right direction, and the Y-axis direction represents the front-back direction.

[0039] See also Figure 2 and Figure 3 The first double-acting rodless cylinder 2011 and the second double-acting rodless cylinder 2021 are both composed of a cylinder barrel and a slider. The cylinder barrel on the first double-acting rodless cylinder 2011 is fixedly connected to the inner horizontal section of the Y-axial movable bracket 2012, the slider on the first double-acting rodless cylinder 2011 is fixedly connected to the upper part of the cross-body bracket 1, the cylinder barrel on the second double-acting rodless cylinder 2021 is fixedly connected to the inner horizontal section of the X-axial movable bracket 2022, and the slider on the second double-acting rodless cylinder 2021 is rotatably connected to the top end of the rotating rod 3.

[0040] See also Figure 1 and Figure 4 The left and right ends of the lower side of the horizontal section of the X-axis movable bracket 2022 and the front and rear ends of the lower side of the horizontal section of the Y-axis movable bracket 2012 are fixedly provided with hydraulic rods 5, and the bottom end of the hydraulic rod 5 is provided with a fixing mechanism 6, and the lower ends of the left and right sides of the X-axis movable bracket 2022 are provided with crawler-type moving vehicles 7. The fixing mechanism 6 includes a fixing plate 601 fixedly provided at the bottom end of the hydraulic rod 5, and three suction cups 602 distributed in a circumferential array are provided on the fixing plate 601. The upper parts of the three suction cups 602 are connected to a circular pipe 603, and the upper part of the circular pipe 603 is connected to an air guide pipe 604. The left and right sides of the X-axis movable bracket 2022 and the front and rear sides of the Y-axis movable bracket 2012 are fixedly provided with air pumps 605, and the air guide pipe 604 is connected to the bottom end of the air pump 605.

[0041] See also Figure 1 and Fig. 9A cleaning mechanism 8 is commonly provided on the right side of the cross main body bracket 1, and the cleaning mechanism 8 includes a first motor 801 fixedly provided on the right side of the upper part of the cross main body bracket 1, a brush plate 802 is rotatably provided on the right side of the bottom of the cross main body bracket 1, and the output shaft of the first motor 801 is connected to the top of the brush plate 802, and a plurality of first protrusions 9 symmetrically distributed front and back are fixedly provided on the upper part of the cross main body bracket 1.

[0042] In order to clean the photovoltaic modules that are arranged in rows and have intervals, after the X-axis movable bracket 2022 and the Y-axis movable bracket 2012 are placed on the upper part of the photovoltaic panel, the hydraulic rod 5 located on the X-axis movable bracket 2022 is first operated to drive the corresponding suction cup 602 to move down and fit the photovoltaic panel. At this time, the crawler mobile vehicle 7 is away from the photovoltaic panel, and then the corresponding air pump 605 is operated to suck air through the air guide pipe 604. At this time, the suction cup 602 can be tightly adsorbed on the surface of the photovoltaic panel through the cooperation of the annular tube 603, and then the first motor 801 is operated. The brush plate 802 can be driven to rotate, and the rotating brush plate 802 can be used to clean the photovoltaic panel. At this time, the slider on the second double-acting rodless cylinder 2021 can slide on the cylinder barrel to drive the Y-axis movable bracket 2012 to move left and right, thereby driving the brush plate 802 to move left and right to clean the photovoltaic panel, and then the slider on the first double-acting rodless cylinder 2011 can slide on the cylinder barrel to drive the cross main body bracket 1 to move forward and backward, so that the brush plate 802 can move forward and backward, thereby greatly ensuring the cleaning effect of the photovoltaic component.

[0043] At the same time, when it is necessary to clean the photovoltaic components that are arranged in rows and have intervals, the hydraulic rod 5 located on the Y-axis movable bracket 2012 can be operated to drive the corresponding suction cup 602 to move down and fit with the photovoltaic panel, and then the corresponding air pump 605 can be operated to make the suction cup 602 tightly adsorbed on the surface of the photovoltaic panel. At this time, the Y-axis movable bracket 2012 is fixed on the surface of the photovoltaic panel, and then the air pump 605 located on the X-axis movable bracket 2022 can be stopped working, and then the hydraulic rod 5 located on the X-axis movable bracket 2022 can be operated to drive the corresponding suction cup 602 to move up. When the suction cup 602 moves up to a certain position so that the crawler mobile vehicle 7 contacts the surface of the photovoltaic panel, the hydraulic rod 5 stops working. Since the Y-axis movable bracket 2012 is fixed on the photovoltaic panel, the hydraulic rod 5 stops working. The surface of the volt board makes the slider on the first double-acting rodless cylinder 2011 also in a fixed state. At this time, the crawler mobile vehicle 7 can drive the X-axis movable bracket 2022 to move to the right, so that the right side of the X-axis movable bracket 2022 passes through the gap and moves to another group of photovoltaic panels. Then the X-axis movable bracket 2022 is fixed, and then the first double-acting rodless cylinder 2011 is used to completely move the Y-axis movable bracket 2012 to another group of photovoltaic panels. Then the Y-axis movable bracket 2012 is fixed so that the left side of the X-axis movable bracket 2022 is also moved to another group of photovoltaic panels, so that the photovoltaic components that are arranged in rows and have gaps can be cleaned, so that the cleaning work of the photovoltaic components can be carried out continuously.

[0044] See also Figure 1 and Figure 3 The bottom of the X-axis moving assembly 202 is provided with a rotating assembly 4 for driving the Y-axis moving bracket 2012 to rotate. The rotating assembly 4 includes two mounting plates 401 fixedly arranged at the bottom of the second double-acting rodless cylinder 2021 and symmetrically distributed on the left and right sides, a second motor 402 is fixedly arranged on one side of the mounting plates 401 away from the rotating rod 3, a worm 403 is rotatably arranged between the two mounting plates 401, and the output shaft of the second motor 402 is connected to one end of the worm 403, a worm wheel 10 is fixedly arranged on the outer side of the rotating rod 3, and the worm wheel 10 is meshed with the worm 403.

[0045] In order to avoid removing the robot from the photovoltaic assembly after cleaning the photovoltaic assembly, when the right side of the X-axis movable bracket 2022 passes through the gap and moves to another group of photovoltaic panels and is fixed, the first double-acting rodless cylinder 2011 can drive the Y-axis movable bracket 2012 to move to the gap between the two groups of photovoltaic panels, and then the second motor 402 works to drive the worm 403 to rotate, and the rotation of the worm 403 can drive the rotating rod 3 to rotate through the worm gear 10, and the rotation of the rotating rod 3 can drive the Y-axis movable bracket 2012 to rotate. When the suction cup 602 at the bottom of the Y-axis movable bracket 2012 moves to the photovoltaic panel, the second motor 402 stops working. At this time, the hydraulic rod 5 on the Y-axis movable bracket 2012 can drive the suction cup 602 to move down and close to the photovoltaic panel, so that the X-axis movable bracket 2022 and the Y-axis movable bracket 2012 can be moved to the gap between the two groups of photovoltaic panels respectively (such as Fig.11 As shown), there is no need to remove the robot from the photovoltaic component, and the robot is effectively prevented from blocking the photovoltaic panel when placed on the photovoltaic panel.

[0046] See also Figure 1 , Figure 5 and Figure 8 The upper part of the Y-axis movable bracket 2012 is rotatably provided with two threaded rods 11 which are symmetrically distributed front and back. The bottom end of the threaded rod 11 penetrates the Y-axis movable bracket 2012 and is threadedly provided with a vertical plate 12. Guide rods 13 are fixedly provided on the left and right sides of the upper part of the vertical plate 12. The top end of the guide rod 13 penetrates the Y-axis movable bracket 2012 and is slidably connected to the Y-axis movable bracket 2012. Two rectangular openings 14 for use with the cross main bracket 1 are provided on the vertical plate 12. A cleaning mechanism 15 is fixedly provided on the side where the two vertical plates 12 are close to each other.

[0047] See also Figure 5 and Figure 6 The cleaning mechanism 15 includes a horizontal plate 151 fixedly arranged on the side of the vertical plate 12 close to the first double-acting rodless cylinder 2011, and two connecting rods 152 symmetrically distributed on the upper part of the horizontal plate 151 are slidably penetrated, and a connecting plate 153 is fixedly arranged on the upper part of the two connecting rods 152. The bottom of the connecting plate 153 contacts the upper part of the horizontal plate 151, and a plurality of horizontal rods 154 distributed in a linear array are fixedly arranged on the right side of the connecting plate 153. A second protrusion 155 used in conjunction with the first protrusion 9 is fixedly arranged at the bottom end of the connecting rod 152, and a first spring 156 is sleeved on the outer side of the connecting rod 152. The two ends of the first spring 156 are respectively connected to the bottom of the horizontal plate 151 and the upper part of the first protrusion 9.

[0048] See also Figure 8Two shielding covers 18 symmetrically distributed front and back are fixedly provided on the upper part of the Y-axis movable bracket 2012, the top of the threaded rod 11 is rotatably connected to the inner wall of the shielding cover 18, a third motor 19 is fixedly provided on the upper part of the shielding cover 18 located on the front side, and the output shaft of the third motor 19 is connected to the top of the threaded rod 11 located on the front side, a pulley 20 is fixedly provided on the outer upper end of the threaded rod 11, and the two pulleys 20 are connected by a belt 21. A plurality of blocking rods 22 symmetrically distributed front and back are rotatably provided on the upper part of the Y-axis movable bracket 2012, the blocking rods 22 are located on the inner side of the shielding cover 18 and are rotatably connected to the inner wall of the shielding cover 18, and the outer side of the blocking rods 22 abuts against the belt 21.

[0049] In order to clean the brush plate 802 when the robot is not cleaning, when the X-axis movable bracket 2022 and the Y-axis movable bracket 2012 are respectively moved to the interval between the two groups of photovoltaic panels, the brush plate 802 is also located at the interval between the two groups of photovoltaic panels (such as Fig.11 As shown), the third motor 19 can drive the corresponding threaded rod 11 to rotate, and the belt 21, the pulley 20 and the stop rod 22 can drive another threaded rod 11 to rotate synchronously. The rotation of the threaded rod 11 can drive the vertical plate 12 to move downward under the cooperation of the guide rod 13. The downward movement of the vertical plate 12 can drive the cross bar 154 to move downward. When the rectangular opening 14 at the upper end of the vertical plate 12 moves to the original position of the rectangular opening 14 at the lower end, it stops moving (as shown in FIG. Fig. 9 and Fig.10 As shown), then the first double-acting rodless cylinder 2011 can drive the cross main body bracket 1 to move back and forth, and the cross main body bracket 1 moves back and forth to drive the first protrusion 9 and the brush plate 802 to move. The brush plate 802 will contact the cross bar 154 when moving, so that the dust on the brush plate 802 can be cleaned through the cross bar 154.

[0050] At the same time, when one side of the cross main bracket 1 passes through the rectangular opening 14 at the upper end, the multiple first protrusions 9 on the cross main bracket 1 will contact the second protrusion 155 in turn and squeeze the second protrusion 155. The second protrusion 155 is squeezed and moves upward to squeeze the first spring 156, and at the same time drives the connecting plate 153 to move upward. The upward movement of the connecting plate 153 drives the cross bar 154 to move upward. Then, when the squeezing force on the second protrusion 155 disappears, the elastic force of the first spring 156 can drive the cross bar 154 to move down and back to the initial position. The cooperation between the first protrusion 9 and the second protrusion 155 can drive the cross bar 154 to move up and down intermittently, thereby improving the cleaning effect of the brush plate 802.

[0051] See also Figure 7A rectangular plate 16 is fixedly provided on one side of the vertical plate 12 away from the first double-acting rodless cylinder 2011, and the rectangular plate 16 and the horizontal plate 151 are both located at the upper rectangular opening 14, and two grooves symmetrically distributed on the left and right are opened at the bottom of the rectangular plate 16, and a vibration mechanism 17 is arranged in the groove, and the vibration mechanism 17 includes a vertical rod 171 slidably arranged in the groove, and the vertical cross-sections of the vertical rod 171 and the groove are both T-shaped, and a second spring 172 is fixedly provided on the upper part of the vertical rod 171, and the top end of the second spring 172 is connected to the inner wall of the groove, and the bottom end of the vertical rod 171 passes through the groove and is fixedly provided with a third protrusion 173 used in conjunction with the first protrusion 9.

[0052] In order to further improve the cleaning effect of the brush plate 802, after the cross main body bracket 1 passes through the rectangular opening 14 at the upper end, the first protrusion 9 and the third protrusion 173 contact and squeeze the third protrusion 173. At this time, the vertical rod 171 will slide upward in the groove to compress the second spring 172. When the first protrusion 9 leaves the third protrusion 173, the second spring 172 releases the elastic potential energy to drive the vertical rod 171 and the third protrusion 173 to reset downward, waiting for the next first protrusion 9 to arrive and repeat the above process again to form reciprocating vibration, so that the brush plate 802 can generate a certain vibration during the cleaning process. This vibration can make the dust attached to the brush plate 802 easier to fall off, thereby making the cleaning of the brush plate 802 more thorough.

[0053] During specific work, when cleaning the photovoltaic components, the Y-axial moving component 201 can drive the brush plate 802 to move forward and backward during cleaning, and the X-axial moving component 202 can drive the brush plate 802 to move left and right during cleaning, thereby ensuring the cleaning effect of the photovoltaic components. During the cleaning process, the cooperation of the hydraulic rod 5, the suction cup 602 and the crawler mobile vehicle 7 can be used to clean the photovoltaic components in rows and at intervals, so that the cleaning work of the photovoltaic components can be carried out continuously.

[0054] At the same time, after the cleaning of the photovoltaic components is completed, the X-axis movable bracket 2022 and the Y-axis movable bracket 2012 can be moved to the interval between the two groups of photovoltaic panels respectively by utilizing the cooperation of the fixing mechanism 6, the rotating assembly 4 and the crawler mobile vehicle 7. There is no need to remove the robot from the photovoltaic components, and the robot can effectively avoid blocking the photovoltaic panels when placed on the photovoltaic panels.

[0055] Moreover, when the X-axis movable bracket 2022 and the Y-axis movable bracket 2012 are respectively moved to the interval between the two groups of photovoltaic panels, the first double-acting rodless cylinder 2011 can drive the cross main body bracket 1 to move back and forth. At this time, the dust on the brush plate 802 can be cleaned by utilizing the cooperation of the first protrusion 9, the cleaning mechanism 15 and the vibration mechanism 17, thereby ensuring the cleaning effect when the photovoltaic components are subsequently cleaned.

[0056] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A self-moving photovoltaic module cleaning robot, comprising a cross main body support (1), characterized in that: A moving mechanism (2) is provided on the upper part of the cross main body bracket (1), the moving mechanism (2) comprising a Y-axial moving assembly (201) and an X-axial moving assembly (202), the X-axial moving assembly (202) and the Y-axial moving assembly (201) being rotatably connected via a rotating rod (3); The Y-axis moving assembly (201) comprises a first double-acting rodless cylinder (2011) fixedly arranged on the upper part of the cross main body bracket (1), a Y-axis moving bracket (2012) being fixedly arranged on the upper part of the first double-acting rodless cylinder (2011), and the upper part of the Y-axis moving bracket (2012) being fixedly connected to the bottom end of the rotating rod (3), the X-axis moving assembly (202) comprising a second double-acting rodless cylinder (2021) being rotatably arranged on the top end of the rotating rod (3), an X-axis moving bracket (2022) being fixedly arranged on the upper part of the second double-acting rodless cylinder (2021), and a rotating assembly (4) for driving the Y-axis moving bracket (2012) to rotate is arranged at the bottom of the X-axis moving assembly (202); Hydraulic rods (5) are fixedly arranged at the left and right ends of the lower side of the horizontal section of the X-axis movable bracket (2022) and the front and rear ends of the lower side of the horizontal section of the Y-axis movable bracket (2012), and a fixing mechanism (6) is arranged at the bottom end of the hydraulic rod (5). Tracked moving vehicles (7) are arranged at the lower ends of the left and right sides of the X-axis movable bracket (2022).

2. A self-moving photovoltaic module cleaning robot according to claim 1, characterized in that: The first double-acting rodless cylinder (2011) and the second double-acting rodless cylinder (2021) are both composed of a cylinder barrel and a slider; the cylinder barrel on the first double-acting rodless cylinder (2011) is fixedly connected to the inner horizontal section of the Y-axis movable bracket (212); the slider on the first double-acting rodless cylinder (2011) is fixedly connected to the upper part of the cross main bracket (1); the cylinder barrel on the second double-acting rodless cylinder (2021) is fixedly connected to the inner horizontal section of the X-axis movable bracket (222); and the slider on the second double-acting rodless cylinder (2021) is rotatably connected to the top end of the rotating rod (3).

3. The self-moving photovoltaic module cleaning robot according to claim 1, characterized in that: A cleaning mechanism (8) is commonly provided on the right side of the cross main body bracket (1), the cleaning mechanism (8) comprising a first motor (801) fixedly provided on the right side of the upper part of the cross main body bracket (1), a brush disc (802) rotatably provided on the right side of the bottom of the cross main body bracket (1), and an output shaft of the first motor (801) is connected to the top of the brush disc (802), and a plurality of first protrusions (9) symmetrically distributed frontward and rearward are fixedly provided on the upper part of the cross main body bracket (1).

4. The self-moving photovoltaic module cleaning robot according to claim 1, characterized in that: The rotating assembly (4) includes two mounting plates (401) fixedly arranged at the bottom of the second double-acting rodless cylinder (2021) and symmetrically distributed on the left and right sides, wherein a second motor (402) is fixedly arranged on the side of one of the mounting plates (401) away from the rotating rod (3), a worm (403) is rotatably arranged between the two mounting plates (401), and the output shaft of the second motor (402) is connected to one end of the worm (403), and a worm wheel (10) is fixedly arranged on the outer side of the rotating rod (3), and the worm wheel (10) is meshed with the worm (403).

5. The self-moving photovoltaic module cleaning robot according to claim 1, characterized in that: The fixing mechanism (6) comprises a fixing plate (601) fixedly arranged at the bottom end of the hydraulic rod (5); three suction cups (602) distributed in a circular array are arranged on the fixing plate (601); an annular tube (603) is commonly connected to the upper parts of the three suction cups (602); an air guide tube (604) is commonly connected to the upper part of the annular tube (603); air pumps (605) are fixedly arranged on the left and right sides of the X-axis movable bracket (2022) and the front and rear sides of the Y-axis movable bracket (2012); and the air guide tube (604) is connected to the bottom end of the air pump (605).

6. The self-moving photovoltaic module cleaning robot according to claim 1, characterized in that: The upper part of the Y-axis movable bracket (2012) is rotatably provided with two threaded rods (11) which are symmetrically distributed in the front and rear directions. The bottom end of the threaded rod (11) penetrates the Y-axis movable bracket (2012) and is threadedly provided with a vertical plate (12). Guide rods (13) are fixedly provided on both left and right sides of the upper part of the vertical plate (12). The top end of the guide rod (13) penetrates the Y-axis movable bracket (2012) and is slidably connected to the Y-axis movable bracket (2012). Two rectangular openings (14) for use with the cross main bracket (1) are provided on the vertical plate (12). A cleaning mechanism (15) is fixedly provided on the side where the two vertical plates (12) are close to each other.

7. The self-moving photovoltaic module cleaning robot according to claim 6, characterized in that: The cleaning mechanism (15) comprises a horizontal plate (151) fixedly arranged on one side of the vertical plate (12) close to the first double-acting rodless cylinder (2011); two connecting rods (152) symmetrically distributed on the left and right are slidably penetrated on the upper part of the horizontal plate (151); a connecting plate (153) is fixedly arranged on the upper parts of the two connecting rods (152); the bottom of the connecting plate (153) contacts the upper part of the horizontal plate (151); a plurality of horizontal rods (154) distributed in a linear array are fixedly arranged on the right side of the connecting plate (153); a second protrusion (155) used in conjunction with the first protrusion (9) is fixedly arranged at the bottom end of the connecting rod (152); a first spring (156) is sleeved on the outer side of the connecting rod (152); and the two ends of the first spring (156) are respectively connected to the bottom of the horizontal plate (151) and the upper part of the second protrusion (155).

8. The self-moving photovoltaic module cleaning robot according to claim 7, characterized in that: A rectangular plate (16) is fixedly arranged on one side of the vertical plate (12) away from the first double-acting rodless cylinder (2011), and the rectangular plate (16) and the horizontal plate (151) are both located at the upper rectangular opening (14). Two grooves symmetrically distributed on the left and right are opened at the bottom of the rectangular plate (16), and a vibration mechanism (17) is arranged in the groove. The vibration mechanism (17) includes a vertical rod (171) slidably arranged in the groove, and the vertical cross-sections of the vertical rod (171) and the groove are both T-shaped. A second spring (172) is fixedly arranged on the upper part of the vertical rod (171), and the top end of the second spring (172) is connected to the inner wall of the groove. The bottom end of the vertical rod (171) passes through the groove and is fixedly provided with a third protrusion (173) used in conjunction with the first protrusion (9).

9. The self-moving photovoltaic module cleaning robot according to claim 6, characterized in that: Two shielding covers (18) symmetrically distributed frontally and rearwardly are fixedly arranged on the upper part of the Y-axis movable bracket (2012); the top end of the threaded rod (11) is rotatably connected to the inner wall of the shielding cover (18); a third motor (19) is fixedly arranged on the upper part of the shielding cover (18) located on the front side, and the output shaft of the third motor (19) is connected to the top end of the threaded rod (11) located on the front side; a pulley (20) is fixedly arranged on the outer upper end of the threaded rod (11); and the two pulleys (20) are connected via a belt (21).

10. The self-moving photovoltaic module cleaning robot according to claim 9, characterized in that: The upper part of the Y-axis movable bracket (2012) is rotatably provided with a plurality of blocking rods (22) distributed symmetrically in the front and rear directions. The blocking rods (22) are located on the inner side of the shielding cover (18) and are rotatably connected to the inner wall of the shielding cover (18). The outer side of the blocking rods (22) is in contact with the belt (21).

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