Self-adaptive suspension adjustment type photovoltaic panel cleaning device

Abstract

The invention relates to a self-adaptive suspension adjusting type photovoltaic panel cleaning device which comprises a portal frame body, a first winch, a second winch, a four-connecting-rod mechanism, a first balance spring, a second balance spring, a third balance spring, a two-connecting-rod mechanism, a fourth balance spring and a fifth balance spring. The four-connecting-rod mechanism is used for guaranteeing that one side of the cleaning brush can only ascend and descend approximately vertically, and the two-connecting-rod mechanism is used for guaranteeing that the cleaning brush can conduct correct angle adjustment and translation. The photovoltaic panel cleaning device is used for the technical fields of photovoltaic power station photovoltaic panel assembly cleaning, building roof cleaning and painting and the like, by taking a photovoltaic panel assembly as an example, the photovoltaic panel cleaning device can be carried on a mobile robot or a vehicle and is adaptive to the height and angle changes of a photovoltaic panel assembly support and vibration of a mobile platform caused by the ground; the implementation difficulty of the servo control system is reduced, and the photovoltaic panel assembly and other operation objects are protected under the extreme condition of control failure.

Description

Technical Field

[0001] The invention relates to the field of photovoltaic technology, and in particular to an adaptive suspension adjustment type photovoltaic panel cleaning device. Background Art

[0002] As the scale of photovoltaic power stations increases, the volume of operations and maintenance is also increasing. How to achieve intelligent, efficient, and low-cost operations and maintenance has become the key to the future development of power stations. Photovoltaic panels will accumulate dust and dirt during long-term use, affecting their power generation.

[0003] At present, the mainstream photovoltaic cleaning robots are mainly divided into three categories: gantry-type photovoltaic cleaning robots, crawler-type photovoltaic cleaning robots, and hanging-arm photovoltaic cleaning robots. Regardless of the type of robot, the mounting method of the cleaning mechanism is of paramount importance, because this is not only related to the cleaning efficiency of the robot, the stability and convenience of control, but also to the complexity of the robot structure.

[0004] One type of gantry-type photovoltaic cleaning robot in the prior art is the B1 robot of the Swiss company SolarCleano. The SolarCleano-B1 robot carries a cleaning brush through vertical beams on both sides. Wheels are installed at both ends of the cleaning brush and can slide on the vertical beams. One of the vertical beams is fixed, and the other can rotate around a certain point. The angle adjustment and parallel up and down movement of the brush are achieved by two electric push cylinders. Fig. 9 , 10 shown. Summary of the invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the problem that the photovoltaic cleaning robot in the prior art uses a sliding rail plus an electric push cylinder to carry a cleaning brush, the adjustment angle and range are not large, and the vertical beams on both sides cause the weight to be relatively large. In addition, the cost of this method is high, and the installation and control are relatively complicated.

[0006] In order to solve the above technical problems, the present invention provides an adaptive suspension adjustment type photovoltaic panel cleaning device, comprising: a gantry frame; a first winch, which is arranged on the gantry frame; a second winch, which is arranged on the gantry frame, and the second winch and the first winch are respectively located on both sides of the gantry frame; a four-bar linkage, the upper end of which is hinged to the upper end cross beam of the gantry frame, the two ends of the four-bar linkage are respectively connected to the first winch and the second winch, the first winch and the second winch are used to drive the four-bar linkage to achieve lifting, and the four-bar linkage is equipped with a A cleaning brush, a first balancing spring for balancing the weight of the cleaning brush is provided on the four-bar linkage, and a second balancing spring and a third balancing spring for balancing the self-weight of the four-bar linkage are provided between the four-bar linkage and the upper cross beam of the gantry frame; a two-bar linkage, an upper end of which is hinged to the upper cross beam of the gantry frame, and the two-bar linkage is hinged to one end of the four-bar linkage close to the second winch, a fourth balancing spring for balancing the weight of the cleaning brush is provided between the two-bar linkage and the upper cross beam of the gantry frame, and a fifth balancing spring for balancing the self-weight of the two-bar linkage is provided on the two-bar linkage. The adaptive suspension adjustment type photovoltaic panel cleaning device of the present invention is used in the technical fields of cleaning photovoltaic panel components of photovoltaic power stations, cleaning and painting building roofs, etc. Taking photovoltaic panel components as an example, it can be carried on a mobile robot or vehicle, and can adapt to the height and angle changes of the photovoltaic panel component bracket and the vibration of the mobile platform caused by the ground, thereby reducing the difficulty of implementing the servo control system, and protecting the photovoltaic panel components and other working objects in the extreme case of control failure.

[0007] In one embodiment of the present invention, the four-bar linkage mechanism includes a first link, a second link, a third rocker and a fourth rocker, the upper ends of the third rocker and the fourth rocker are hinged to the upper cross beam of the gantry frame, and the lower ends of the third rocker and the fourth rocker are hinged to the upper end of the second link, one end of the first link is hinged to the second link, and the other end of the first link is hinged to the two-bar linkage, and the cleaning brush is arranged on the first link.

[0008] In one embodiment of the present invention, two ends of the first connecting rod in the length direction are respectively connected to the first hoist and the second hoist.

[0009] In one embodiment of the present invention, the two-link mechanism includes a fifth link and a sixth link, the upper end of the fifth link is hinged to the upper end cross beam of the gantry frame, and the lower end of the fifth link is hinged to the upper end of the sixth link, and the lower end of the sixth link is hinged to the first link.

[0010] In one embodiment of the present invention, a first hoisting belt is provided between the first hoist and one end of the first connecting rod, and a second hoisting belt is provided between the second hoist and the other end of the first connecting rod.

[0011] In one embodiment of the present invention, the two ends of the first balance spring are respectively connected to the second connecting rod and the third rocker, the two ends of the second balance spring are respectively connected to the third rocker and the upper cross beam of the gantry frame, and the two ends of the third balance spring are respectively connected to the fourth rocker and the upper cross beam of the gantry frame.

[0012] In one embodiment of the present invention, two ends of the fourth balance spring are respectively connected to the fifth connecting rod and the upper end cross beam of the gantry frame, and two ends of the fifth balance spring are respectively connected to the fifth connecting rod and the sixth connecting rod.

[0013] In one embodiment of the present invention, the angle between the cleaning brush and the horizontal direction ranges from 0° to 30°.

[0014] In one embodiment of the present invention, the end of the first connecting rod connected to the first hoist can move up and down in the vertical direction.

[0015] In one embodiment of the present invention, the four-bar linkage and the two-bar linkage are in the same plane.

[0016] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The main purpose of the adaptive suspension adjustment photovoltaic panel cleaning device described in the present invention is to balance most of the weight of the cleaning mechanism and the combined connecting rod mechanism itself through the spring mechanism, so that when the ground disturbance causes the cleaning brush and the photovoltaic panel to change, the cleaning mechanism can achieve corresponding actions under the action of the spring; such as when the ground is concave, the distance between the cleaning brush and the photovoltaic panel becomes smaller, and the cleaning mechanism automatically comes up under the action of the spring force to avoid collision with the photovoltaic panel; such as when the ground is convex, the distance between the cleaning brush and the photovoltaic panel becomes larger, and the cleaning mechanism automatically descends under the action of gravity and spring force to avoid inadequate cleaning at this time. Carrying the cleaning brush in this way can make cleaning control simpler, reduce weight, reduce costs, modularize the cleaning device part, and can carry multiple cleaning modules on one machine to achieve cross-row cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein Figure 1 It is a front view of the self-adaptive suspension adjustment photovoltaic panel cleaning device in the preferred embodiment of the present invention; Figure 2 It is a structural schematic diagram of an adaptive suspension adjustment type photovoltaic panel cleaning device in a preferred embodiment of the present invention; Figure 3It is a structural schematic diagram of a four-bar linkage mechanism in a preferred embodiment of the present invention; Figure 4 It is a structural schematic diagram of a two-link mechanism in a preferred embodiment of the present invention; Figure 5 It is a structural schematic diagram of the application of the adaptive suspension adjustment type photovoltaic panel cleaning device in the preferred embodiment of the present invention; Figure 6 A schematic structural diagram of an adaptive suspension adjustment photovoltaic panel cleaning device in a preferred embodiment of the present invention; Figure 7 A schematic diagram of the spring arrangement structure of the self-adaptive suspension adjustment photovoltaic panel cleaning device in a preferred embodiment of the present invention; Figure 8 A diagram showing the variation of the suspension force of the self-adaptive suspension adjustment photovoltaic panel cleaning device under different postures in a preferred embodiment of the present invention; Fig. 9 The structure of the prior art is shown in FIG. Figure 1 ; Fig.10 The structure of the prior art is shown in FIG. Figure 2 .

[0018] Explanation of the markings in the specification: gantry frame 1, first winch fixing frame 11, second winch fixing frame 12, first short cross beam 13, second short cross beam 14, first winch 2, second winch 3, four-bar linkage 4, first connecting rod 41, second connecting rod 42, third rocker arm 43, fourth rocker arm 44, first balance spring 5, second balance spring 6, third balance spring 7, two-bar linkage 8, fifth connecting rod 81, sixth connecting rod 82, fourth balance spring 9, fifth balance spring 10, first hoisting belt 20, second hoisting belt 30, cleaning brush 100. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Example

[0020] Reference Figure 1 , 2As shown, the adaptive suspension adjustment type photovoltaic panel cleaning device of the present invention comprises: a gantry frame 1, a first winch 2, a second winch 3, a four-bar linkage 4, a first balance spring 5, a second balance spring 6, a third balance spring 7, a two-bar linkage 8, a fourth balance spring 9 and a fifth balance spring 10; the first winch 2 is arranged on the gantry frame 1; the second winch 3 is arranged on the gantry frame 1, and the second winch 3 and the first winch 2 are respectively located on both sides of the gantry frame 1; the four-bar linkage 4, the upper end of which is hinged to the upper end cross beam of the gantry frame 1, and the two ends of the four-bar linkage 4 are respectively connected to the first winch 2 and the second winch 3, and the first winch 2 and the second winch 3 are used to drive the four-bar linkage 4 realizes lifting, a cleaning brush 100 for cleaning the photovoltaic panel is installed on the four-bar linkage 4, a first balancing spring 5 for balancing the gravity of the cleaning brush 100 is provided on the four-bar linkage 4, a second balancing spring 6 and a third balancing spring 7 for balancing the self-weight of the four-bar linkage 4 are provided between the four-bar linkage 4 and the upper end cross beam of the gantry frame 1; a two-bar linkage 8, an upper end of which is hinged to the upper end cross beam of the gantry frame 1, and the two-bar linkage 8 is hinged to one end of the four-bar linkage 4 close to the second winch 3, a fourth balancing spring 9 for balancing the gravity of the cleaning brush 1 is provided between the two-bar linkage 8 and the upper end cross beam of the gantry frame 1, and a fifth balancing spring 10 for balancing the self-weight of the two-bar linkage 8 is provided on the two-bar linkage 8.

[0021] Reference Figure 3 As shown, the four-bar linkage 4 includes a first link 41, a second link 42, a third rocker 43 and a fourth rocker 44, the upper ends of the third rocker 43 and the fourth rocker 44 are hinged to the upper end beam of the gantry frame 1, and the lower ends of the third rocker 43 and the fourth rocker 44 are hinged to the upper end of the second link 42, one end of the first link 41 is hinged to the second link 42, and the other end of the first link 41 is hinged to the two-bar linkage 8, and the cleaning brush 100 is arranged on the first link 41. The two ends of the first link 41 in the length direction are respectively connected to the first winch 2 and the second winch 3. The two ends of the first balance spring 5 are respectively connected to the second link 42 and the third rocker 43, the two ends of the second balance spring 6 are respectively connected to the third rocker 43 and the upper end beam of the gantry frame 1, and the two ends of the third balance spring 7 are respectively connected to the fourth rocker 44 and the upper end beam of the gantry frame 1. The end of the first connecting rod 41 connected to the first hoist 2 can move up and down in the vertical direction. The planar four-bar linkage 4 calculates the rod length and the hinge position to achieve the end of the first connecting rod 41 to move up and down vertically, so as to ensure that the cleaning brush 100 can better adjust the angle and translation.

[0022] In the above structure, a first hoisting belt 20 is provided between the first hoist 2 and one end of the first connecting rod 41 , and a second hoisting belt 30 is provided between the second hoist 3 and the other end of the first connecting rod 41 .

[0023] Reference Figure 4 As shown, the two-link mechanism 8 includes a fifth link 81 and a sixth link 82, the upper end of the fifth link 81 is hinged to the upper end beam of the gantry frame 1, and the lower end of the fifth link 81 is hinged to the upper end of the sixth link 82, and the lower end of the sixth link 82 is hinged to the first link 41. The two ends of the fourth balance spring 9 are respectively connected to the fifth link 81 and the upper end beam of the gantry frame 1, and the two ends of the fifth balance spring 10 are respectively connected to the fifth link 81 and the sixth link 82.

[0024] In the above structure, the two-link mechanism 8 makes the angle between the cleaning brush 100 and the horizontal direction range from 0° to 30° through the calculation rod.

[0025] Reference Figure 2 As shown, the gantry body 1 is provided with a first hoist fixing frame 11 and a second hoist fixing frame 12, the first hoist 2 is mounted on the first hoist fixing frame 11, and the second hoist 3 is mounted on the second hoist fixing frame 12. The upper end of the gantry body 1 is provided with a first short cross beam 13 and a second short cross beam 14, the upper end of the four-bar linkage 4 is mounted on the first short cross beam 13, and the upper end of the two-bar linkage 8 is mounted on the second short cross beam 14. The four-bar linkage 4 and the two-bar linkage 8 are in the same plane.

[0026] The working principle of the adaptive suspension adjustment photovoltaic panel cleaning device proposed by the present invention is: The four-bar linkage 4 calculates the lengths of the four bars and the positions of the hinges to achieve an approximately vertical up-and-down movement of the end of the second link 42, thereby ensuring that the cleaning brush 100 can better adjust the angle and translation. In the planar four-bar linkage, three balance springs are provided, wherein the first balance spring 5 is used to balance a portion of the gravity of the cleaning brush 100, and the second balance spring 6 and the third balance spring 7 are used to balance the self-weight of the four-bar linkage. The final effect is that the balance springs offset most of the gravity of the four-bar linkage 4 and the cleaning brush 100, thereby making the control simpler.

[0027] In the two-link mechanism 8 , the fourth balance spring 9 is used to balance a portion of the gravity of the cleaning brush 100 , and the fifth balance spring 10 is used to balance the self-weight of the two-link mechanism 8 .

[0028] The first hoist 2 and the second hoist 3 are used to control the rise and fall of the cleaning brush 100. When the two hoists rotate at the same speed and the same direction, the cleaning brush 100 can be translated. When the two hoists rotate at different directions or speeds, the angle of the cleaning brush 100 can be adjusted. When the cleaning brush 100 is adjusted to a certain position, the balance spring can balance 80% of the weight of the mechanism, so that the cleaning brush 100 can easily stay at the current position.

[0029] The adaptive suspension adjustment photovoltaic panel cleaning device proposed in the present invention pulls the cleaning brush by a winch, and the combined connecting rod mechanism passively rotates to adjust the angle of the brush and control the movement of the brush. The spring balances the weight of the cleaning roller brush and the connecting rod, which effectively reduces the complexity of control, reduces weight, and reduces costs.

[0030] The self-adaptive suspension adjustment type photovoltaic panel cleaning device of the present invention can be made into a modular design, and can be mounted on a gantry type photovoltaic cleaning vehicle, and can also be mounted on a crawler type photovoltaic cleaning vehicle; Figure 5 As shown, one machine can be equipped with one or more photovoltaic cleaning mechanisms to achieve cross-row cleaning. Example

[0031] Based on the structure of the first embodiment, during the use of the self-adaptive suspension adjustment photovoltaic panel cleaning device, in order to better adjust the angle of the cleaning brush 100, it is hoped that point A (such as Figure 6 The motion trajectory of point A in the structural diagram is close to a vertical straight line within a certain height range. To ensure the motion trajectory of point A, the calculation process is as follows: In order to make the motion trajectory of point A close to a vertical straight line within a certain height range, the line where the first short beam 13 and the second short beam 14 are located is set as the X-axis. The coordinates of the connection point E between the third rocker 43 and the first short beam 13 and the connection point F between the fourth rocker 44 and the second short beam 14 are known, and are set as E(S1,0) and F(S2,0). The length of the third rocker 43 is set as The length of the fourth rocker 44 is The length of the second connecting rod 42 is The length of the fifth connecting rod 81 is The length of the sixth connecting rod 82 is The hinge point of the second connecting rod 42 and the third rocker 43 is point H, and the hinge point of the second connecting rod 42 and the fourth rocker 44 is point G; the distance from point A to point H is d; the angle between the fourth rocker 44 and the first short beam 13 is ; Then the coordinates of point G are: ( , ); calculate the angle between the third rocker 43 and the first short beam 13 :Let the distance between point G and point E be ; The angle between the fourth rocker 44 is ; The angle between the third rocker 43 is , but: ; ; ; Then, the angle between the third rocker 43 and the first short crossbeam 13 is ; Then the coordinates of point H are: ( ).

[0032] Calculate the angle between the second connecting rod 42 and the horizontal :Let the distance between point H and point F be ; The angle between the second connecting rod 42 and the fourth rocker 44 is ; ; In triangle FHG, according to the law of cosines: ; ; Then the coordinates of point A are: ( , ); Through optimization algorithm analysis, when , , When , d are certain values, the motion trajectory of point A approaches a vertical straight line within a certain interval; when , When they are fixed values ​​respectively, the adjustment angle range of the first connecting rod 41 is 0-30°.

[0033] The present invention uses springs, namely, a first balance spring 5, a second balance spring 6, a third balance spring 7, a fourth balance spring 9 and a fifth balance spring 10, to balance the deadweight of the operating mechanism using the elastic force of the springs. Figure 7 shown.

[0034] Assume that the third rocker 43 is connected to the second balance spring 6 of the first short beam 13, and the elastic force is The fourth rocker 44 is connected to the third balance spring 7 of the first short beam 13, and the elastic force is The third rocker 43 is connected to the first balance spring 5 of the second connecting rod 42, and the elastic force is The fourth balance spring 9 connected to the fifth connecting rod 81 and the second short beam 14 has an elastic force of The fifth balance spring 10 connected to the fifth connecting rod 81 and the sixth connecting rod 82 has an elastic force of .

[0035] Calculate the minimum stiffness of the spring, that is, the operating mechanism should be able to fall down by its own weight. Then when the spring stroke is the largest, the spring stiffness is the smallest at this time, that is, the minimum spring stiffness that can balance the deadweight of the operating mechanism.

[0036] First, analyze the four-bar linkage in the combined link; list the following force balance equations: The resultant force in the X-axis direction is 0: ; The resultant force in the Y-axis direction is 0: ; Calculate the moment of the four-bar linkage about point E: ; The force analysis of the fourth rocker 44 is carried out to find the moment of point G: ; The force analysis of the third rocker 43 is carried out and the moment of point H is calculated: ; Among them, θ1 and θ2 are the angles between T1 and T2 and the horizontal direction respectively; θ and α are the angles between the fourth rocker 44, the third rocker 43 and the first short beam 13 respectively; d1, d2, d3, d4, d5, and d6 are the distances from T1 to point E, the distance from T2 to point E, the distance from F3 to point E, the distance from T2 to point G, the distance from T1 to point H, and the distance from T3 to point H respectively.

[0037] Then analyze the two-link mechanism in the combined connecting rod; list the following force balance formula: The resultant force in the X-axis direction is 0: ; The resultant force in the Y-axis direction is 0: ; The moment of the two-link mechanism about point M is: ; For the force analysis of the fifth connecting rod 81, find the moment at point N: ; in, , They are , the angle between the fifth connecting rod 81 and the horizontal direction; They are The distance to point M, The distance to point M, The distance to point M, The distance to point N, The distance to point N.

[0038] By combining the above equations, we can find the minimum stiffness of the five balance springs. Example

[0039] Based on the structure of the first embodiment, during the use of the self-adaptive suspension adjustment photovoltaic panel cleaning device, in order to better adjust the angle of the cleaning brush 100, it is hoped that point A (such as Figure 6 The motion trajectory of point A in the structural diagram approaches a vertical straight line within a certain height range.

[0040] The specific embodiments are as follows: In order to make the motion trajectory of point A close to a vertical straight line within a certain height range, the line where the first short beam 13 and the second short beam 14 are located is set as the X-axis. The coordinates of the connection point E of the third rocker 43 and the first short beam 13 and the connection point F of the fourth rocker 44 and the second short beam 14 are known, and are set as E(1400,0) and F(2200,0). The length of the third rocker 43 is set as The length of the fourth rocker 44 is The length of the second connecting rod 42 is The length of the fifth connecting rod 81 is The length of the sixth connecting rod 82 is The hinge point of the second connecting rod 42 and the third rocker 43 is point H, and the hinge point of the second connecting rod 42 and the fourth rocker 44 is point G; the distance from point A to point H is d; the angle between the fourth rocker 44 and the first short beam 13 is ; Then the coordinates of point G are: ( , ); calculate the angle between the third rocker 43 and the first short beam 13 :Let the distance between point G and point E be ; The angle between the fourth rocker 44 is ; The angle between the third rocker 43 is , but: ; ; ; Then, the angle between the third rocker 43 and the first short crossbeam 13 is ; Then the coordinates of point H are: ( ).

[0041] Calculate the angle between the second connecting rod 42 and the horizontal :Let the distance between point H and point F be ; The angle between the second connecting rod 42 and the fourth rocker 44 is ; ; In triangle FHG, according to the law of cosines: ; ; Then the coordinates of point A are: ( , ); Through optimization algorithm analysis, when , , When d and d are 850, 600, 2400, and 1900 respectively, the motion trajectory of point A approaches a vertical straight line in the interval (-990, -1966); , When the angles are 600 and 900 respectively, the adjustment angle range of the first connecting rod 41 is 0-30°.

[0042] The present invention uses springs, namely, a first balance spring 5, a second balance spring 6, a third balance spring 7, a fourth balance spring 9 and a fifth balance spring 10, to balance the deadweight of the operating mechanism using the elastic force of the springs. Figure 7 shown.

[0043] Assume that the third rocker 43 is connected to the second balance spring 6 of the first short beam 13, and the elastic force is The fourth rocker 44 is connected to the third balance spring 7 of the first short beam 13, and the elastic force is The third rocker 43 is connected to the first balance spring 5 of the second connecting rod 42, and the elastic force is The fourth balance spring 9 connected to the fifth connecting rod 81 and the second short beam 14 has an elastic force of The fifth balance spring 10 connected to the fifth connecting rod 81 and the sixth connecting rod 82 has an elastic force of .

[0044] Calculate the minimum stiffness of the spring, that is, the operating mechanism should be able to fall down by its own weight. Then when the spring stroke is the largest, the spring stiffness is the smallest at this time, that is, the minimum spring stiffness that can balance the deadweight of the operating mechanism.

[0045] First, analyze the four-bar linkage in the combined link; list the following force balance equations: The resultant force in the X-axis direction is 0: ; The resultant force in the Y-axis direction is 0: ; Calculate the moment of the four-bar linkage about point E: ; The force analysis of the fourth rocker 44 is carried out to find the moment of point G: ; The force analysis of the third rocker 43 is carried out and the moment of point H is calculated: ; Among them, θ1 and θ2 are the angles between T1 and T2 and the horizontal direction respectively; θ and α are the angles between the fourth rocker 44, the third rocker 43 and the first short beam 13 respectively; d1, d2, d3, d4, d5, and d6 are the distances from T1 to point E, the distance from T2 to point E, the distance from F3 to point E, the distance from T2 to point G, the distance from T1 to point H, and the distance from T3 to point H respectively.

[0046] Then analyze the two-link mechanism in the combined connecting rod; list the following force balance formula: The resultant force in the X-axis direction is 0: ; The resultant force in the Y-axis direction is 0: ; The moment of the two-link mechanism about point M is: ; For the force analysis of the fifth connecting rod 81, find the moment at point N: ; in, , They are , the angle between the fifth connecting rod 81 and the horizontal direction; They are The distance to point M, The distance to point M, The distance to point M, The distance to point N, The distance to point N.

[0047] By combining the above formulas, the minimum stiffness of the five balance springs can be obtained as follows: the stiffness of the second balance spring 6 is K1=5231; the stiffness of the third balance spring 7 is K2=5591; the stiffness of the first balance spring 5 is K3=1588; the stiffness of the fourth balance spring 9 is K4=596; the stiffness of the fifth balance spring 10 is K5=3000; when the spring stiffness is the above value, the suspension force of the first connecting rod 41 at different heights and angles is shown in the following figure: like Figure 8 As shown, when the height of point A is within the range of (1500, 2500) and the height of point B is within the range of (900, 1400), the suspension force of the first connecting rod 41 changes slightly and is substantially constant.

[0048] like Figure 6 As shown, the points C and D of the first connecting rod 41 are connected to the hoisting belt respectively. By adjusting the stiffness of the spring, the percentage of the weight of the operating mechanism and the connecting rod mechanism borne by the suspension mechanism can be set, and the remaining weight is borne by the hoisting mechanism. The hoisting belt lifting actively controls the height and inclination of the first connecting rod 41, and the combined connecting rod mechanism passively moves to adjust the posture of the first connecting rod 41.

[0049] Assume the lifting force of the winch belt is F T ; The suspension force is F F ; The pressing force between the photovoltaic panel and the cleaning brush is F N ; The weight of the cleaning brush and the connecting rod mechanism is F G The balance relationship between the lifting tension of the winch belt, the suspension force, the pressing force between the photovoltaic panel and the cleaning brush, and the deadweight of the cleaning brush and the connecting rod mechanism is:

[0050] When the ground is uneven or the error of the photovoltaic panel assembly bracket causes the distance between the panel and the brush to become smaller, the pressing force between the photovoltaic panel and the cleaning brush increases. According to the force balance formula, the lifting force is greater than the gravity at this time, causing the cleaning brush to float, thereby the hoisting belt becomes loose and the hoisting tension becomes smaller. At this time, the winch is controlled to rotate to tighten the hoisting belt, and the pressing force between the photovoltaic panel and the cleaning brush becomes smaller, thereby rebalancing; when the ground is uneven or the error of the photovoltaic panel assembly bracket causes the distance between the photovoltaic panel and the cleaning brush to become larger, the pressing force between the photovoltaic panel and the cleaning brush decreases. According to the force balance formula, the lifting force is less than the gravity at this time, causing the cleaning brush to sink, thereby the hoisting belt becomes tighter and the hoisting tension becomes larger. At this time, the winch is controlled to rotate to loosen the hoisting belt, and the pressing force between the photovoltaic panel and the cleaning brush becomes larger, thereby rebalancing.

[0051] When encountering more extreme situations, such as when the ground is dented and the mobile platform descends, the pressing force between the photovoltaic panel and the cleaning brush increases sharply, making the suspension force plus the pressing force between the photovoltaic panel and the cleaning brush greater than gravity. At this time, the cleaning brush is lifted up to protect the photovoltaic panel.

[0052] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, 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 these are still within the protection scope of the invention.

Claims

1. An adaptive suspension adjustment photovoltaic panel cleaning device, characterized in that: include: Gantry frame; A first winch, which is arranged on the gantry frame; A second hoist is arranged on the gantry frame, and the second hoist and the first hoist are respectively located on two sides of the gantry frame; A four-bar linkage, the upper end of which is hinged to the upper cross beam of the gantry frame, the two ends of the four-bar linkage are respectively connected to the first hoist and the second hoist, the first hoist and the second hoist are used to drive the four-bar linkage to achieve lifting, a cleaning brush for cleaning the photovoltaic panel is installed on the four-bar linkage, a first balancing spring for balancing the gravity of the cleaning brush is provided on the four-bar linkage, and a second balancing spring and a third balancing spring for balancing the self-weight of the four-bar linkage are provided between the four-bar linkage and the upper cross beam of the gantry frame; A two-link mechanism, the upper end of which is hinged to the upper cross beam of the gantry frame, and the two-link mechanism is hinged to one end of the four-link mechanism close to the second winch, a fourth balance spring for balancing the gravity of the cleaning brush 100 is provided between the two-link mechanism and the upper cross beam of the gantry frame, and a fifth balance spring for balancing the self-weight of the two-link mechanism is provided on the two-link mechanism.

2. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 1 is characterized in that: The four-bar linkage mechanism includes a first link, a second link, a third rocker and a fourth rocker, the upper ends of the third rocker and the fourth rocker are hinged to the upper end beam of the gantry frame, and the lower ends of the third rocker and the fourth rocker are hinged to the upper end of the second link, one end of the first link is hinged to the second link, and the other end of the first link is hinged to the two-bar linkage, and the cleaning brush is arranged on the first link.

3. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 2 is characterized in that: Two ends of the first connecting rod in the length direction are respectively connected to the first hoist and the second hoist.

4. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 3 is characterized in that: The two-link mechanism includes a fifth link and a sixth link, the upper end of the fifth link is hinged to the upper end cross beam of the gantry frame, and the lower end of the fifth link is hinged to the upper end of the sixth link, and the lower end of the sixth link is hinged to the first link.

5. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 3 is characterized in that: A first hoisting belt is provided between the first hoist and one end of the first connecting rod, and a second hoisting belt is provided between the second hoist and the other end of the first connecting rod.

6. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 3 is characterized in that: The two ends of the first balance spring are respectively connected to the second connecting rod and the third rocker, the two ends of the second balance spring are respectively connected to the third rocker and the upper end beam of the gantry frame, and the two ends of the third balance spring are respectively connected to the fourth rocker and the upper end beam of the gantry frame.

7. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 4 is characterized in that: Two ends of the fourth balance spring are respectively connected to the fifth connecting rod and the upper end cross beam of the gantry frame body, and two ends of the fifth balance spring are respectively connected to the fifth connecting rod and the sixth connecting rod.

8. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 1, characterized in that: The angle between the cleaning brush and the horizontal direction ranges from 0° to 30°.

9. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 5, characterized in that: One end of the first connecting rod connected to the first hoist can move up and down in the vertical direction.

10. The self-adaptive suspension adjustment photovoltaic panel cleaning device according to claim 1, characterized in that: The four-bar linkage and the two-bar linkage are in the same plane. The gantry frame is provided with a first hoist fixing frame and a second hoist fixing frame, the first hoist is mounted on the first hoist fixing frame, and the second hoist is mounted on the second hoist fixing frame. The upper end of the gantry frame is provided with a first short crossbeam and a second short crossbeam, the upper end of the four-bar linkage is mounted on the first short crossbeam, and the upper end of the two-bar linkage is mounted on the second short crossbeam.

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