Dust removal robot and control method for stepped photovoltaic panel cleaning

Abstract

The invention belongs to the technical field of photovoltaic panel surface cleaning, and particularly relates to a dust removal robot and a control method for stepped photovoltaic panel cleaning. The dust removal robot comprises a carrier mechanism, a rotating mechanism is installed on the carrier mechanism, a lifting mechanism is arranged above the rotating mechanism, and an extension mechanism is installed at the top of the lifting mechanism; an adjusting mechanism is installed at the far end of the extension mechanism, a dust removal mechanism is connected to the lower portion of the adjusting mechanism, and positioning mechanisms are arranged on the two sides of the dust removal mechanism; the carrier mechanism is further provided with a control mechanism used for controlling operation of the whole equipment. The dust removal mechanism comprises a connecting plate, a rotating plate is rotationally connected to the lower portion of the connecting plate, a brush is detachably installed below the rotating plate, and a fifth servo motor used for driving the brush to rotate is installed above the connecting plate; and a fifth servo motor is used for driving a brush to rotate on the surface of the photovoltaic panel, so that floating dust on the photovoltaic surface is cleaned.

Description

Technical Field

[0001] The present invention belongs to the technical field of photovoltaic panel surface cleaning, and in particular relates to a dust removal robot and a control method for step-type photovoltaic panel cleaning. Background Art

[0002] Under my country's "dual carbon" goal, many large-scale ground photovoltaic power stations have installed massive photovoltaic panels. In the windy spring, autumn and winter, ground dust, sand or snow often cover the surface of the photovoltaic panels, reducing the photoelectric conversion efficiency, which can even drop by 50%, directly affecting the power station's revenue. Therefore, regular surface cleaning is needed, which is an urgent problem that the industry needs to solve.

[0003] At present, there are no mature and efficient products for promotion at home and abroad. There are problems: (1) Manual dust removal with mops is inefficient and not suitable for photovoltaic panels located at high positions; (2) If water washing is used, on the one hand, there must be sufficient water sources nearby, and on the other hand, water pipes freeze in winter, and water sprayed on the surface of photovoltaic panels is also prone to freezing, which will affect the power generation efficiency of photovoltaic panels; (3) If drones are used, the battery consumption is large and the carrying weight is small. For photovoltaic power stations with relatively large volumes, the cleaning efficiency is relatively low; (4) Some robots use suction cups to move. After completing a row of photovoltaic panels, they need to be manually lifted to the next row of photovoltaics and re-installed before they can work, which is not efficient. In general, there are currently no suitable cleaning products for cleaning the surface of photovoltaic panels. Summary of the invention

[0004] The purpose of the present invention is to provide a dust removal robot and a control method for cleaning stepped photovoltaic panels, which can quickly and efficiently clean the surface of rows of photovoltaic panels. Cleaning by sweeping can avoid reducing the impact of cleaning on the photovoltaic panels in winter or in cold areas.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A dust removal robot and a control method for cleaning a stepped photovoltaic panel, comprising: a carrier mechanism, a rotating mechanism is installed on the carrier mechanism, a lifting mechanism is arranged above the rotating mechanism, an extension mechanism is installed on the top of the lifting mechanism, an adjustment mechanism is installed at the far end of the extension mechanism, a dust removal mechanism is connected to the bottom of the adjustment mechanism, and positioning mechanisms are arranged on both sides of the dust removal mechanism; a control mechanism for controlling the operation of the entire device is also arranged on the carrier mechanism; wherein the carrier mechanism is a mobile platform for the entire device, the carrier mechanism comprises a vehicle body, load-bearing wheels driven by a motor are arranged on both sides of the vehicle body, and a direction wheel is arranged in front of the vehicle body; the dust removal mechanism comprises a connecting plate, a rotating plate is rotatably connected to the bottom of the connecting plate, a brush is detachably installed below the rotating plate, and a servo motor five for driving the brush to rotate is installed above the connecting plate; the brush is driven by the servo motor five to rotate on the surface of the photovoltaic panel, thereby cleaning the floating dust on the photovoltaic surface.

[0007] In a preferred embodiment, the upper end of the steering wheel is rotatably connected to the vehicle body via a rotating shaft, and a servo motor 1 is connected above the rotating shaft of the steering wheel to drive the rotation of the steering wheel.

[0008] In a preferred embodiment, the rotating mechanism includes an annular guide rail fixedly mounted above the vehicle body, a slider is slidably mounted on the inner side of the annular guide rail, teeth are arranged on the outer circumferential surface of the slider, a driving wheel is connected to the outer side of the slider through teeth meshing, the driving wheel is rotatably connected to the vehicle body, a servo motor 2 is connected below the driving wheel, a connecting bracket is fixedly mounted on the inner circumferential surface of the slider, and a turntable is arranged on the top of the connecting bracket.

[0009] In a preferred embodiment, the lifting mechanism includes a support base fixedly mounted on the turntable, an upwardly retractable bracket is arranged on the support base, a connecting strip is connected to the lower end of the bracket, both ends of the connecting strip are slidably connected to the support base, a screw rod is connected to the middle section of the connecting strip by a thread, one end of the screw rod is connected to a servo motor three, and a mounting plate is arranged at the upper end of the bracket.

[0010] In a preferred embodiment, the extension mechanism includes a cantilever rod 1 rotatably connected to a mounting plate, a cantilever rod 2 is arranged at the distal end of the cantilever rod 1, a telescopic structure is formed between the cantilever rod 2 and the cantilever rod 1, a telescopic rod 1 is installed on the cantilever rod 1, one end of the telescopic rod 1 is fixedly connected to the cantilever rod 1, and the other end of the telescopic rod 1 is fixedly connected to the distal end of the cantilever rod 2, and a telescopic rod 2 is also hingedly connected to the mounting plate, and the telescopic end of the telescopic rod 2 is hingedly connected to the cantilever rod 1.

[0011] In a preferred embodiment, the adjustment mechanism includes a connecting frame, both sides of which are rotatably connected to the far end of the cantilever rod 1 through a rotating shaft, and one end of the rotating shaft is fixedly connected to a servo motor 4.

[0012] In a preferred embodiment, the connecting plate is fixedly mounted on the lower end of the connecting frame, an ear piece 2 is mounted on the upper end of the brush, a docking port for inserting the ear piece 2 is penetrated through the inner side of the rotating plate, and an ear piece 1 docking with the ear piece 2 is arranged on the side of the docking port.

[0013] In a preferred embodiment, two groups of the positioning mechanisms are symmetrically arranged about the central axis of the connecting plate, and the two groups of the positioning mechanisms are respectively arranged on both sides of the walking direction of the device, and the carrier mechanism includes a mounting bar 1 fixedly connected to the connecting frame, and a mounting bar 2 is connected below the mounting bar 1, and the central axis of the mounting bar 1 and the central axis of the rotating plate are arranged perpendicular to each other, and the central axis of the mounting bar 2 and the central axis of the rotating plate are arranged parallel to each other, a laser transmitter is fixedly installed on the upper end of the mounting bar 2, and a laser receiver is movably installed on the lower end of the mounting bar 2.

[0014] In a preferred embodiment, the mounting strip 1 is provided with an adjustment groove 1, the mounting strip 2 is connected to the mounting strip by bolts passing through the adjustment groove 1, the mounting strip 2 is provided with an adjustment groove 2, and the laser receiver is connected to the mounting strip by bolts passing through the adjustment groove 2.

[0015] The present invention also provides a control method for a dust removal robot for cleaning stepped photovoltaic panels, which is applied to the above-mentioned dust removal robot and comprises the following steps:

[0016] S1. Use the carrier mechanism to carry the device between the photovoltaic array panels, so as to carry the dust removal device to clean each row of photovoltaic panels;

[0017] S2. The dust removal mechanism is raised by lifting the lifting mechanism, and the height of the dust removal mechanism is higher than the height of the photovoltaic panel. Then, the dust removal mechanism is placed directly above the photovoltaic panel by rotating the rotating mechanism.

[0018] S3, using the adjustment mechanism to drive the dust removal mechanism to perform deflection adjustment, so that the brush of the dust removal mechanism is consistent with the inclination angle of the photovoltaic panel, and then appropriately adjusting the height of the dust removal mechanism so that the brush fits the surface of the photovoltaic panel;

[0019] S4. The carrier mechanism carries the device to move along a row of photovoltaic panels. During the movement, the servo motor 5 drives the brush to rotate on the surface of the photovoltaic panel to clean the floating dust on the photovoltaic surface.

[0020] The technical effects achieved by the present invention are:

[0021] The present invention uses a carrier mechanism to carry a cleaning device to walk in the gap between two rows of photovoltaic panels. The dust on the surface of the photovoltaic panel can be cleaned by rotating the brush in the dust removal mechanism, thereby achieving the purpose of cleaning the surface of the photovoltaic panel. Compared with the manual dust removal method using a mop, the present invention has higher efficiency and is suitable for dust removal work in photovoltaic power stations with a large area. No water source is required during cleaning, which can reduce the difficulty of using water in water-scarce areas on the one hand, and can also avoid the problem of freezing in cold areas after spraying water on the photovoltaic panel. The working time of the device is longer, and the working efficiency is improved.

[0022] The carrier mechanism of the present invention is equipped with a lifting mechanism, which can adjust the working height of the dust removal mechanism, thereby meeting the cleaning needs of photovoltaic panels at different heights, making the use of the equipment more flexible;

[0023] The present invention utilizes a carrier mechanism as a mobile platform for the entire device, which can carry a dust removal mechanism and walk on the ground between photovoltaic arrays. The carrier mechanism is a small carrier structure, which can flexibly walk in a narrow area to meet the needs of the narrow space between photovoltaic arrays, and can also avoid the heavy burden caused by the staff frequently moving equipment during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a half-sectioned enlarged structural schematic diagram of the carrier mechanism of the present invention;

[0026] Figure 3 It is a cross-sectional enlarged structural schematic diagram of the rotating mechanism of the present invention;

[0027] Figure 4 It is an enlarged structural schematic diagram of the connection between the lifting mechanism and the rotating mechanism of the present invention;

[0028] Figure 5 It is an enlarged structural schematic diagram of the lifting mechanism of the present invention;

[0029] Figure 6 It is an enlarged structural schematic diagram of the dust removal mechanism and its auxiliary structures of the present invention;

[0030] Figure 7 It is an enlarged structural schematic diagram of the connection between the lifting mechanism and the extension mechanism of the present invention;

[0031] Figure 8 It is a cross-sectional enlarged structural schematic diagram of the dust removal mechanism of the present invention;

[0032] Fig. 9It is a schematic diagram of the relationship between the positioning mechanism of the present invention and the photovoltaic panel;

[0033] Fig.10 It is an enlarged structural schematic diagram of the control mechanism of the present invention.

[0034] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0035] 1. Carrier mechanism; 11. Vehicle body; 12. Load-carrying wheel; 13. Steering wheel; 14. Servo motor 1;

[0036] 2. Rotating mechanism; 21. Annular guide rail; 22. Sliding block; 23. Driving wheel; 24. Servo motor 2; 25. Connecting bracket;

[0037] 26. Turntable;

[0038] 3. Lifting mechanism; 31. Support seat; 32. Bracket; 33. Connecting strip; 34. Screw rod; 35. Servo motor three; 36. Mounting plate;

[0039] 4. Extension mechanism; 41. Cantilever rod 1; 42. Cantilever rod 2; 43. Telescopic rod 1; 44. Telescopic rod 2;

[0040] 5. Adjustment mechanism; 51. Connecting frame; 52. Rotating shaft; 53. Servo motor 4;

[0041] 6. Dust removal mechanism; 61. Connecting plate; 62. Rotating plate; 63. Servo motor five; 64. Docking port; 65. Ear piece one;

[0042] 66. Brush; 67. Ear piece 2;

[0043] 7. Positioning mechanism; 71. Mounting bar 1; 72. Mounting bar 2; 73. Laser transmitter; 74. Laser receiver; 75. Adjustment slot 1; 76. Adjustment slot 2;

[0044] 8. Control mechanism. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0048] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0049] See also Figures 1 to 6 As shown, the present invention provides a dust removal robot and a control method for cleaning stepped photovoltaic panels, comprising: a carrier mechanism 1, a rotating mechanism 2 is installed on the carrier mechanism 1, a lifting mechanism 3 is arranged above the rotating mechanism 2, an extension mechanism 4 is installed on the top of the lifting mechanism 3, an adjustment mechanism 5 is installed at the far end of the extension mechanism 4, a dust removal mechanism 6 is connected to the bottom of the adjustment mechanism 5, and positioning mechanisms 7 are arranged on both sides of the dust removal mechanism 6; a control mechanism 8 for controlling the operation of the entire device is also arranged on the carrier mechanism 1; wherein the carrier mechanism 1 is the movement of the entire device The platform and the carrier mechanism 1 include a vehicle body 11, and load wheels 12 driven by a motor are arranged on both sides of the vehicle body 11, and a steering wheel 13 is arranged in front of the vehicle body 11; the dust removal mechanism 6 includes a connecting plate 61, and a rotating plate 62 is rotatably connected to the lower part of the connecting plate 61, and a brush 66 is detachably installed under the rotating plate 62, and a servo motor 5 63 for driving the brush 66 to rotate is installed above the connecting plate 61; the brush 66 is driven by the servo motor 5 63 to rotate on the surface of the photovoltaic panel, so as to clean the floating dust on the photovoltaic surface;

[0050] In this embodiment, when cleaning the surface of the photovoltaic panel in the photovoltaic power station, firstly, the carrier mechanism 1 is used to carry the device to walk between the rows of photovoltaic array panels, so that the dust removal device can be carried to clean each row of photovoltaic panels; the dust removal mechanism 6 is driven to rise by the lifting mechanism 3, and the height of the dust removal mechanism 6 is higher than the height of the photovoltaic panel, and then the dust removal mechanism 6 is rotated by the rotating mechanism 2 so that it is directly above the photovoltaic panel; the dust removal mechanism 6 is driven by the adjustment mechanism 5 to deflect and adjust so that the brush 66 of the dust removal mechanism 6 is consistent with the inclination angle of the photovoltaic panel, and then the height of the dust removal mechanism 6 is appropriately adjusted so that the brush 66 fits the surface of the photovoltaic panel; the carrier mechanism 1 is used to carry the device to walk along a row of photovoltaic panels, and in the process of walking, the brush 66 is driven by the servo motor 5 63 to rotate on the surface of the photovoltaic panel to clean the floating dust on the photovoltaic surface;

[0051] Preferably, the carrier mechanism 1 is used to carry the cleaning device and walk in the gap between two rows of photovoltaic panels. The dust on the surface of the photovoltaic panel can be cleaned by rotating the brush 66 in the dust removal mechanism 6, thereby achieving the purpose of cleaning the surface of the photovoltaic panel. Compared with the manual dust removal method using a mop, the efficiency is higher and it is suitable for dust removal work in photovoltaic power stations with large areas. No water source is required for cleaning. On the one hand, it can reduce the difficulty of water use in water-scarce areas. On the other hand, it can avoid the problem of freezing in cold areas after spraying water on the photovoltaic panels. The working time of the device is longer, and the work efficiency is improved.

[0052] See also Figure 2 As shown, the upper end of the steering wheel 13 is rotatably connected to the vehicle body 11 through a rotating shaft, and a servo motor 14 is connected above the rotating shaft of the steering wheel 13 to drive the rotation of the steering wheel 13;

[0053] In this embodiment, the carrier mechanism 1 is used as a mobile platform of the entire device, carrying the rotating mechanism 2, the lifting mechanism 3, the dust removal mechanism 6, etc., and walking between the photovoltaic arrays to clean the surface of the photovoltaic panels. The carrier mechanism 1 is a small carrier structure, which can flexibly walk in a narrow area to meet the needs of the narrow space between the photovoltaic arrays, and can also avoid the heavy burden caused by the staff frequently moving the equipment during the cleaning process;

[0054] In addition, when the carrier mechanism 1 moves, the motor provides power to the load wheel 12, thereby driving the device to move. When the carrier mechanism 1 moves, the servo motor 14 can drive the direction wheel 13 to rotate in the horizontal direction. The deflection of the direction wheel 13 can be used to control the direction of the carrier mechanism 1 when it moves.

[0055] See also Figures 2 to 6 As shown, the rotating mechanism 2 includes an annular guide rail 21 fixedly mounted above the vehicle body 11, a slider 22 is slidably mounted on the inner side of the annular guide rail 21, and teeth are arranged on the outer circumferential surface of the slider 22. A driving wheel 23 is connected to the outer side of the slider 22 through teeth meshing, and the driving wheel 23 is rotatably connected to the vehicle body 11. A servo motor 24 is connected below the driving wheel 23. A connecting bracket 25 is fixedly mounted on the inner circumferential surface of the slider 22, and a turntable 26 is arranged on the top of the connecting bracket 25.

[0056] In this embodiment, the rotation of the rotating mechanism 2 can drive the lifting mechanism 3, the dust removal mechanism 6, etc. to rotate along the vertical axis, thereby changing the positional relationship between the dust removal mechanism 6 and the photovoltaic panel, improving the flexibility of the dust removal mechanism 6 during application, providing convenience for the carrier mechanism 1 to move between narrow photovoltaic arrays, and preventing the device from colliding with the photovoltaic panel when moving;

[0057] During use, the rotating mechanism 2 drives the driving wheel 23 to rotate through the rotation of the servo motor 24. Since the driving wheel 23 and the slider 22 are meshed, when the driving wheel 23 rotates, the slider 22 is driven to deflect in the annular guide rail 21. The slider 22 is fixedly connected to the turntable 26 through the connecting bracket 25. When the slider 22 rotates, the turntable 26 is driven to rotate around the vertical center line of the slider 22, thereby driving the rotation adjustment of the lifting mechanism 3 and the dust removal mechanism 6;

[0058] During rotation adjustment, the forward or reverse rotation of the servo motor 24 can drive the lifting mechanism 3 and the dust removal mechanism 6 to adjust forward or reverse, and perform counterclockwise or clockwise rotation adjustment as needed.

[0059] See also Figures 3 to 7 As shown, the lifting mechanism 3 includes a support base 31 fixedly mounted on the turntable 26, and an upwardly telescopic bracket 32 ​​is arranged on the support base 31. The lower end of the bracket 32 ​​is connected to a connecting bar 33, and both ends of the connecting bar 33 are slidably connected to the support base 31. The middle section of the connecting bar 33 is connected to a screw rod 34 through a thread, and one end of the screw rod 34 is connected to a servo motor 35. The upper end of the bracket 32 ​​is provided with a mounting plate 36;

[0060] Preferably, in this embodiment, the lifting mechanism 3 can be used to adjust the working height of the dust removal mechanism 6, so as to meet the cleaning needs of photovoltaic panels at different heights, making the use of the equipment more flexible;

[0061] See also Figure 3 and Figure 4 As shown, the bracket 32 ​​in the lifting mechanism 3 is arranged in an "X"-shaped structure, and one end of the bracket 32 ​​is rotatably connected to the support seat 31, and the other end is slidably connected to the support seat 31 through a connecting strip 33. The servo motor 35 drives the screw rod 34 to rotate, and the screw rod 34 and the connecting strip 33 are threadedly engaged to drive the two ends of the bracket 32 ​​to approach or move away from each other. When the two ends of the bracket 32 ​​are close to each other, the bracket 32 ​​will extend upward, and when the two ends of the bracket 32 ​​are away from each other, the bracket 32 ​​will be driven to retract downward. The extension or retraction of the bracket 32 ​​drives the mounting plate 36 to adjust the height, thereby driving the dust removal mechanism 6 to adjust the working height.

[0062] See also Figure 6 and Figure 7 As shown, the adjustment mechanism 5 includes a connecting frame 51, both sides of the connecting frame 51 are rotatably connected to the far end of the cantilever rod 41 through a rotating shaft 52, and one end of the rotating shaft 52 is fixedly connected to a servo motor 43;

[0063] In this embodiment, the servo motor 4 53 drives the connecting frame 51 in the adjustment mechanism 5 to rotate and adjust between the rotating shaft 52 and the cantilever rod 2 42, so that the connecting frame 51 is deflected around the central axis of the rotating shaft 52 by an angle. By utilizing the rotation of the connecting frame 51, the connecting plate 61 fixedly connected to the connecting frame 51 is driven to deflect around the central axis of the rotating shaft 52 by an angle, thereby driving the brush 66 to deflect by an angle, so that the brush 66 is in a parallel state with the photovoltaic panel, which is convenient for cleaning the photovoltaic panel and can avoid collision.

[0064] See also Figure 1 and Figures 9 and 10 As shown, the extension mechanism 4 includes a cantilever rod 41 rotatably connected to the mounting plate 36, a cantilever rod 42 is arranged at the distal end of the cantilever rod 41, a telescopic structure is formed between the cantilever rod 42 and the cantilever rod 41, a telescopic rod 43 is installed on the cantilever rod 41, one end of the telescopic rod 43 is fixedly connected to the cantilever rod 41, and the other end of the telescopic rod 43 is fixedly connected to the distal end of the cantilever rod 42, a telescopic rod 44 is also hinged on the mounting plate 36, and the telescopic end of the telescopic rod 44 is hinged on the cantilever rod 41; the positioning mechanism 7 is symmetrically arranged with two groups about the central axis of the connecting plate 61, and the two groups of positioning mechanisms 7 are respectively arranged on both sides of the walking direction of the device, and the carrier mechanism 1 includes A mounting bar 1 71 is fixedly connected to the connecting frame 51, and a mounting bar 2 72 is connected below the mounting bar 1 71. The central axis of the mounting bar 1 71 and the central axis of the rotating plate 62 are perpendicular to each other, and the central axis of the mounting bar 2 72 and the central axis of the rotating plate 62 are parallel to each other. A laser transmitter 73 is fixedly installed on the upper end of the mounting bar 2 72, and a laser receiver 74 is movably installed on the lower end of the mounting bar 2 72; an adjustment slot 1 75 is provided on the mounting bar 1 71, and the mounting bar 2 72 is connected to the adjustment slot 1 75 by bolts, and an adjustment slot 2 76 is provided in the mounting bar 2 72, and the laser receiver 74 is connected to the adjustment slot 2 76 by bolts;

[0065] Preferably, in this embodiment, the photovoltaic power station is usually built on undeveloped land, and the undeveloped land is usually uneven. When the carrier mechanism 1 carries the cleaning device and walks on the uneven ground, it is inevitable that the route will be deviated, that is, the cleaning device will not walk along the path of a row of photovoltaic arrays, thereby causing the brush 66 in the dust removal mechanism 6 to move downward or upward along the surface of the photovoltaic panel. When the brush 66 deviates too much downward, a part of the upper part of the photovoltaic panel will be left, and the brush 66 cannot be cleaned. When the brush 66 deviates too much upward, a part of the lower part of the photovoltaic panel will be left, and the brush 66 cannot be cleaned, resulting in four corners left on the surface of the photovoltaic panel. Therefore, positioning mechanisms 7 are provided on both sides of the moving direction of the brush 66 to detect the positional relationship between the brush 66 and the photovoltaic panel when cleaning the photovoltaic panel, so as to ensure that the brush 66 can clean the entire area of ​​the photovoltaic panel surface;

[0066] Specifically, when cleaning the photovoltaic panel, the telescopic rod 2 44 is extended and retracted to make the cantilever rod 1 41 and the cantilever rod 2 42 rotate and adjust around the hinge point where the cantilever rod 1 41 is hinged on the mounting plate 36, so that the telescopic direction of the cantilever rod 1 41 and the cantilever rod 2 42 is parallel to the surface of the photovoltaic panel to be cleaned, and then the dust removal mechanism 6 is driven by the adjustment mechanism 5 to adjust so that the brush 66 is in a parallel state with the photovoltaic panel, and then the position between the positioning mechanism 7 and the photovoltaic panel is adjusted;

[0067] The two groups of positioning mechanisms 7 are respectively arranged on both sides of the moving direction of the device, and the laser beams generated by the two groups of positioning mechanisms 7 are perpendicular to the surface of the photovoltaic panel. The positions of the laser emitter 73 and the laser receiver 74 are adjusted by adjusting the groove 1 75 and the groove 2 76, so that the laser beam emitted by the laser emitter 73 is located at the edge of the photovoltaic panel and is not blocked by the photovoltaic panel, and can be received by the laser receiver 74. When the brush 66 deviates downward along the surface of the photovoltaic panel, the laser beam emitted by the laser emitter 73 at the upper end of the photovoltaic panel will be blocked by the photovoltaic panel, and the laser receiver 74 cannot receive the signal, which means that the brush 66 deviates too much downward, and the telescopic rod 1 43 is extended to drive the cantilever rod 2 42 to extend from the cantilever rod 1 41, thereby bringing The moving brush 66 moves upward along the surface of the photovoltaic panel until the laser receiver 74 at the upper end of the photovoltaic panel receives the laser signal. On the contrary, when the brush 66 deviates upward along the surface of the photovoltaic panel, the laser beam emitted by the laser transmitter 73 at the lower end of the photovoltaic panel will be blocked by the photovoltaic panel, and the laser receiver 74 at the lower end cannot receive the signal, which means that the brush 66 deviates too much upward. By retracting the telescopic rod 1 43, the cantilever rod 2 42 is driven to retract and adjust into the cantilever rod 1 41, thereby driving the brush 66 to move downward along the surface of the photovoltaic panel until the laser receiver 74 at the lower end of the photovoltaic panel receives the laser signal. By retracting the cantilever rod 2 42 from the cantilever rod 1 41, the brush 66 can be driven to adjust along the surface of the photovoltaic panel.

[0068] The laser transmitter 73 and the laser receiver 74 are both mounted on the second mounting bar 72, and the second mounting bar 72 is fixed in the adjustment slot 75 on the first mounting bar 71 by bolts. By loosening the bolts, the second mounting bar 72 can be adjusted along the adjustment slot 75, and the spacing between the laser transmitter 73 and the laser receiver 74 and the left and right sides of the photovoltaic panel can be adjusted. The laser receiver 74 is fixed in the adjustment slot 76 of the second mounting bar 72 by bolts. By loosening the bolts, the laser receiver 74 can be adjusted up and down along the adjustment slot 76, so that the laser receiver 74 is at the lower end of the photovoltaic panel.

[0069] See also Figure 8 As shown, the connecting plate 61 is fixedly mounted on the lower end of the connecting frame 51, the upper end of the brush 66 is mounted with a second ear piece 67, the inner side of the rotating plate 62 is penetrated with a docking port 64 for inserting the second ear piece 67, and the side of the docking port 64 is provided with an ear piece 1 65 docking with the second ear piece 67;

[0070] In this embodiment, the brush 66 and the rotating plate 62 can be disassembled and assembled, so that the brush 66 can be disassembled and replaced with a new one or cleaned. Specifically, the brush 66 passes through the docking port 64 through the ear piece 2 67 to be aligned with the ear piece 1 65, and then bolts are inserted into the ear piece 1 65 and the ear piece 2 67 to fix them. When disassembling, the bolts are directly removed, and then the ear piece 2 67 of the brush 66 can be pushed out of the docking port 64.

[0071] In the present invention, the control mechanism 8 is electrically connected to the motor driving the load wheel 12 and the servo motor 1 14 and the servo motor 2 24, the control mechanism 8 is electrically connected to the servo motor 3 35 and the telescopic rod 1 43 and the telescopic rod 2 44, the control mechanism 8 is electrically connected to the servo motor 4 53 and the servo motor 5 63, and the control mechanism 8 is electrically connected to the laser transmitter 73 and the laser receiver 74. The operation of the device is controlled by the control mechanism 8, and the telescopic rod 1 43 and the telescopic rod 2 44 are electric telescopic rods. The carrier mechanism 1 also carries a battery for powering the device, which can provide energy for the device, and the battery is electrically connected to the control mechanism 8. In addition, a handheld controller is provided outside the device, and the device is controlled by sending a signal to the control mechanism 8 through the control mechanism 8 to meet the normal operation of the device.

[0072] The working principle of the present invention is as follows: when cleaning the surface of the photovoltaic panel in the photovoltaic power station, firstly, the carrier mechanism 1 is used to carry the device to walk between the rows of photovoltaic array panels, so as to carry the dust removal device to clean each row of photovoltaic panels; by raising the lifting mechanism 3, the dust removal mechanism 6 is driven to rise, and the height of the dust removal mechanism 6 is made higher than the height of the photovoltaic panel, and then the rotating mechanism 2 is rotated to make the dust removal mechanism 6 directly above the photovoltaic panel; the adjustment mechanism 5 is used to drive the dust removal mechanism 6 to deflect and adjust the brush 66 of the dust removal mechanism 6 to be consistent with the inclination angle of the photovoltaic panel, and then the height of the dust removal mechanism 6 is appropriately adjusted to make the brush 66 fit the surface of the photovoltaic panel; the carrier mechanism 1 is used to carry the device to walk along a row of photovoltaic panels, and in the process of walking, the servo motor 5 63 is driven to drive the brush 66 to rotate on the surface of the photovoltaic panel to clean the floating dust on the photovoltaic surface.

[0073] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A dust removal robot, characterized in that: include: A carrier mechanism (1), wherein a rotating mechanism (2) is installed on the carrier mechanism (1), a lifting mechanism (3) is arranged above the rotating mechanism (2), an extension mechanism (4) is installed on the top of the lifting mechanism (3), an adjustment mechanism (5) is installed at the far end of the extension mechanism (4), a dust removal mechanism (6) is connected below the adjustment mechanism (5), and positioning mechanisms (7) are arranged on both sides of the dust removal mechanism (6); The carrier mechanism (1) is also provided with a control mechanism (8) for controlling the operation of the entire device; The carrier mechanism (1) is a mobile platform of the entire device, and the carrier mechanism (1) comprises a vehicle body (11). Load-carrying wheels (12) driven by a motor are arranged on both sides of the vehicle body (11), and a steering wheel (13) is arranged in front of the vehicle body (11); The dust removal mechanism (6) comprises a connecting plate (61), a rotating plate (62) is rotatably connected below the connecting plate (61), a brush (66) is detachably mounted below the rotating plate (62), and a servo motor (63) for driving the brush (66) to rotate is mounted above the connecting plate (61); The brush (66) is driven by the servo motor five (63) to rotate on the surface of the photovoltaic panel, thereby cleaning the floating dust on the photovoltaic surface.

2. A dust removal robot according to claim 1, characterized in that: The upper end of the steering wheel (13) is rotatably connected to the vehicle body (11) via a rotating shaft, and a servo motor (14) is connected above the rotating shaft of the steering wheel (13) for driving the steering wheel (13) to rotate.

3. The dust removal robot according to claim 1, characterized in that: The rotating mechanism (2) comprises an annular guide rail (21) fixedly mounted above the vehicle body (11), a slider (22) being slidably mounted on the inner side of the annular guide rail (21), the outer circumferential surface of the slider (22) being provided with teeth, the outer side of the slider (22) being connected to a driving wheel (23) through tooth meshing, the driving wheel (23) being rotatably connected to the vehicle body (11), a servo motor 2 (24) being connected below the driving wheel (23), a connecting bracket (25) being fixedly mounted on the inner circumferential surface of the slider (22), a rotating disk (26) being provided at the top end of the connecting bracket (25).

4. A dust removal robot according to claim 3, characterized in that: The lifting mechanism (3) comprises a support seat (31) fixedly mounted on the turntable (26); an upwardly telescopic bracket (32) is arranged on the support seat (31); a connecting strip (33) is connected to the lower end of the bracket (32); both ends of the connecting strip (33) are slidably connected to the support seat (31); a screw rod (34) is connected to the middle section of the connecting strip (33) through a thread; one end of the screw rod (34) is connected to a servo motor three (35); and a mounting plate (36) is arranged at the upper end of the bracket (32).

5. The dust removal robot according to claim 4, characterized in that: The extension mechanism (4) comprises a cantilever rod 1 (41) rotatably connected to the mounting plate (36); a cantilever rod 2 (42) is arranged at the distal end of the cantilever rod 1 (41); a telescopic structure is formed between the cantilever rod 2 (42) and the cantilever rod 1 (41); a telescopic rod 1 (43) is installed on the cantilever rod 1 (41); one end of the telescopic rod 1 (43) is fixedly connected to the cantilever rod 1 (41); the other end of the telescopic rod 1 (43) is fixedly connected to the distal end of the cantilever rod 2 (42); a telescopic rod 2 (44) is also hingedly connected to the mounting plate (36); the telescopic end of the telescopic rod 2 (44) is hingedly connected to the cantilever rod 1 (41).

6. The dust removal robot according to claim 5, characterized in that: The adjustment mechanism (5) comprises a connecting frame (51), both sides of which are rotatably connected to the far end of the cantilever rod (41) via a rotating shaft (52), and one end of the rotating shaft (52) is fixedly connected to a servo motor (53).

7. The dust removal robot according to claim 6, characterized in that: The connecting plate (61) is fixedly mounted on the lower end of the connecting frame (51); the upper end of the brush (66) is provided with a second ear piece (67); the inner side of the rotating plate (62) is provided with a docking port (64) for inserting the second ear piece (67); and the side of the docking port (64) is provided with a first ear piece (65) docking with the second ear piece (67).

8. The dust removal robot according to claim 7, characterized in that: The positioning mechanism (7) is symmetrically arranged in two groups about the central axis of the connecting plate (61), and the two groups of the positioning mechanism (7) are respectively arranged on both sides of the moving direction of the device. The carrier mechanism (1) includes a mounting bar 1 (71) fixedly connected to the connecting frame (51), and a mounting bar 2 (72) is connected below the mounting bar 1 (71). The central axis of the mounting bar 1 (71) and the central axis of the rotating plate (62) are arranged perpendicular to each other, and the central axis of the mounting bar 2 (72) and the central axis of the rotating plate (62) are arranged parallel to each other. A laser transmitter (73) is fixedly installed on the upper end of the mounting bar 2 (72), and a laser receiver (74) is movably installed on the lower end of the mounting bar 2 (72).

9. The dust removal robot according to claim 8, characterized in that: The first mounting strip (71) is provided with an adjustment groove (75), the second mounting strip (72) is connected to the first mounting strip (75) by bolts, the second mounting strip (72) is provided with an adjustment groove (76), and the laser receiver (74) is connected to the second mounting strip (76) by bolts.

10. A control method for a dust removal robot for cleaning stepped photovoltaic panels, applied to the dust removal robot according to any one of claims 1 to 9, characterized in that: S1. Using the carrier mechanism (1) to carry the device and walk between the photovoltaic array panels, it is convenient to carry the dust removal device to clean each row of photovoltaic panels; S2, by raising the lifting mechanism (3), the dust removal mechanism (6) is driven to rise, and the height of the dust removal mechanism (6) is made higher than the height of the photovoltaic panel, and then by rotating the rotating mechanism (2), the dust removal mechanism (6) is placed directly above the photovoltaic panel; S3, using the adjustment mechanism (5) to drive the dust removal mechanism (6) to perform deflection adjustment, so that the brush (66) of the dust removal mechanism (6) is consistent with the inclination angle of the photovoltaic panel, and then appropriately adjusting the height of the dust removal mechanism (6) so that the brush (66) fits the surface of the photovoltaic panel; S4. The carrier mechanism (1) is used to carry the device along a row of photovoltaic panels. During the walking process, the servo motor five (63) drives the brush (66) to rotate on the surface of the photovoltaic panel to clean the floating dust on the photovoltaic surface.

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