Photovoltaic power station solar panel cleaning robot

Abstract

The invention relates to the technical field of photovoltaic panel cleaning, and discloses a photovoltaic power station solar panel cleaning robot which comprises a robot body used for walking and a cleaning mechanism, the cleaning mechanism is connected with the robot body through a connecting piece, the cleaning mechanism comprises a mounting frame, and a plurality of main spray heads and a plurality of fixing shafts are fixedly mounted on the mounting frame; auxiliary spray heads are rotationally connected to the fixing shafts, the water supply mechanism is used for providing water resources needed by the main spray head and the auxiliary spray heads for cleaning the solar panel, the moving mechanism is arranged on the robot body and used for driving the multiple auxiliary spray heads to rotate, and the moving mechanism is arranged on the mounting frame. The technical means that the main spray head and the auxiliary spray head are matched is adopted, when the main spray head normally flushes the front area, the auxiliary spray head pre-wets the to-be-flushed area in advance, the technical problem that in the prior art, the water consumption is too large is solved, and then the technical effect of reducing the water consumption is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and more specifically, to a photovoltaic power station solar panel cleaning robot. Background Art

[0002] A photovoltaic power station refers to a photovoltaic power generation system that is connected to the power grid and transmits electricity to the grid. In order to improve the power generation efficiency of the photovoltaic power station, it is necessary to regularly clean the dust, leaves, bird droppings and other debris that affect the light transmission performance deposited on the surface of the solar panels.

[0003] The existing technology often uses methods such as spraying water, jets of air and installing mechanical cleaning arms to clean the surface of photovoltaic panels. In some relatively dry areas, it is suitable to use a cleaning robot composed of a walking mechanism, a cleaning mechanism and a water spraying mechanism for cleaning.

[0004] Under normal circumstances, the robot can complete the cleaning work of the photovoltaic panels in the area well. However, in actual operation, once encountering some extreme weather, such as sandstorms, the thickness of dust covering the surface of the photovoltaic panels increases greatly. The water spray mechanism design of the existing cleaning robot is relatively simple, and it can only take the method of increasing the water output or the water output speed so that the impact force of the water flow exceeds the adhesion of the dust to the panel body to achieve the cleaning purpose. This method leads to a significant increase in the amount of water required for cleaning the solar panels per unit area, and aggravates the consumption of water resources. For solar panels with a larger inclination angle, since the dust coverage gradually thickens from top to bottom, the amount of water required for cleaning the upper half of the panel body is less than that of the lower half of the panel body. Most of the existing cleaning methods are uniform water discharge, which further aggravates the consumption of water resources and causes unnecessary waste. Summary of the invention

[0005] The present invention provides a photovoltaic power station solar panel cleaning robot, which solves the technical problem of excessive water resource consumption in related technologies.

[0006] The present invention provides a photovoltaic power station solar panel cleaning robot, comprising:

[0007] A robot body for walking;

[0008] A cleaning mechanism is connected to the robot body through a connecting piece; the cleaning mechanism includes a mounting frame, on which a plurality of main nozzles and a plurality of fixed shafts are fixedly mounted, and on which the auxiliary nozzles are rotatably connected;

[0009] A water supply mechanism for providing the main nozzle and the auxiliary nozzle with water resources required for cleaning the solar panel, which is arranged on the robot body;

[0010] A moving mechanism for driving the plurality of auxiliary nozzles to rotate, arranged on the mounting frame;

[0011] A driving device for driving the mobile mechanism to operate is arranged on the mounting frame, and when the driving device is started, the driving device controls the operation of the mobile mechanism, and the mobile mechanism drives the multiple auxiliary nozzles to reciprocate around their respective corresponding fixed axes, and the rotation angles of the multiple auxiliary nozzles increase one by one from one side to the other side in the length direction of the mounting frame.

[0012] Preferably, the moving mechanism includes a receiving plate fixedly mounted on the mounting frame, a threaded rod is rotatably connected to the receiving plate, the threaded rod is rotatably connected to the mounting frame on a side away from the receiving plate, a guide sleeve corresponding to the number of the auxiliary nozzles is threadedly connected to the threaded rod, a first limiting rod is fixedly connected between the mounting frame and the receiving plate, each guide sleeve is penetrated by a sliding groove for the first limiting rod to pass through, a guide rod is fixedly connected to the guide sleeve, and each auxiliary nozzle is fixedly connected to a guide frame, and the guide frame is penetrated by a guide groove for the corresponding guide rod to pass through.

[0013] Preferably, the water supply mechanism includes a U-shaped diverter pipe fixedly installed on the top of the robot body, a water supply hose for connecting to a high-pressure water pump is fixedly installed in the middle of the tube body of the U-shaped diverter pipe and is connected thereto, both ends of the U-shaped diverter pipe extend into the mounting frame, and both ends are respectively fixedly connected to the first transverse pipe or the second transverse pipe and are connected thereto, each of the main nozzles is connected to the first transverse pipe through a first hose, and the auxiliary nozzles are connected to the second transverse pipe through a second hose.

[0014] Preferably, a stop valve is installed on the pipe body of the U-shaped diverter pipe for providing water resources required by the auxiliary nozzle.

[0015] Preferably, a bidirectional screw is rotatably connected in the robot body, a pair of symmetrically arranged first extrusion blocks are threadedly connected to the bidirectional screw, a second limit rod arranged parallel to the bidirectional screw is fixedly connected to the robot body, each of the first extrusion blocks is slidably connected to the second limit rod, and an anti-fool mechanism is installed on at least one of the two first extrusion blocks, the anti-fool mechanism includes a mounting plate, a plurality of equidistantly arranged guide wheels are rotatably connected to the mounting plate, a pair of symmetrically arranged connecting rods are fixedly connected to the mounting plate, each of the connecting rods is fixedly connected to the corresponding first extrusion block at one end away from the mounting plate, and a first moving groove for the connecting rod to move is opened through the top of the robot body, a first servo motor is fixedly connected to the robot body, and the output shaft of the first servo motor is fixedly connected to the bidirectional screw.

[0016] Preferably, the number of the fool-proofing mechanisms is set to two, and they are symmetrically installed on the two first extrusion blocks.

[0017] Preferably, a dustproof plate is rotatably connected to the mounting frame, a pair of flipping mechanisms are arranged in the robot body, each of the flipping mechanisms includes a second extrusion block, the second extrusion block is abutted against the corresponding first extrusion block, a plurality of spring telescopic rods are fixedly connected to the robot body, the movable end of each of the spring telescopic rods is fixedly connected to the corresponding second extrusion block, an L-shaped plate is fixedly connected to the second extrusion block, a rotating plate is hinged at one end of the L-shaped plate away from the second extrusion block, a side of the rotating plate away from the L-shaped plate is hinged to the dustproof plate, and a second movable groove for the L-shaped plate to move is opened through the robot body.

[0018] Preferably, the driving device is configured as a second servo motor fixedly mounted on the receiving plate, and an output shaft of the second servo motor is fixedly connected to the threaded rod.

[0019] Preferably, the cleaning mechanism further comprises an electric brush mounted on the mounting frame.

[0020] Preferably, the connecting member comprises a pair of symmetrically arranged metal connecting frames, and each of the metal connecting frames is fastened to the robot body or the mounting frame by a fastening bolt.

[0021] The beneficial effects of the present invention are:

[0022] 1. The present invention adopts the technical means of cooperating the main nozzle and the auxiliary nozzle. While the main nozzle normally flushes the front area, the auxiliary nozzle pre-wet the area to be flushed in advance, which overcomes the technical problem of excessive water consumption in the prior art and achieves the technical effect of reducing water consumption.

[0023] 2. The present invention adopts the technical means of cooperating with the cleaning mechanism and the moving component, utilizes the moving component to drive the auxiliary nozzle to rotate back and forth, and rationally utilizes the excess water resources in the pre-wetting gap of the auxiliary nozzle to assist in cleaning the lower half of the solar panel, further reducing the amount of water resources required for cleaning and improving the practicality of the device.

[0024] 3. The present invention adopts technical means that cooperate with the anti-fool mechanism and the flip mechanism. When the device enters the working state, the dustproof plate is opened and the guide wheel overlaps the higher side edge of the solar panel, so that the device can perform the cleaning work more stably. At the end, the dustproof plate is closed and the guide wheel is reset to prevent dust from invading the precision parts inside the cleaning mechanism, thereby extending the service life of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention when it is not working;

[0026] Figure 2 It is a schematic diagram of the structure of the present invention for displaying the interior of the robot body;

[0027] Figure 3 It is a schematic diagram of the overall structure of the present invention in working state;

[0028] Figure 4 It is a three-dimensional structural schematic diagram for displaying the moving mechanism and the cleaning mechanism of the present invention;

[0029] Figure 5 The present invention Figure 4 The enlarged schematic diagram at A in the middle;

[0030] Figure 6 The present invention Figure 4 The enlarged schematic diagram of point B in the middle;

[0031] Figure 7 It is a schematic diagram of the overall structure of the present invention used to illustrate an embodiment;

[0032] Figure 8 It is a partial structural schematic diagram of the present invention for displaying the water supply mechanism.

[0033] In the figure: 1. robot body; 2. mounting frame; 3. main nozzle; 4. fixed axis; 5. auxiliary nozzle; 6. receiving plate; 7. threaded rod; 8. guide sleeve; 9. first limit rod; 10. guide rod; 11. guide frame; 12. U-shaped diverter pipe; 13. water hose; 14. first transverse pipe; 15. second transverse pipe; 16. first hose; 17. second hose; 18. stop valve; 19. two-way screw rod; 20. first extrusion block; 21. second limit rod; 22. mounting plate; 23. guide wheel; 24. connecting rod; 25. first servo motor; 26. dustproof plate; 27. second extrusion block; 28. spring telescopic rod; 29. ​​L-shaped plate; 30. rotating plate; 31. second servo motor; 32. electric brush; 33. metal connecting frame; 34. fastening bolts. DETAILED DESCRIPTION

[0034] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0035] like Figure 1-Figure 8 As shown, a photovoltaic power station solar panel cleaning robot includes: a robot body 1 for walking, a cleaning mechanism, which is connected to the robot body 1 through a connecting piece; the cleaning mechanism includes a mounting frame 2, on which a plurality of main nozzles 3 and a plurality of fixed shafts 4 are fixedly mounted, and on which auxiliary nozzles 5 are rotatably connected, a water supply mechanism for providing water resources required for the main nozzles 3 and the auxiliary nozzles 5 to clean the solar panels is arranged on the robot body 1, a moving mechanism for driving the plurality of auxiliary nozzles 5 to rotate is arranged on the mounting frame 2, and a driving device for driving the moving mechanism to operate is arranged on the mounting frame 2, and when the driving device is started, the driving device controls the operation of the moving mechanism, and the moving mechanism drives the plurality of auxiliary nozzles 5 to reciprocate around the respective corresponding fixed shafts 4, and the rotation angles of the plurality of auxiliary nozzles 5 increase one by one from one side to the other side in the length direction of the mounting frame 2.

[0036] The working principle and beneficial effects of the above technical solution are:

[0037] First, place the device on the photovoltaic panel with a larger inclination angle to be cleaned, start the robot body 1, and make it start walking along the length direction of the photovoltaic panel, and at the same time start the water supply mechanism and the driving device. The water supply mechanism divides the water output by the high-pressure water pump and transmits it to multiple main nozzles 3 and multiple auxiliary nozzles 5. The high-pressure water flow sprayed by the main nozzle 3 washes the dust covered on the travel path. The impact strength of the water flow only needs to be able to wash the dust of normal thickness. In the initial state, the multiple auxiliary nozzles 5 are in a parallel state, and the water mist sprayed by the auxiliary nozzle 5 pre-wet the front area to be washed, reducing the adhesion between the dust in this area and the surface of the photovoltaic panel. Compared with the uniform high-intensity washing of the prior art, the main nozzle 3 can be used to clean it with less water and lower flow rate. The driving device drives the moving component to operate, and the moving component drives the corresponding solid of each of the multiple auxiliary nozzles 5. The fixed axis 4 is an axis that reciprocates, and the rotation angles of the multiple auxiliary nozzles 5 gradually increase from one side to the other side in the length direction of the mounting frame 2, so that the multiple auxiliary nozzles 5 first rotate from a parallel pre-wetting state to a state where the dust on the lower half of the photovoltaic panel is concentratedly flushed. In this process, the impact paths of the multiple auxiliary nozzles 5 are gradually concentrated, and the resultant force generated is also gradually increased, matching the state where the thickness of the dust on the photovoltaic panel gradually becomes thicker from top to bottom, and assisting the main nozzle 3 in flushing to ensure that the photovoltaic panel can be flushed clean. Conversely, in the process where the auxiliary nozzles 5 rotate from the concentrated flushing state to the parallel state, the concentration of the water flow used for wetting is gradually reduced, matching the state where the dust on the surface of the photovoltaic panel gradually becomes thicker from bottom to top, and a smaller amount of water is used to ensure the wetting of the dust, and such a cycle is repeated to complete the cleaning work with high quality while using less water resources.

[0038] This embodiment adopts the technical means of cooperating the main nozzle 3 and the auxiliary nozzle 5. While the main nozzle 3 normally flushes the front area, the auxiliary nozzle 5 pre-wet the area to be flushed in advance, overcoming the technical problem of excessive water consumption in the prior art, thereby achieving the technical effect of reducing water consumption.

[0039] This embodiment also adopts technical means that cooperate with the cleaning mechanism and the moving component, and uses the moving component to drive the auxiliary nozzle 5 to rotate back and forth, and reasonably utilizes the excess water resources in the pre-wetting gap of the auxiliary nozzle 5 to assist in cleaning the lower half of the solar panel, thereby further reducing the amount of water resources required for cleaning and improving the practicality of the device.

[0040] In a specific embodiment: the moving mechanism includes a receiving plate 6 fixedly mounted on the mounting frame 2, a threaded rod 7 is rotatably connected to the receiving plate 6, the threaded rod 7 is rotatably connected to the mounting frame 2 on the side away from the receiving plate 6, and a guide sleeve 8 corresponding to the number of auxiliary nozzles 5 is threadedly connected to the threaded rod 7, a first limiting rod 9 is fixedly connected between the mounting frame 2 and the receiving plate 6, each guide sleeve 8 is penetrated by a sliding groove for the first limiting rod 9 to pass through, a guide rod 10 is fixedly connected to the guide sleeve 8, and a guide frame 11 is fixedly connected to each auxiliary nozzle 5, and a guide groove is penetrated by the guide frame 11 for the corresponding guide rod 10 to pass through.

[0041] The working principle and beneficial effects of the above technical solution are as follows: the driving device is started, and the driving device is pre-set to rotate in forward and reverse directions, driving the threaded rod 7 to rotate, and the threaded rod 7 drives multiple guide sleeves 8 to move synchronously. The guide sleeve 8 is limited in its moving trajectory by the first limit rod 9 and can only move back and forth along the first limit rod 9. The guide sleeve 8 drives the corresponding guide rod 10 to move synchronously, so that the multiple guide rods 10 slide in the guide grooves of the corresponding guide frames 11, and then drives the guide frames 11 and the corresponding auxiliary nozzles 5 to rotate around their respective fixed shafts 4. Since the multiple guide sleeves 8 are in the initial state, the guide sleeves 8 are in the initial state. The angle between the guide frame 11 and the vertical plane in the width direction of the mounting frame 2 gradually decreases from one side to the other side, and the straight-line distances from the multiple auxiliary nozzles 5 to the threaded rod 7 are the same, which means that when the multiple auxiliary nozzles 5 are rotated, the rotation angle thereof gradually increases from one side to the other side. After adjusting the travel direction of the robot, the forward and reverse rotation of the threaded rod 7 can be utilized to drive the multiple auxiliary nozzles 5 to switch back and forth between parallel water spraying and concentrated water spraying, and the travel direction of the robot can be adjusted so that when concentrated water spraying occurs, the water flow impacts the lower half of the photovoltaic panel.

[0042] In a specific embodiment: the water supply mechanism includes a U-shaped diverter pipe 12 fixedly installed on the top of the robot body 1, and a water supply hose 13 for connecting to a high-pressure water pump is fixedly installed in the middle of the tube body of the U-shaped diverter pipe 12 and is connected thereto. Both ends of the U-shaped diverter pipe 12 extend into the mounting frame 2, and both ends are respectively fixedly connected to a first transverse pipe 14 or a second transverse pipe 15 and are connected thereto. Each main nozzle 3 is connected to the first transverse pipe 14 through a first hose 16, and the auxiliary nozzle 5 is connected to the second transverse pipe 15 through a second hose 17.

[0043] The working principle and beneficial effects of the above technical solution are as follows: the water flow delivered by the high-pressure water pump is input into the U-shaped diverter pipe 12 through the water delivery hose 13, and after being diverted by the U-shaped diverter pipe 12, it enters the first transverse pipe 14 or the second transverse pipe 15 respectively, and then after being diverted again through multiple first hoses 16 or second hoses 17, it enters the corresponding main nozzle 3 or auxiliary nozzle 5, and is sprayed out therefrom to start the cleaning work.

[0044] In a specific embodiment: a stop valve 18 is installed on the pipe body of the U-shaped diverter pipe 12 for providing water resources required by the auxiliary nozzle 5 .

[0045] The working principle and beneficial effects of the above technical solution are as follows: the stop valve 18 is set so that when performing cleaning work under normal circumstances, the stop valve 18 can be closed and only the main nozzle 3 is retained to discharge water, so that the device can be adapted to a variety of working scenarios, further improving the practicality of the device.

[0046] In a specific embodiment: a bidirectional screw 19 is rotatably connected inside the robot body 1, a pair of symmetrically arranged first extrusion blocks 20 are threadedly connected to the bidirectional screw 19, a second limit rod 21 arranged parallel to the bidirectional screw 19 is fixedly connected to the robot body 1, each first extrusion block 20 is slidably connected to the second limit rod 21, at least one of the two first extrusion blocks 20 is installed with an anti-fool mechanism, the anti-fool mechanism includes a mounting plate 22, a plurality of equidistantly arranged guide wheels 23 are rotatably connected to the mounting plate 22, a pair of symmetrically arranged connecting rods 24 are fixedly connected to the mounting plate 22, each connecting rod 24 is fixedly connected to the corresponding first extrusion block 20 at one end away from the mounting plate 22, and a first moving groove for the connecting rod 24 to move is opened through the top of the robot body 1, a first servo motor 25 is fixedly connected to the robot body 1, and the output shaft of the first servo motor 25 is fixedly connected to the bidirectional screw 19.

[0047] The working principle and beneficial effects of the above technical solution are as follows: start the first servo motor 25, the output shaft of the first servo motor 25 rotates, driving the bidirectional screw rod 19 to rotate, and the rotation of the bidirectional screw rod 19 drives the two first extrusion blocks 20 to move, and the first extrusion blocks 20 are limited in their movement trajectory by the second limit rod 21, so that the two first extrusion blocks 20 approach each other along the length direction of the second limit rod 21. When there is only one anti-foolproofing mechanism, the anti-foolproofing mechanism is set on the side close to the higher side of the photovoltaic panel, and the first extrusion block 20 drives the anti-foolproofing mechanism to approach the higher side of the photovoltaic panel until the guide wheel 23 and the edge of the higher side of the photovoltaic panel are pressed against each other, and the guide wheel 23 rolls in coordination with the movement of the robot, which can prevent the robot from sliding off the photovoltaic panel due to excessive inclination. Generally, an anti-foolproofing mechanism needs to be set when the inclination angle is greater than twenty degrees, thereby further improving the practicality of the device.

[0048] In a specific embodiment, the number of fool-proofing mechanisms is set to two, and they are symmetrically installed on the two first extrusion blocks 20 .

[0049] The working principle and beneficial effects of the above technical solution are as follows: when the application scenario of the device is to clean dust of normal thickness on the inclined photovoltaic panel surface, there is no need to consider a large amount of dust entering the gap between the anti-fool mechanism located on the lower side and the photovoltaic panel, thereby affecting its rolling tilt. At this time, two anti-fool mechanisms can be installed to make the device fit better with the surface of the photovoltaic panel and move more stably.

[0050] In a specific embodiment: a dustproof plate 26 is rotatably connected to the mounting frame 2, a pair of flipping mechanisms are arranged in the robot body 1, each flipping mechanism includes a second extrusion block 27, the second extrusion block 27 is against the corresponding first extrusion block 20, a plurality of spring telescopic rods 28 are fixedly connected to the robot body 1, the movable end of each spring telescopic rod 28 is fixedly connected to the corresponding second extrusion block 27, an L-shaped plate 29 is fixedly connected to the second extrusion block 27, one end of the L-shaped plate 29 away from the second extrusion block 27 is hinged with a rotating plate 30, the side of the rotating plate 30 away from the L-shaped plate 29 is hinged to the dustproof plate 26, and a second movable groove for the L-shaped plate 29 to move is opened through the robot body 1.

[0051] The working principle and beneficial effects of the above technical solution are as follows: when the two first extrusion blocks 20 approach each other, the inclined surface portion of the first extrusion block 20 squeezes the corresponding inclined surface portion of the second extrusion block 27, thereby driving the second extrusion block 27 to move. The second extrusion block 27 is limited in its moving trajectory by the spring telescopic rod 28 and moves in a direction away from the mounting frame 2. The second extrusion block 27 drives the L-shaped plate 29 to move synchronously, pulling the rotating plate 30. The rotating plate 30 pulls the dustproof plate 26, thereby opening the dustproof plate 26 to expose the main nozzle 3 and the auxiliary nozzle 5 in the mounting frame 2, thereby facilitating the cleaning operation. After the cleaning is completed, the two first extrusion blocks 20 move away from each other, so that the L-shaped plate 29 is reset and the dustproof plate 26 is closed again, thereby preventing excessive impurities from entering the mounting frame 2, thereby extending the service life of the cleaning mechanism.

[0052] In a specific embodiment, the driving device is configured as a second servo motor 31 fixedly mounted on the receiving plate 6 , and the output shaft of the second servo motor 31 is fixedly connected to the threaded rod 7 .

[0053] The working principle and beneficial effects of the above technical solution are as follows: the second servo motor 31 is started, and the output shaft of the second servo motor 31 rotates, driving the threaded rod 7 to rotate synchronously, thereby providing power for the operation of the moving mechanism.

[0054] In a specific embodiment: the cleaning mechanism further includes an electric brush 32 which is mounted on the mounting frame 2 .

[0055] The working principle and beneficial effects of the above technical solution are as follows: starting the electric brush 32, the rotating electric brush 32 can scrape off the water stains on the photovoltaic panel, further improving the practicality of the device.

[0056] In a specific embodiment, the connecting member includes a pair of symmetrically arranged metal connecting frames 33 , and each metal connecting frame 33 is fastened to the robot body 1 or the mounting frame 2 via a fastening bolt 34 .

[0057] The working principle and beneficial effects of the above technical solution are as follows: the metal connecting frame 33 cooperates with the fastening bolts 34 to stably connect the mounting frame 2 and the robot body 1 together to improve the stability of the device.

[0058] Working principle:

[0059] First, place the device on the photovoltaic panel with a larger inclination angle to be cleaned, and start the first servo motor 25. The output shaft of the first servo motor 25 rotates, driving the bidirectional screw 19 to rotate. The rotation of the bidirectional screw 19 drives the two first extrusion blocks 20 to move. The first extrusion blocks 20 are limited in their movement trajectory by the second limit rod 21, so that the two first extrusion blocks 20 approach each other along the length direction of the second limit rod 21. When there is only one anti-foolproofing mechanism, the anti-foolproofing mechanism is set on the side close to the higher side of the photovoltaic panel. The first extrusion block 20 drives the anti-foolproofing mechanism to approach the higher side of the photovoltaic panel until the guide wheel 23 and the edge of the higher side of the photovoltaic panel are pressed against each other. The guide wheel 23 rolls in coordination with the movement of the robot to prevent the robot from sliding off the photovoltaic panel due to the excessive inclination angle of the photovoltaic panel.

[0060] When the two first extrusion blocks 20 approach each other, the inclined portion of the first extrusion block 20 squeezes the corresponding inclined portion of the second extrusion block 27, thereby driving the second extrusion block 27 to move. The second extrusion block 27 is restricted in its moving trajectory by the spring telescopic rod 28 and moves in a direction away from the mounting frame 2. The second extrusion block 27 drives the L-shaped plate 29 to move synchronously, pulling the rotating plate 30. The rotating plate 30 pulls the dustproof plate 26, thereby opening the dustproof plate 26 to expose the main nozzle 3 and the auxiliary nozzle 5 in the mounting frame 2, thereby facilitating cleaning operations.

[0061] Then, the robot body 1 is started to make it start walking along the length direction of the photovoltaic panel, and the water supply mechanism and the driving device are started at the same time. The water flow delivered by the high-pressure water pump is input into the U-shaped diverter pipe 12 through the water supply hose 13. After being diverted by the U-shaped diverter pipe 12, it enters the first transverse pipe 14 or the second transverse pipe 15 respectively, and then after being diverted by multiple first hoses 16 or second hoses 17, it enters the corresponding main nozzle 3 or auxiliary nozzle 5 and is sprayed out therefrom to start cleaning work and wash away the dust covering the travel path. The impact strength of the water flow only needs to be able to wash away dust of conventional thickness. In the initial state, multiple auxiliary nozzles 5 are in a parallel state, and the water mist sprayed by the auxiliary nozzle 5 pre-wet the front area to be washed, thereby reducing the adhesion between the dust in this area and the surface of the photovoltaic panel. Compared with the uniform high-intensity washing in the prior art, the main nozzle 3 can wash it clean with less water and a lower flow rate.

[0062] While the device is moving, the second servo motor 31 is started, and the output shaft of the second servo motor 31 is set to rotate forward and backward, driving the threaded rod 7 to rotate synchronously, and the threaded rod 7 drives multiple guide sleeves 8 to move synchronously. The guide sleeve 8 is limited by the first limit rod 9 in its moving trajectory and can only move back and forth along the first limit rod 9. The guide sleeve 8 drives the corresponding guide rod 10 to move synchronously, so that the multiple guide rods 10 slide in the guide grooves of the corresponding guide frame 11, thereby driving the guide frame 11 and the corresponding auxiliary nozzle 5 to rotate around their respective fixed shafts 4. In the initial state, The angle between the multiple guide frames 11 and the vertical plane in the width direction of the mounting frame 2 gradually decreases from one side to the other side, and the straight-line distances from the multiple auxiliary nozzles 5 to the threaded rod 7 are the same. This means that when the multiple auxiliary nozzles 5 are rotated, the rotation angle gradually increases from one side to the other side. After adjusting the robot's travel direction, the forward and reverse rotation of the threaded rod 7 can be used to drive the multiple auxiliary nozzles 5 to switch back and forth between parallel water spraying and concentrated water spraying, and the robot's travel direction can be adjusted so that when concentrated water spraying occurs, the water flow impacts the lower half of the photovoltaic panel.

[0063] In this process, the impact paths of multiple auxiliary nozzles 5 are gradually concentrated, and the resulting force is gradually increased, which just matches the state that the thickness of dust on the photovoltaic panel gradually becomes thicker from top to bottom, and assists the main nozzle 3 to flush, ensuring that the photovoltaic panel can be flushed clean. On the contrary, in the process of the auxiliary nozzle 5 rotating from the concentrated flushing state to the parallel state, the concentration of the water flow used for wetting is gradually reduced, which just matches the state that the dust on the surface of the photovoltaic panel gradually thickens from bottom to top. Less water can be used to ensure the infiltration of dust, and this cycle is repeated to complete the cleaning work with high quality while using less water resources.

[0064] The above describes an embodiment of the present embodiment, but the present embodiment is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can also make many forms, all of which are within the protection of the present embodiment.

Claims

1. A photovoltaic power station solar panel cleaning robot, characterized in that: include: A robot body for walking (1); A cleaning mechanism connected to the robot body (1) via a connecting piece; the cleaning mechanism comprises a mounting frame (2), a plurality of main nozzles (3) and a plurality of fixed shafts (4) are fixedly mounted on the mounting frame (2), and a secondary nozzle (5) is rotatably connected to the fixed shaft (4); A water supply mechanism for providing the main nozzle (3) and the auxiliary nozzle (5) with water resources required for cleaning the solar panel, which is arranged on the robot body (1); A moving mechanism for driving the plurality of auxiliary nozzles (5) to rotate, arranged on the mounting frame (2); A driving device for driving the moving mechanism to operate is arranged on the mounting frame (2), and when the driving device is started, the driving device controls the moving mechanism to operate, and the moving mechanism drives the plurality of auxiliary nozzles (5) to reciprocate about their respective corresponding fixed axes (4), and the angles of rotation of the plurality of auxiliary nozzles (5) increase one by one from one side to the other side in the length direction of the mounting frame (2).

2. A photovoltaic power station solar panel cleaning robot according to claim 1, characterized in that: The moving mechanism comprises a receiving plate (6) fixedly mounted on the mounting frame (2), a threaded rod (7) being rotatably connected to the receiving plate (6), a side of the threaded rod (7) away from the receiving plate (6) being rotatably connected to the mounting frame (2), a number of guide sleeves (8) corresponding to the number of the auxiliary nozzles (5) being threadedly connected to the threaded rod (7), a first limiting rod (9) being fixedly connected between the mounting frame (2) and the receiving plate (6), each of the guide sleeves (8) being provided with a sliding groove for the first limiting rod (9) to pass through, a guide rod (10) being fixedly connected to the guide sleeve (8), and each of the auxiliary nozzles (5) being fixedly connected to a guide frame (11), and a guide groove for the corresponding guide rod (10) to pass through being provided on the guide frame (11).

3. A photovoltaic power station solar panel cleaning robot according to claim 2, characterized in that: The water supply mechanism comprises a U-shaped shunt pipe (12) fixedly mounted on the top of the robot body (1); a water delivery hose (13) for connecting to a high-pressure water pump is fixedly mounted in the middle of the pipe body of the U-shaped shunt pipe (12) and is in communication with the water delivery hose (13); both ends of the U-shaped shunt pipe (12) extend into the mounting frame (2), and both ends are respectively fixedly connected to a first transverse pipe (14) or a second transverse pipe (15) and are in communication with the first transverse pipe (14); each of the main nozzles (3) is in communication with the first transverse pipe (14) via a first hose (16); and the auxiliary nozzles (5) are in communication with the second transverse pipe (15) via a second hose (17).

4. A photovoltaic power station solar panel cleaning robot according to claim 3, characterized in that: The U-shaped flow dividing pipe (12) is used to provide the water resources required by the auxiliary nozzle (5), and a stop valve (18) is installed on the pipe body.

5. A photovoltaic power station solar panel cleaning robot according to claim 1 or 4, characterized in that: A bidirectional screw (19) is rotatably connected inside the robot body (1), a pair of symmetrically arranged first extrusion blocks (20) are threadedly connected to the bidirectional screw (19), a second limit rod (21) arranged parallel to the bidirectional screw (19) is fixedly connected to the robot body (1), each of the first extrusion blocks (20) is slidably connected to the second limit rod (21), at least one of the two first extrusion blocks (20) is installed with an anti-mistake mechanism, the anti-mistake mechanism comprises a mounting plate (22), the mounting plate (22) is rotatably connected to There are a plurality of equally spaced guide wheels (23), a pair of symmetrically arranged connecting rods (24) are fixedly connected to the mounting plate (22), one end of each connecting rod (24) away from the mounting plate (22) is fixedly connected to the corresponding first extrusion block (20), and a first moving groove for the connecting rod (24) to move is opened through the top of the robot body (1), a first servo motor (25) is fixedly connected to the robot body (1), and the output shaft of the first servo motor (25) is fixedly connected to the bidirectional screw rod (19).

6. A photovoltaic power station solar panel cleaning robot according to claim 5, characterized in that: The number of the fool-proofing mechanisms is set to two, and they are symmetrically mounted on the two first extrusion blocks (20).

7. A photovoltaic power station solar panel cleaning robot according to claim 6, characterized in that: A dustproof plate (26) is rotatably connected to the mounting frame (2); a pair of flipping mechanisms are arranged in the robot body (1); each of the flipping mechanisms comprises a second extrusion block (27); the second extrusion block (27) abuts against the corresponding first extrusion block (20); a plurality of spring telescopic rods (28) are fixedly connected to the robot body (1); the movable end of each spring telescopic rod (28) is fixedly connected to the corresponding second extrusion block (27); an L-shaped plate (29) is fixedly connected to the second extrusion block (27); a rotating plate (30) is hingedly connected to one end of the L-shaped plate (29) away from the second extrusion block (27); a side of the rotating plate (30) away from the L-shaped plate (29) is hingedly connected to the dustproof plate (26); and a second moving groove for the L-shaped plate (29) to move is provided through the robot body (1).

8. A photovoltaic power station solar panel cleaning robot according to claim 7, characterized in that: The driving device is configured as a second servo motor (31) fixedly mounted on the receiving plate (6), and an output shaft of the second servo motor (31) is fixedly connected to the threaded rod (7).

9. A photovoltaic power station solar panel cleaning robot according to claim 8, characterized in that: The cleaning mechanism also includes an electric brush (32) which is mounted on the mounting frame (2).

10. A photovoltaic power station solar panel cleaning robot according to claim 9, characterized in that: The connecting member comprises a pair of symmetrically arranged metal connecting frames (33), each of the metal connecting frames (33) being fastened to the robot body (1) or the mounting frame (2) via a fastening bolt (34).

Images