A cleaning robot for solar panels in a photovoltaic power station

Abstract

The present invention relates to the technical field of photovoltaic panel cleaning, and discloses a cleaning robot for solar panels in a photovoltaic power station, including: a robot main body for walking, a cleaning mechanism connected to the robot main body through a connecting member, the cleaning mechanism includes a mounting frame, a plurality of main nozzles and a plurality of fixed shafts are fixedly installed on the mounting frame, a secondary nozzle is rotatably connected to the fixed shaft, a water supply mechanism for providing water resources required for the main nozzle and the secondary nozzle to clean the solar panel, which is arranged on the robot main body, and a moving mechanism for driving a plurality of secondary nozzles to rotate, which is arranged on the mounting frame. The present invention adopts the technical means of combining the main nozzle and the secondary nozzle. While the main nozzle normally flushes the front area, the secondary nozzle pre-wets the area to be flushed in advance, overcoming the technical problem of excessive water consumption in the prior art, and thus achieving the technical effect of reducing water consumption.

Description

Technical Field

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

[0002] A photovoltaic power station refers to a photovoltaic power generation system connected to the power grid and transmitting electricity to the power grid. To improve the power generation efficiency of the photovoltaic power station, it is necessary to regularly clean sundries such as dust, leaves, and bird droppings deposited on the surface of the solar panels, which affect the light transmission performance.

[0003] Existing technologies often use methods such as spraying water, jetting air on the surface of the solar panels, and installing mechanical cleaning arms to complete the cleaning work on the surface of the photovoltaic panels. Among them, 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] Generally, this robot can better complete the cleaning work of the photovoltaic panels in this area. However, in the actual operation process, once encountering some extreme weather, such as sandstorms, which cause the thickness of the dust covering the surface of the photovoltaic panels to increase significantly, the existing water spraying mechanism of the cleaning robot is relatively single, and can only increase the water output or the water flow rate, so that the impact force of the water flow exceeds the adhesion force 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 to clean a unit area of solar panels, aggravating the consumption of water resources. For solar panels with a relatively large inclination angle, since the dust coverage gradually thickens from top to bottom, the amount of water required to clean the upper part of the panel body is less than that of the lower part of the panel body. Most of the existing cleaning methods are uniform water output, further aggravating the consumption of water resources and causing unnecessary waste. Summary of the Invention

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

[0006] The present invention provides a cleaning robot for solar panels in a photovoltaic power station, including:

[0007] A robot main body for walking;

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

[0009] A water supply mechanism for providing the water resources required for the main nozzle and the secondary nozzle to clean the solar panels, which is arranged on the robot main body;

[0010] A moving mechanism for driving the rotation of multiple secondary nozzles is provided on the mounting bracket;

[0011] A driving device for driving the operation of the moving mechanism is provided on the mounting bracket. When the driving device is started, the driving device controls the operation of the moving mechanism. The moving mechanism drives multiple secondary nozzles to rotate reciprocally about their respective corresponding fixed axes, and the included angles of rotation of the multiple secondary nozzles increase one by one from one side to the other side in the length direction of the mounting bracket.

[0012] Preferably, the moving mechanism includes a receiving plate fixedly installed on the mounting bracket. A threaded rod is rotatably connected to the receiving plate. The side of the threaded rod away from the receiving plate is rotatably connected to the mounting bracket. A number of guide sleeves corresponding to the secondary nozzles are threadedly connected to the threaded rod. A first limiting rod is fixedly connected between the mounting bracket and the receiving plate. Each guide sleeve is provided with a sliding groove for the first limiting rod to pass through. A guide rod is fixedly connected to the guide sleeve. A guide frame is fixedly connected to each secondary nozzle, and a guide groove for the corresponding guide rod to pass through is provided through the guide frame.

[0013] Preferably, the water supply mechanism includes a U-shaped shunt pipe fixedly installed on the top of the robot body. A water delivery hose for connecting a high-pressure water pump is fixedly installed in the middle of the pipe body of the U-shaped shunt pipe and is communicated therewith. Both ends of the U-shaped shunt pipe extend into the mounting bracket, and are respectively fixedly connected to a first horizontal pipe or a second horizontal pipe and are communicated therewith. Each main nozzle is communicated with the first horizontal pipe through a first hose, and the secondary nozzle is communicated with the second horizontal pipe through a second hose.

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

[0015] Preferably, a bidirectional lead screw is rotatably connected inside the robot body. A pair of symmetrically arranged first extrusion blocks are threadedly connected to the bidirectional lead screw. A second limiting rod parallel to the bidirectional lead screw is fixedly connected to the robot body. Each first extrusion block is slidably connected to the second limiting rod. At least one of the two first extrusion blocks is provided with an anti-fooling mechanism. The anti-fooling 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. One end of each connecting rod away from the mounting plate is fixedly connected to the corresponding first extrusion block, and a first moving groove for the connecting rod to move is provided 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 lead screw.

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

[0017] Preferably, a dust-proof plate is rotatably connected to the mounting frame, and a pair of flipping mechanisms are arranged in the robot main body. Each flipping mechanism includes a second extrusion block, the second extrusion block abuts against the corresponding first extrusion block, a plurality of spring telescopic rods are fixedly connected to the robot main body, the moving end of each spring telescopic rod 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 to one end of the L-shaped plate away from the second extrusion block, one side of the rotating plate away from the L-shaped plate is hinged to the dust-proof plate, and a second moving groove for the movement of the L-shaped plate is formed through the robot main body.

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

[0019] Preferably, the cleaning mechanism further includes an electric brush, which is installed on the mounting frame.

[0020] Preferably, the connecting piece includes a pair of symmetrically arranged metal connecting frames, and each metal connecting frame is tightly fitted with the robot main body or the mounting frame through a fastening bolt.

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

[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-wets the area to be flushed in advance, overcoming the technical problem of excessive water consumption in the prior art, and thus achieving the technical effect of reducing water consumption.

[0023] 2. The present invention adopts the technical means of cooperating the cleaning mechanism and the moving component. The moving component drives the auxiliary nozzle to rotate reciprocally, and the redundant water resources in the pre-wetting gap of the auxiliary nozzle are reasonably utilized to assist in cleaning the lower half area of the solar panel, further reducing the water resource consumption required for cleaning and improving the practicability of the device.

[0024] 3. The present invention adopts the technical means of cooperating the anti-fooling mechanism and the flipping mechanism. When the device enters the working state, while the dust-proof plate is opened, the guide wheel is lapped on the higher side edge of the solar panel, so that the device can perform the cleaning work more stably. When it ends, while the dust-proof plate is closed, the guide wheel resets, avoiding dust from invading the precision parts inside the cleaning mechanism, so as to extend the service life of the device. Description of the Drawings

[0025] Figure 1 is the overall structural schematic diagram of the present invention in the non-operating state;

[0026] Figure 2 is the structural schematic diagram for showing the interior of the robot main body of the present invention;

[0027] Figure 3 is the overall structural schematic diagram of the present invention in the operating state;

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

[0029] Figure 5 is the Figure 4 amplified schematic diagram at position A in the present invention;

[0030] Figure 6 is the Figure 4 amplified schematic diagram at position B in the present invention;

[0031] Figure 7 is the overall structural schematic diagram for showing the present invention in a state of one embodiment;

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

[0033] In the figure: 1, robot main body; 2, mounting rack; 3, main nozzle; 4, fixed shaft; 5, auxiliary nozzle; 6, receiving plate; 7, threaded rod; 8, guiding sleeve; 9, first limiting rod; 10, guiding rod; 11, guiding frame; 12, U-shaped shunt pipe; 13, water conveying hose; 14, first horizontal pipe; 15, second horizontal pipe; 16, first hose; 17, second hose; 18, stop valve; 19, bidirectional lead screw; 20, first extrusion block; 21, second limiting rod; 22, mounting plate; 23, guiding wheel; 24, connecting rod; 25, first servo motor; 26, dust-proof 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 bolt. Detailed implementation manners

[0034] Now, the subject matter described herein will be discussed with reference to example embodiments. It should be understood that discussing these embodiments is only to enable those skilled in the art to better understand and thus implement the subject matter described herein. Without departing from the protection scope of the content of this specification, changes can be made to the functions and arrangements of the elements discussed. Each example can omit, substitute, or add various processes or components as needed. Additionally, the features described relative to some examples can also be combined in other examples.

[0035] AsFigures 1-8 As shown in the figure, a cleaning robot for solar panels in a photovoltaic power station includes: a robot body 1 for walking, and a cleaning mechanism connected to the robot body 1 through a connecting member; 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 installed, and a secondary nozzle 5 is rotatably connected to the fixed shaft 4. A water supply mechanism for providing the water resources required for the main nozzles 3 and the secondary nozzles 5 to clean the solar panels is arranged on the robot body 1. A moving mechanism for driving a plurality of secondary 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. When the driving device is started, the driving device controls the moving mechanism to operate, and the moving mechanism drives a plurality of secondary nozzles 5 to rotate reciprocally around their respective corresponding fixed shafts 4, and the included angles of rotation of the plurality of secondary nozzles 5 gradually 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 as follows:

[0037] First, place this device on the photovoltaic panel with a relatively large inclination angle to be cleaned, start the robot body 1, and make it start walking along the length direction of the photovoltaic panel. 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 transports it to a plurality of main nozzles 3 and a plurality of secondary nozzles 5. The high-pressure water flow ejected by the main nozzles 3 flushes the dust covered on the traveling path. The impact intensity of this water flow only needs to be able to flush the dust with a conventional thickness. In the initial state, a plurality of secondary nozzles 5 are in a parallel state, and the water mist ejected by the secondary nozzles 5 pre-wets the area to be flushed ahead, reducing the adhesion between the dust in this area and the surface of the photovoltaic panel. Compared with the uniform high-intensity flushing of the prior art, the main nozzles 3 can flush it clean with less water volume and lower water flow rate. The driving device drives the moving component to operate, and the moving component drives a plurality of secondary nozzles 5 to rotate reciprocally around their respective corresponding fixed shafts 4, and the included angles of rotation of the plurality of secondary nozzles 5 gradually increase one by one from one side to the other side in the length direction of the mounting frame 2, so that the plurality of secondary nozzles 5 gradually rotate from the parallel pre-wetting state to the state of concentrating on flushing the dust on the lower half of the photovoltaic panel. In this process, the impact paths of the plurality of secondary nozzles 5 gradually converge, and the resultant force generated also gradually increases, matching the state where the dust thickness on the photovoltaic panel gradually thickens from top to bottom, assisting the main nozzles 3 to carry out flushing to ensure that the photovoltaic panel can be flushed clean. On the contrary, when the secondary nozzles 5 rotate from the state of concentrated flushing to the parallel state, the concentration of the water flow for wetting also gradually decreases, matching the state where the dust on the surface of the photovoltaic panel gradually thickens from bottom to top. Using less water volume can ensure the wetting degree of the dust. In this way, by repeating this cycle, high-quality cleaning work can be completed on the premise of using less water resources.

[0038] In this embodiment, the main nozzle 3 and the auxiliary nozzle 5 are used in combination. While the main nozzle 3 normally flushes the front area, the auxiliary nozzle 5 pre-wets the area to be flushed in advance, overcoming the technical problem of excessive water consumption in the prior art, and thus achieving the technical effect of reducing water consumption.

[0039] This embodiment also adopts the technical means of combining the cleaning mechanism and the moving component. The moving component drives the auxiliary nozzle 5 to rotate reciprocally, and reasonably utilizes the redundant water resources during the pre-wetting interval of the auxiliary nozzle 5 to assist in cleaning the lower half area of the solar panel, further reducing the water resource consumption required for cleaning and improving the practicability of this device.

[0040] In a specific embodiment: The moving mechanism includes a receiving plate 6 fixedly installed on the mounting frame 2. A threaded rod 7 is rotatably connected to the receiving plate 6. The side of the threaded rod 7 away from the receiving plate 6 is rotatably connected to the mounting frame 2. A corresponding number of guide sleeves 8 as the auxiliary nozzle 5 are 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 provided with a sliding groove through which the first limiting rod 9 passes. A guide rod 10 is fixedly connected to the guide sleeve 8. A guide frame 11 is fixedly connected to each auxiliary nozzle 5. A guide groove through which the corresponding guide rod 10 passes is provided through the guide frame 11.

[0041] The working principle and beneficial effects of the above technical solution are as follows: Start the driving device. The driving device is previously set to rotate forward and backward, driving the threaded rod 7 to rotate. The threaded rod 7 drives a plurality of guide sleeves 8 to move synchronously. The movement trajectory of the guide sleeves 8 is restricted by the first limiting rod 9 and can only reciprocate along the first limiting rod 9. The guide sleeves 8 drive the corresponding guide rods 10 to move synchronously, causing the plurality of guide rods 10 to slide in the guide grooves of the corresponding guide frames 11, thereby driving the guide frames 11 and the corresponding auxiliary nozzles 5 to rotate around their respective fixed axes 4. Since in the initial state, the angles between the plurality of guide frames 11 and the vertical plane in the width direction of the mounting frame 2 gradually decrease from one side to the other side, and the linear distances from the plurality of auxiliary nozzles 5 to the threaded rod 7 are equal, when the plurality of auxiliary nozzles 5 are driven to rotate, the rotation angles increase gradually from one side to the other side. After adjusting the traveling direction of the robot, the forward and backward rotation of the threaded rod 7 can be used to drive the plurality of auxiliary nozzles 5 to switch back and forth between parallel water spraying and concentrated water spraying, and in cooperation with adjusting the traveling direction of the robot, when concentrated water spraying occurs, the water flow impacts the lower half area of the photovoltaic panel.

[0042] In a specific embodiment: The water supply mechanism includes a U-shaped shunt pipe 12 fixedly installed on the top of the robot main body 1. A water delivery hose 13 for connecting to a high-pressure water pump is fixedly installed in the middle of the pipe body of the U-shaped shunt pipe 12 and is communicated therewith. Both ends of the U-shaped shunt pipe 12 extend into the mounting frame 2, and the two ends thereof are respectively fixedly connected to a first horizontal pipe 14 or a second horizontal pipe 15 and are communicated therewith. Each main nozzle 3 is communicated with the first horizontal pipe 14 through a first hose 16, and the auxiliary nozzle 5 is communicated with the second horizontal 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 enters the U-shaped shunt pipe 12 through the water delivery hose 13. After being shunted by the U-shaped shunt pipe 12, it enters the first horizontal pipe 14 or the second horizontal pipe 15 respectively. After being further shunted by a plurality of first hoses 16 or second hoses 17, it enters the corresponding main nozzle 3 or auxiliary nozzle 5 and sprays out from it to start the cleaning work.

[0044] In a specific embodiment: A stop valve 18 is installed on the pipe body of the U-shaped shunt 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: With the setting of the stop valve 18, when performing cleaning work in a normal situation, the stop valve 18 can be closed, and only the main nozzle 3 is allowed to discharge water, so that the device can adapt to a variety of working scenarios and further improve the practicability of the device.

[0046] In a specific embodiment: A bidirectional lead screw 19 is rotatably connected in the robot main body 1. A pair of symmetrically arranged first extrusion blocks 20 are threadedly connected to the bidirectional lead screw 19. A second limiting rod 21 parallel to the bidirectional lead screw 19 is fixedly connected to the robot main body 1. Each first extrusion block 20 is slidably connected to the second limiting rod 21. At least one of the two first extrusion blocks 20 is provided with an anti-fooling mechanism. The anti-fooling 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. 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 formed through the top of the robot main body 1. A first servo motor 25 is fixedly connected to the robot main body 1. The output shaft of the first servo motor 25 is fixedly connected to the bidirectional lead 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 lead screw 19 to rotate. The rotation of the bidirectional lead screw 19 drives the two first extrusion blocks 20 to move. The movement trajectory of the first extrusion blocks 20 is restricted by the second limiting rod 21, causing the two first extrusion blocks 20 to approach each other along the length direction of the second limiting rod 21. When there is only one anti-fooling mechanism, the anti-fooling mechanism is arranged on the higher side close to the photovoltaic panel. The first extrusion block 20 drives the anti-fooling 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 in firm contact. The guide wheel 23 rolls in cooperation with the movement of the robot, which can prevent the robot from slipping off due to the excessive inclination angle of the photovoltaic panel. Generally, when the inclination angle is greater than 20 degrees, an anti-fooling mechanism needs to be set, further improving the practicability of the device.

[0048] In a specific embodiment: The number of anti-fooling 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 this device is to clean the dust of ordinary thickness on the inclined photovoltaic panel surface, there is no need to consider that a large amount of dust enters the gap between the anti-fooling mechanism on the lower side and the photovoltaic panel, thereby affecting its rolling inclination. At this time, two anti-fooling mechanisms can be installed, making the fit between this device and the surface of the photovoltaic panel higher and the movement more stable.

[0050] In a specific embodiment: A dust-proof plate 26 is rotatably connected to the mounting frame 2. A pair of flipping mechanisms are arranged in the robot main body 1. Each flipping mechanism includes a second extrusion block 27. The second extrusion block 27 abuts against the corresponding first extrusion block 20. A number of spring telescopic rods 28 are fixedly connected to the robot main body 1. The moving 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 with the dust-proof plate 26. A second moving groove for the movement of the L-shaped plate 29 is penetrated and opened on the robot main 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 portions of the first extrusion blocks 20 extrude the inclined surface portions of the corresponding second extrusion blocks 27, thereby driving the second extrusion blocks 27 to move. The movement trajectories of the second extrusion blocks 27 are restricted by the spring telescopic rods 28, and they move away from the mounting frame 2. The second extrusion blocks 27 drive the L-shaped plates 29 to move synchronously, pulling the rotating plates 30, and the rotating plates 30 pull the dust-proof plates 26, thereby opening the dust-proof plates 26, exposing the main nozzles 3 and the auxiliary nozzles 5 in the mounting frame 2, facilitating their cleaning operations. After the cleaning is completed, the two first extrusion blocks 20 move away from each other, causing the L-shaped plates 29 to reset and the dust-proof plates 26 to close again, preventing excessive impurities from entering the mounting frame 2 and extending the service life of the cleaning mechanism.

[0052] In a specific embodiment: The driving device is set as a second servo motor 31 fixedly installed 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: Start the second servo motor 31, the output shaft of the second servo motor 31 rotates, driving the threaded rod 7 to rotate synchronously, 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 installed on the mounting frame 2.

[0055] The working principle and beneficial effects of the above technical solution are as follows: Start the electric brush 32, and 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 tightly fitted with the robot main body 1 or the mounting frame 2 through a fastening bolt 34.

[0057] The working principle and beneficial effects of the above technical solution are as follows: The metal connecting frames 33 cooperate with the fastening bolts 34 to stably connect the mounting frame 2 and the robot main body 1 together, improving 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 forward, the second servo motor 31 is started. The output shaft of the second servo motor 31 is set to rotate in both forward and reverse directions, driving the threaded rod 7 to rotate synchronously. The threaded rod 7 drives a plurality of guide sleeves 8 to move synchronously. The movement trajectory of the guide sleeve 8 is restricted by the first limiting rod 9 and can only reciprocate along the first limiting rod 9. The guide sleeve 8 drives the corresponding guide rod 10 to move synchronously, causing a plurality of guide rods 10 to slide in the guide grooves of the corresponding guide frames 11, thereby driving the guide frames 11 and the corresponding auxiliary nozzles 5 to rotate around their respective fixed shafts 4. Since in the initial state, the angles between the plurality of guide frames 11 and the vertical plane in the width direction of the mounting frame 2 gradually decrease from one side to the other side, and the linear distances from the plurality of auxiliary nozzles 5 to the threaded rod 7 are equal, when the plurality of auxiliary nozzles 5 are driven to rotate, the rotation angles gradually increase from one side to the other side. After adjusting the traveling direction of the robot, the forward and reverse rotation of the threaded rod 7 can be used to drive the plurality of auxiliary nozzles 5 to switch back and forth between parallel water spraying and concentrated water spraying, and in cooperation with adjusting the traveling direction of the robot, when concentrated water spraying is performed, the water flow impacts the lower half area of the photovoltaic panel.

[0063] In this process, the impact paths of the plurality of auxiliary nozzles 5 gradually converge, and the resultant force generated also gradually increases, just matching the state where the dust thickness on the photovoltaic panel gradually thickens from top to bottom, assisting the main nozzle 3 for flushing to ensure that the photovoltaic panel can be flushed clean. On the contrary, during the process of the auxiliary nozzle 5 rotating from the state of concentrated flushing to the parallel state, the concentration of the water flow used for wetting also gradually decreases, just matching the state where the dust gradually thickens from bottom to top on the surface of the photovoltaic panel. Using less water volume can ensure the wetting degree of the dust. Repeating this cycle can complete the cleaning work with high quality on the premise of using less water resources.

[0064] The above describes the embodiments of this embodiment, but this embodiment is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of this embodiment, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope of this 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 gradually from one side to the other side in the length direction of the mounting frame (2); 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).

2. A photovoltaic power station solar panel cleaning robot according to claim 1, 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).

3. A photovoltaic power station solar panel cleaning robot according to claim 2, 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.

4. A photovoltaic power station solar panel cleaning robot according to claim 1 or 3, 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).

5. A photovoltaic power station solar panel cleaning robot according to claim 4, 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).

6. A photovoltaic power station solar panel cleaning robot according to claim 5, 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).

7. A photovoltaic power station solar panel cleaning robot according to claim 6, 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).

8. A photovoltaic power station solar panel cleaning robot according to claim 7, characterized in that: The cleaning mechanism also includes an electric brush (32) which is mounted on the mounting frame (2).

9. A photovoltaic power station solar panel cleaning robot according to claim 8, 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