A distributed photovoltaic panel cleaning robot with an air-drying function

Abstract

The present invention discloses a distributed photovoltaic panel cleaning robot with an air-drying function, belonging to the technical field of photovoltaic panel cleaning. It includes a moving housing and a walking mechanism. The top of the moving housing is fixedly connected with a cleaning box. The inner wall of the moving housing is fixedly connected with a fixed mounting plate. A piston plate is slidably arranged below the fixed mounting plate inside the moving housing. The top of the fixed mounting plate is provided with two symmetrically arranged lifting cylinders. By setting a sealing frame, the cleaning liquid sprayed on the surface of the photovoltaic panel can be restricted in flow, so as to extend the contact time between the cleaning liquid and the dirt on the surface of the photovoltaic panel, enabling the cleaning liquid to soak and break down the dirt, thus facilitating the cleaning of adhesive dirt. At the same time, the walking mechanism is used to complete the automatic transfer function of the robot between two adjacent rows of photovoltaic panels, eliminating the need for manual transfer by staff, reducing the workload and improving the cleaning efficiency of the photovoltaic panels.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and particularly relates to a distributed photovoltaic panel cleaning robot with an air-drying function. Background Art

[0002] Distributed photovoltaic panels, also known as solar panels, are devices that directly convert solar radiant energy into electrical energy using photovoltaic technology. Most existing distributed photovoltaic panels are placed side by side, and the placement angles are divided into two methods: horizontal and inclined. Since the photovoltaic panels are exposed to the external environment for a long time, foreign matters such as dust are likely to accumulate on their surfaces. In order to ensure their photoelectric conversion efficiency, the photovoltaic panels need to be cleaned regularly;

[0003] The cleaning of existing photovoltaic panels is divided into two types: manual and mechanical. Mechanical cleaning is mostly realized by robots. When the robot cleans the horizontally placed photovoltaic panels, the cleaning liquid sprayed on the surface of the photovoltaic panels will be temporarily stored on the surface of the photovoltaic panels, which can play a certain role in soaking and disintegrating foreign matters with strong adhesion on the surface of the photovoltaic panels, providing convenience for the cleaning of the photovoltaic panels. However, for the inclined photovoltaic panels, the cleaning liquid sprayed on the surface of the photovoltaic panels quickly flows away along the photovoltaic panels, resulting in the inability of the cleaning liquid to fully contact the foreign matters on the surface of the photovoltaic panels, making it difficult to clean the foreign matters with strong adhesion on the surface of the photovoltaic panels and increasing the cleaning difficulty;

[0004] In addition, existing distributed photovoltaic panels are generally arranged in multiple rows. When the robot completes the cleaning operation of one row of photovoltaic panels, it often requires the staff to manually transfer it to the next row of photovoltaic panels, increasing the workload of the staff and reducing the cleaning efficiency of the photovoltaic panels; Therefore, a distributed photovoltaic panel cleaning robot with an air-drying function is proposed to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems in the prior art that when the robot cleans the inclined photovoltaic panels, the cleaning liquid sprayed on its surface will quickly flow away and cannot fully contact the foreign matters, and the transfer between rows of photovoltaic panels of the existing cleaning robot requires manual operation by the staff, and a distributed photovoltaic panel cleaning robot with an air-drying function is proposed.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A distributed photovoltaic panel cleaning robot with an air-drying function, comprising a moving housing and a walking mechanism. A cleaning box is fixedly connected to the top end of the moving housing. A fixed mounting plate is fixedly connected to the inner wall of the moving housing. A piston plate is slidably arranged below the fixed mounting plate inside the moving housing. Two symmetrically arranged lifting cylinders are installed at the top end of the fixed mounting plate. The telescopic end of the lifting cylinder is fixedly connected to the top end of the piston plate. A connecting pipe is fixedly connected to the top end of the fixed mounting plate. A plurality of telescopic hoses communicating with the connecting pipe are fixedly connected to the bottom end of the fixed mounting plate. A plurality of transfer holes penetrating through the piston plate are formed at the top end of the piston plate. A rotating pipe is rotatably connected inside the transfer hole. A gear disc is fixedly connected to the top end of the rotating pipe. A circular opening communicating with the rotating pipe is formed at the center of the gear disc. A turntable is fixedly connected to the bottom end of the rotating pipe. A cleaning cotton is fixedly connected to the bottom end of the turntable. A water outlet communicating with the rotating pipe is formed at the centers of the turntable and the cleaning cotton. An electromagnetic valve is arranged inside the rotating pipe;

[0008] A magnetic attraction plate is slidably arranged inside the moving housing. A sealing frame is fixedly connected to the bottom end of the magnetic attraction plate. The top end of the sealing frame is connected to the piston plate through a pressing spring;

[0009] The walking mechanism includes a connecting head fixedly connected to one end of the moving housing and moving frames symmetrically arranged on both sides of the connecting head. A transfer block is slidably arranged inside the moving frame. A guiding groove is formed at one end of the transfer block. Driving tooth plates slidably connected to the guiding groove are fixedly connected to both side surfaces of the moving housing. Limit plates are fixedly connected to both ends of the driving tooth plate. A supporting plate is fixedly connected to the side wall of the moving frame. A walking motor is installed at the bottom end of the supporting plate. The output end of the walking motor is connected with a walking wheel.

[0010] Preferably, a water storage cavity and a drying cavity are arranged inside the cleaning box. An air pump and a water pump communicating with the connecting pipe are installed at the top end of the connecting pipe. One end of the air pump is communicated with the drying cavity through an air pipe. One end of the water pump is communicated with the water storage cavity through a water inlet pipe.

[0011] Preferably, one end of the telescopic hose is rotatably connected to the circular opening at the center of the gear disc. A rotating motor is installed at the top end of the piston plate. The output end of the rotating motor is fixedly connected with a driving gear meshing with the gear disc.

[0012] Preferably, an electromagnet magnetically attracting the magnetic attraction plate is installed at the bottom end of the piston plate. A rubber layer for enhancing the sealing performance is arranged at the bottom end of the sealing frame.

[0013] Preferably, an installation inner cavity communicating with the guiding groove is formed inside the adapter block, a transfer motor is installed inside the installation inner cavity, and an output end of the transfer motor is fixedly connected to a transfer gear meshing with the driving tooth plate.

[0014] Preferably, symmetric rolling grooves are formed at the bottom end of the moving frame, and balls are rotatably arranged inside the rolling grooves.

[0015] Preferably, a sliding groove is formed on the inner wall of the moving frame, a rubber layer is arranged on the inner wall of the sliding groove, and a sliding block slidably connected to the sliding groove is fixedly connected to the side wall of the adapter block.

[0016] Preferably, a plurality of water-passing notches are formed at the bottom end of the moving housing.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. In this solution, by providing a sealing frame, a current-limiting effect can be achieved on the cleaning liquid sprayed on the surface of the photovoltaic panel, so as to extend the contact time between the cleaning liquid and the dirt on the surface of the photovoltaic panel, enabling the cleaning liquid to play a role in soaking and disintegrating the dirt, thereby facilitating the cleaning of the adherent dirt.

[0019] 2. In this solution, by providing a traveling mechanism, the transfer motor drives the transfer gear to rotate, and under the cooperative action of the driving tooth plate, the moving housing is separated from the cleaned photovoltaic panel and automatically falls onto the next row of photovoltaic panels to be cleaned, completing the automatic transfer function of the robot between adjacent two rows of photovoltaic panels. Thus, there is no need for manual transfer by workers, reducing the workload and improving the cleaning efficiency of the photovoltaic panels at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic three-dimensional structure diagram of a distributed photovoltaic panel cleaning robot with an air-drying function proposed by the present invention Figure 1 ;

[0021] Figure 2 is a schematic three-dimensional structure diagram of a distributed photovoltaic panel cleaning robot with an air-drying function proposed by the present invention Figure 2 ;

[0022] Figure 3 is Figure 2 an enlarged structural schematic diagram at A in

[0023] Figure 4 is an assembled structural schematic diagram of the internal structure of the moving housing in a distributed photovoltaic panel cleaning robot with an air-drying function proposed by the present invention;

[0024] Figure 5Schematic cross-sectional structure diagram of the rotating pipe in a distributed photovoltaic panel cleaning robot with an air-drying function proposed by the present invention;

[0025] Figure 6 Schematic cross-sectional assembly structure diagram of the traveling mechanism in a distributed photovoltaic panel cleaning robot with an air-drying function proposed by the present invention;

[0026] Figure 7 For Figure 6 Schematic enlarged structure diagram at position B in;

[0027] Figure 8 Schematic assembly structure diagram of the adapter block and the moving frame in a distributed photovoltaic panel cleaning robot with an air-drying function proposed by the present invention.

[0028] In the figure: 1, moving outer shell; 2, cleaning box; 201, water storage cavity; 202, drying cavity; 3, driving toothed plate; 4, moving frame; 5, fixed mounting plate; 6, connecting pipe; 7, water pump; 8, air pump; 9, lifting cylinder; 10, telescopic hose; 11, piston plate; 12, rotating motor; 13, driving gear; 14, gear disc; 15, electromagnet; 16, rotating pipe; 17, turntable; 18, cleaning cotton; 19, sealing frame; 20, magnetic attraction plate; 21, solenoid valve; 22, adapter block; 2201, guiding groove; 2202, installation inner cavity; 23, traveling motor; 24, traveling wheel; 25, ball; 26, transfer motor; 27, transfer gear; 28, connecting head; 29, limiting plate; 30, pressing spring. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, terms such as "installation", "equipped with", "sheathed / connected", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0032] Example, refer to Figures 1 to 8 , a distributed photovoltaic panel cleaning robot with an air-drying function, including a mobile housing 1 and a traveling mechanism. A cleaning box 2 is fixedly connected to the top of the mobile housing 1. Further, a water storage cavity 201 and a drying cavity 202 are arranged inside the cleaning box 2. An air pump 8 and a water pump 7 communicated with the communicating pipe 6 are installed at the top of the communicating pipe 6. One end of the air pump 8 is communicated with the drying cavity 202 through an air pipe, and one end of the water pump 7 is communicated with the water storage cavity 201 through a water inlet pipe.

[0033] It should be noted that: the water storage cavity 201 is filled with cleaning liquid. The water pump 7 can pump out the cleaning liquid inside the water storage cavity 201 and finally spray it on the surface of the photovoltaic panel through the rotating pipe 16; an electric heating rod is arranged inside the drying cavity 202, and the electric heating rod can heat the air inside the drying cavity 202, and then it is pumped out under the action of the air pump 8 and sprayed out through the rotating pipe 16, so as to air-dry the cleaned photovoltaic panel.

[0034] The inner wall of the movable housing 1 is fixedly connected with a fixed mounting plate 5. A piston plate 11 is slidably arranged below the fixed mounting plate 5 inside the movable housing 1. Two symmetrically arranged lifting cylinders 9 are installed at the top end of the fixed mounting plate 5. The telescopic end of the lifting cylinder 9 is fixedly connected with the top end of the piston plate 11. A connecting pipe 6 is fixedly connected to the top end of the fixed mounting plate 5. A plurality of telescopic hoses 10 communicating with the connecting pipe 6 are fixedly connected to the bottom end of the fixed mounting plate 5 (the telescopic hoses 10 are arranged so that when the piston plate 11 moves up and down, the connection between the rotary pipe 16 and the connecting pipe 6 can still be maintained). A plurality of transfer holes penetrating through the piston plate 11 are formed at the top end of the piston plate 11. A rotary pipe 16 is rotatably connected inside the transfer hole. A gear disc 14 is fixedly connected to the top end of the rotary pipe 16 (the adjacent gear discs 14 mesh with each other). A circular opening communicating with the rotary pipe 16 is formed at the center of the gear disc 14. A turntable 17 is fixedly connected to the bottom end of the rotary pipe 16. A cleaning cotton 18 is fixedly connected to the bottom end of the turntable 17. A water outlet communicating with the rotary pipe 16 is formed at the center of the turntable 17 and the cleaning cotton 18. An electromagnetic valve 21 is arranged inside the rotary pipe 16. One end of the telescopic hose 10 is rotatably connected with the circular opening at the center of the gear disc 14. A rotary motor 12 is installed at the top end of the piston plate 11. The output end of the rotary motor 12 is fixedly connected with a driving gear 13 meshing with the gear disc 14.

[0035] It should be noted that: the rotary motor 12 is used to drive the driving gear 13 to rotate. The driving gear 13 drives one of the gear discs 14 to rotate. Under the meshing action between the adjacent gear discs 14, all the gear discs 14 rotate simultaneously. Then the rotary pipe 16 at its bottom end rotates. The rotary pipe 16 drives the turntable 17 to rotate. The turntable 17 drives the cleaning cotton 18 at its bottom end to rotate. At the same time, the lifting cylinder 9 is used to drive the piston plate 11 to move down, and then drive the cleaning cotton 18 to move down, so that the cleaning cotton 18 contacts the surface of the photovoltaic panel, which can play a role in cleaning the dirt on the surface of the photovoltaic panel.

[0036] It is worth noting that: the setting of the electromagnetic valve 21 can control the opening and closing of the rotary pipe 16. When the rotary pipe 16 is closed, the upward movement of the piston plate 11 will cause a negative pressure inside the sealing frame 19 (similar to the principle of generating a negative pressure inside the piston cylinder by pulling the piston block), so that the sealing frame 19 can adsorb on the surface of the photovoltaic panel, and then the robot can adsorb on the surface of the photovoltaic panel.

[0037] A magnetic attraction plate 20 is slidably arranged inside the movable housing 1. A sealing frame 19 is fixedly connected to the bottom end of the magnetic attraction plate 20. The top end of the sealing frame 19 is connected with the piston plate 11 through a pressure spring 30. Further, an electromagnet 15 magnetically attracting the magnetic attraction plate 20 is installed at the bottom end of the piston plate 11. A rubber layer for enhancing the sealing performance is arranged at the bottom end of the sealing frame 19.

[0038] It should be noted that: The electromagnet 15 can magnetically attract the magnetic attraction plate 20 to move upward. The magnetic attraction plate 20 drives the sealing frame 19 to move upward and compresses the pressure spring 30. At this time, the sealing frame 19 does not contact the surface of the photovoltaic panel. After the electromagnet 15 is powered off, the electromagnet 15 loses magnetism and no longer magnetically attracts the magnetic attraction plate 20. Under the elastic force of the pressure spring 30, the magnetic attraction plate 20 moves downward, and the magnetic attraction plate 20 drives the sealing frame 19 to move downward, so that the bottom end of the sealing frame 19 is closely attached to the surface of the photovoltaic panel, which can play a role in restricting the flow of the cleaning liquid sprayed on the photovoltaic panel, extend the contact time between the cleaning liquid and the dirt on the surface of the photovoltaic panel, enable the cleaning liquid to soak and break down the dirt, and thus facilitate the cleaning of adhesive dirt.

[0039] It is worth noting that: The rubber layer can enhance the sealing performance between the bottom end of the sealing frame 19 and the photovoltaic panel.

[0040] The traveling mechanism includes a connection head 28 fixedly connected to one end of the moving housing 1 and moving frames 4 symmetrically arranged on both sides of the connection head 28. A transfer block 22 is slidably arranged inside the moving frame 4. A guiding groove 2201 is formed at one end of the transfer block 22. Driving toothed plates 3 slidably connected to the guiding groove 2201 are fixedly connected to both side surfaces of the moving housing 1. Limit plates 29 are fixedly connected to both ends of the driving toothed plates 3 (the arrangement of the limit plates 29 can prevent the driving toothed plates 3 from separating from the guiding groove 2201). A support plate is fixedly connected to the side wall of the moving frame 4, and a traveling motor 23 is installed at the bottom end of the support plate. The output end of the traveling motor 23 is connected to a traveling wheel 24.

[0041] It should be noted that: The traveling motor 23 drives the traveling wheel 24 at its output end to rotate. The surface of the traveling wheel 24 is provided with anti-slip patterns, which can enhance the friction between the traveling wheel 24 and the side wall of the photovoltaic panel. By using the traveling wheel 24 to roll along the side wall of the photovoltaic panel, the moving frames 4 on both sides are driven to move, the moving frames 4 drive the moving housing 1 to move, and then the entire robot is driven to move, realizing the cleaning function for all photovoltaic panels in a row.

[0042] Furthermore, an installation inner cavity 2202 communicating with the guiding groove 2201 is formed inside the transfer block 22. A transfer motor 26 is installed inside the installation inner cavity 2202. The output end of the transfer motor 26 is fixedly connected to a transfer gear 27 meshing with the driving toothed plate 3. Furthermore, a sliding groove is formed on the inner wall of the moving frame 4, a rubber layer is arranged on the inner wall of the sliding groove, and a slider slidably connected to the sliding groove is fixedly connected to the side wall of the transfer block 22.

[0043] It should be noted that the transfer motor 26 drives the rotation of the transfer gear 27 at its output end. The transfer gear 27 drives the driving tooth plate 3 engaged therewith to move. The driving tooth plate 3 drives the moving housing 1 to move, thereby driving the entire robot to move, so that the entire robot moves obliquely upward along the inclined photovoltaic panel, causing it to disengage from the cleaned photovoltaic panel. After the entire robot disengages from the cleaned photovoltaic panel, the entire robot is in a suspended state at this time. Since the moving frames 4 on both sides are in an inclined state, there will be a component force of the gravity of the robot along the direction of the moving frame 4, causing the robot to drive the adapter block 22 to slide down inside the moving frame 4. Since there is a rubber layer on the inner wall of the chute, the friction between the sliders on both sides of the adapter block 22 and the chute is relatively large, making the sliding speed of the entire robot slower, ensuring that when the robot slides down to contact the next row of photovoltaic panels to be cleaned, the impact force is smaller and will not damage the surface of the photovoltaic panel, and at the same time completing the automatic transfer function of the robot between adjacent two rows of photovoltaic panels.

[0044] Referring to Figure 8 , it should be noted that: when the moving housing 1 disengages from the photovoltaic panel, the large offset of the center of gravity will cause the excessive extrusion force between the adapter block 22 and the side wall of the moving frame 4, and then cause the excessive friction force, which will affect the normal downward movement of the robot body. Therefore, a plurality of rolling grooves symmetrically arranged with respect to the slider are provided on both side walls of the adapter block 22. A sliding bead is rotatably arranged inside the rolling groove. The sliding bead cooperates with the rolling groove to change the sliding friction between the adapter block 22 and the side wall of the moving frame 4 into rolling friction, thereby greatly reducing the influence of the increase in the extrusion force on the friction force, so as to ensure that the robot can normally realize the downward sliding function along the moving frame 4.

[0045] Furthermore, symmetrically arranged rolling grooves are provided at the bottom end of the moving frame 4. A ball 25 is rotatably arranged inside the rolling groove. The arrangement of the ball 25 facilitates the movement of the moving frame 4 on the surface of the photovoltaic panel.

[0046] Furthermore, a plurality of water-passing notches are provided at the bottom end of the moving housing 1. The arrangement of the notches facilitates the outflow of the cleaning liquid inside the moving housing 1.

[0047] When the present invention is used, the staff needs to first place the entire robot on the surface of the photovoltaic panel to be cleaned (the photovoltaic panel at the middle end of a row of photovoltaic panels), and at the same time make the moving frame 4 lean against the side wall of the photovoltaic panel to be cleaned. At this time, the surface of the traveling wheel 24 contacts the side wall of the photovoltaic panel to be cleaned, and the ball 25 at the bottom end of the moving frame 4 contacts the surface of the next row of photovoltaic panels to be cleaned (a buffer cotton layer is provided on the surface of the ball 25 to prevent damage to the photovoltaic panel during the rolling of the ball 25);

[0048] When performing a cleaning operation, the control circuit inside the robot first de-energizes the electromagnet 15. Under the action of the pressing spring 30, the magnetic attraction plate 20 moves downward, driving the sealing frame 19 to move downward, so that the bottom end of the sealing frame 19 is in close contact with the surface of the photovoltaic panel. Then the control circuit turns on the water pump 7. The water pump 7 pumps the cleaning liquid in the water storage chamber 201 inside the water tank into the connecting pipe 6, and then flows into the telescopic hose 10 and the rotating pipe 16 through the connecting pipe 6, and then sprays out through the water outlet between the turntable 17 and the cleaning cotton 18. Under the current-limiting effect of the sealing frame 19, the sprayed cleaning liquid will gather on the surface of the photovoltaic panel, so that it can come into full contact with the dirt on the surface of the photovoltaic panel and play a role in soaking and disintegrating some adhesive dirt. After the soaking is over, the control circuit controls the lifting cylinder 9 to work, so that the lifting cylinder 9 drives the piston plate 11 to move downward, and then drives the rotating pipe 16 and the cleaning cotton 18 to move downward (during this process, the telescopic hose 10 is stretched) and contact the photovoltaic panel. At the same time, the control circuit turns on the rotating motor 12. The rotating motor 12 drives the driving gear 13 at its output end to rotate. The driving gear 13 drives the gear disk 14 engaged with it to rotate. Under the meshing action between multiple gear disks 14, the gear disks 14 at various places rotate simultaneously. The gear disk 14 drives the rotating pipe 16 to rotate. The rotating pipe 16 drives the turntable 17 and the cleaning cotton 18 at its bottom end to rotate, so that the cleaning cotton 18 realizes the cleaning function of the dirt on the surface of the photovoltaic panel;

[0049] After the cleaning is completed, the control motor supplies power to the electromagnet 15 again, so that the magnetic attraction plate 20 moves upward and drives the sealing frame 19 to move upward. At this time, the sewage generated by the cleaning will flow away through the notch at the bottom end of the moving housing 1. Then, the control circuit controls the air pump 8 to work, and at the same time controls the electric heating rod inside the drying chamber 202 to work. The electric heating rod can heat the air inside the drying chamber 202, and then it is pumped out under the action of the air pump 8 and sprayed out through the rotating pipe 16, which can air-dry the cleaned photovoltaic panel;

[0050] After the air-drying is completed, the control circuit controls the traveling motor 23 to work. The traveling motor 23 drives the traveling wheels 24 at its output end to rotate. The traveling wheels 24 roll along the side wall of the photovoltaic panel, driving the moving frames 4 on both sides to move. The moving frames 4 drive the moving housing 1 to move, and then drive the entire robot to move, realizing the cleaning function of all the photovoltaic panels in a row;

[0051] After cleaning a row of photovoltaic panels, the control circuit controls the transfer motor 26 to operate. The transfer motor 26 drives the transfer gear 27 at its output end to rotate. The transfer gear 27 drives the driving tooth plate 3 engaged with it to move. The driving tooth plate 3 drives the moving housing 1 to move, thereby driving the entire robot to move, causing the entire robot to move obliquely upward along the inclined photovoltaic panel, so that it disengages from the cleaned photovoltaic panel. After the entire robot disengages from the cleaned photovoltaic panel, at this time the entire robot is in a suspended state. Since the moving frames 4 on both sides are in an inclined state, there will be a component force of the gravity of the robot along the direction of the moving frame 4, causing the robot to drive the adapter block 22 to slide down inside the moving frame 4. Since the inner wall of the chute is provided with a rubber layer, the friction between the sliders on both sides of the adapter block 22 and the chute is relatively large, making the sliding speed of the entire robot slower, ensuring that when the robot slides down to contact the next row of photovoltaic panels to be cleaned, the impact force is small and will not damage the surface of the photovoltaic panel;

[0052] After that, the control circuit first operates the lifting cylinder 9 to make the piston plate 11 move downward. Then, it controls the electromagnet 15 to cut off the power, causing the sealing frame 19 to move downward. Finally, it closes the solenoid valve 21, thereby closing the rotating pipe 16. Then, it operates the lifting cylinder 9 again to make the piston plate 11 move upward, generating negative pressure inside the sealing frame 19, causing the robot to adsorb on the surface of the photovoltaic panel. Then, the control circuit turns on the transfer motor 26 to make the transfer motor 26 rotate in the reverse direction (compared with the rotation direction when driving the entire robot away from the photovoltaic panel). Since the robot is adsorbed on the surface of the photovoltaic panel and cannot move, at this time, the transfer gear 27 rolls obliquely upward along the driving tooth plate 3, thereby driving the moving frame 4 to move obliquely upward. When the moving frame 4 moves to the end of the driving tooth plate 3, the moving frame 4 is in a suspended state. Under the action of the gravity of the moving frame 4, it slides obliquely downward until the ball 25 at its bottom contacts the surface of the next row of photovoltaic panels, completing the automatic transfer function of the robot between adjacent two rows of photovoltaic panels. Then, it makes the piston plate 11 move downward, causing the negative pressure inside the sealing frame 19 to disappear. At the same time, it energizes the electromagnet 15 to make the sealing frame 19 move upward and reset. Then, repeat the above cleaning steps, so that there is no need for manual transfer by workers, reducing the workload and improving the cleaning efficiency of the photovoltaic panels.

[0053] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A distributed photovoltaic panel cleaning robot with air drying function, comprising a mobile housing (1) and a walking mechanism, characterized in that: The top of the movable housing (1) is fixedly connected to a cleaning box (2); the inner wall of the movable housing (1) is fixedly connected to a fixed mounting plate (5); a piston plate (11) is slidably arranged on the inner side of the movable housing (1) below the fixed mounting plate (5); two symmetrically arranged lifting cylinders (9) are installed on the top of the fixed mounting plate (5); the telescopic ends of the lifting cylinders (9) are fixedly connected to the top of the piston plate (11); the top of the fixed mounting plate (5) is fixedly connected to a connecting pipe (6); the bottom of the fixed mounting plate (5) is fixedly connected to a plurality of telescopic hoses (10) connected to the connecting pipe (6); the piston The top of the plate (11) is provided with a plurality of adapter holes penetrating the piston plate (11); a rotating tube (16) is rotatably connected inside the adapter hole; a gear plate (14) is fixedly connected to the top of the rotating tube (16); a circular opening communicating with the rotating tube (16) is provided at the center of the gear plate (14); a rotating disk (17) is fixedly connected to the bottom of the rotating tube (16); a cleaning cotton (18) is fixedly connected to the bottom of the rotating disk (17); a water outlet communicating with the rotating tube (16) is provided at the center of the rotating disk (17) and the cleaning cotton (18); and a solenoid valve (21) is provided inside the rotating tube (16); A magnetic attraction plate (20) is slidably disposed inside the movable housing (1), a sealing frame (19) is fixedly connected to the bottom end of the magnetic attraction plate (20), and a top end of the sealing frame (19) is connected to the piston plate (11) via a pressure spring (30); The walking mechanism comprises a connecting head (28) fixedly connected to one end of the moving housing (1) and a moving frame (4) symmetrically arranged on both sides of the connecting head (28); a transfer block (22) is slidably arranged on the inner side of the moving frame (4); and a guide groove (2201) is provided at one end of the transfer block (22).

2. A distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: The two side surfaces of the movable housing (1) are fixedly connected with driving tooth plates (3) that are slidably connected to the guide grooves (2201); the two ends of the driving tooth plates (3) are fixedly connected with limit plates (29); the side walls of the movable frame (4) are fixedly connected with support plates; the bottom end of the support plate is mounted with a travel motor (23); the output end of the travel motor (23) is connected with a travel wheel (24).

3. The distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: The cleaning box (2) is provided with a water storage chamber (201) and a drying chamber (202) inside. An air pump (8) and a water pump (7) connected to the connecting pipe (6) are installed at the top end of the connecting pipe (6). One end of the air pump (8) is connected to the drying chamber (202) via an air pipe, and one end of the water pump (7) is connected to the water storage chamber (201) via a water diversion pipe.

4. The distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: One end of the telescopic hose (10) is rotatably connected to a circular opening at the center of a gear plate (14); a rotary motor (12) is mounted on the top of the piston plate (11); and an output end of the rotary motor (12) is fixedly connected to a driving gear (13) meshing with the gear plate (14).

5. The distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: An electromagnet (15) magnetically attracted to the magnetic attraction plate (20) is installed at the bottom end of the piston plate (11), and a rubber layer for enhancing sealing is provided at the bottom end of the sealing frame (19).

6. The distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: The adapter block (22) is provided with an installation inner cavity (2202) in communication with the guide groove (2201), a transfer motor (26) is installed inside the installation inner cavity (2202), and an output end of the transfer motor (26) is fixedly connected to a transfer gear (27) meshing with the drive gear plate (3).

7. The distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: The bottom end of the movable frame (4) is provided with symmetrically arranged rolling grooves, and balls (25) are arranged inside the rolling grooves for rolling.

8. The distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: The inner wall of the movable frame (4) is provided with a sliding groove, the inner wall of the sliding groove is provided with a rubber layer, and the side wall of the adapter block (22) is fixedly connected with a sliding block slidably connected to the sliding groove.

9. The distributed photovoltaic panel cleaning robot with air drying function according to claim 1, characterized in that: The bottom end of the movable housing (1) is provided with a plurality of notches for passing water.

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