Wall-mounted cleaning robot for photovoltaic power station in complex terrain

Abstract

The invention discloses a wall-mounted cleaning robot for a photovoltaic power station in complex terrains. The wall-mounted cleaning robot comprises a machine shell, a telescopic span module, a rotary clamping module, a universal supporting module, a cleaning module, a variable-diameter walking module and a guide change gear module. The variable-diameter walking module and the guide change gear module are installed on the left side and the right side of the cleaning module, the rotary clamping module and the machine shell are fixed to the upper side of the cleaning module, and the universal supporting modules are fixedly installed at the two ends of the telescopic span module and movably connected with the rotary clamping module. According to the invention, the span function can be realized in the operation process, when the required span distance is small, the wheel type mode and the wheel leg type mode can be switched by means of the variable-diameter walking module, and the distance between two sets of adjacent photovoltaic modules can be automatically crossed; when the needed span distance is large, the cleaning work of another set of long-distance photovoltaic module can be completed by means of the telescopic span module; and meanwhile, the span under the condition of a large angle or a large fall can be realized by virtue of the universal supporting module, so that the photovoltaic module can adapt to various terrain environments.

Description

Technical Field:

[0001] The present invention relates to the field of intelligent equipment for cleaning photovoltaic panels, and particularly to a wall-mounted cleaning robot for a photovoltaic power station in complex terrain. Background Art:

[0002] At present, compared with traditional energy sources, photovoltaic power generation has the advantages of being clean, safe, sustainable, and inexhaustible. Photovoltaic power generation is a main way of solar energy utilization and plays an important role in the long-term energy strategy. However, during the operation of a photovoltaic power generation system, in addition to the performance of the photovoltaic modules themselves, different natural environments will also have a great impact on its power generation efficiency. The most important ones are dust and particulate matter in the air. When they accumulate on the surface of the photovoltaic modules, they will affect the light absorption of the photovoltaic modules, reduce the output power of the photovoltaic modules, and reduce the power generation effect of the photovoltaic cells. Therefore, it is necessary to frequently use a cleaning machine to clean the dust on the photovoltaic cell panel modules to improve the absorption of solar radiation energy by the photovoltaic cell panel modules.

[0003] However, since the wall-mounted photovoltaic cleaning robot needs to rely on the photovoltaic panel frame during operation, and during operation, because the cleaning machine itself cannot cross distances, when there is a certain gap or a certain error between two sets of photovoltaic systems in the same direction, the existing robots cannot work or cannot be used at all. Therefore, it is necessary to provide a wall-mounted photovoltaic panel cleaning robot with span ability, so that the distance between two sets of photovoltaic systems can be crossed during operation.

[0004] In addition, due to the influence of factors such as terrain slope and manual error, the installation of two sets of photovoltaic modules is not on the same straight line, and there will be height differences and spacing distances of different degrees. The existing span cleaning robots can only cross the gap between two sets of photovoltaic modules on the same plane and cannot cope with the situation of height differences. Therefore, it is necessary to provide a wall-mounted cleaning robot span for a photovoltaic power station in complex terrain that can be applied to various height differences.

[0005] At the same time, since the current photovoltaic panel cleaning robots often need to perform cleaning work for a long time but do not have the function of automatically cleaning the rolling brush, it often leads to an increase in the working time of the rolling brush, and more and more dirt such as mud stains and bird stains adhere to the rolling brush, resulting in a reduction in the cleaning effect and an increase in power consumption. Therefore, it is necessary to provide a photovoltaic panel cleaning robot that can automatically clean the rolling brush.

[0006] Chinese patent CN113334351B discloses a photovoltaic power station cleaning robot that can overcome obstacles. Although it can automatically cross the gap between two coaxial adjacent systems during operation to complete the cleaning of the other system, since the suction cup on its flip arm cannot move, it can only be used when the two sets of photovoltaic components are parallel to the suction cup to perform obstacle-overcoming work normally, and is not suitable for situations where there is an angle tilt; in addition, since the length of its flip arm is fixed and cannot be dynamically adjusted, when the spacing between the two sets of photovoltaic components is greater than the fixed obstacle-overcoming length of the flip arm, the robot cannot work normally. Therefore, it is necessary to provide a photovoltaic panel cleaning robot that can adapt to angle tilt and whose crossing distance can be dynamically adjusted.

[0007] Therefore, it is necessary to provide a photovoltaic power station wall-mounted cleaning robot that can be adapted to various complex terrain changes and can perform self-cleaning of the roller brush. Summary of the invention:

[0008] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a wall-mounted cleaning robot for photovoltaic power stations in complex terrain. During operation, a suitable span mode can be adopted according to the spacing and height difference between photovoltaic modules. When the required span distance or height difference is small, the variable diameter walking module can be used to realize the conversion between the wheeled mode and the wheel-legged mode, and automatically cross the gap between two sets of adjacent photovoltaic modules; when the required span distance or height difference is large, the telescopic span module can be used to complete the cleaning of another set of long-distance photovoltaic modules; at the same time, the present invention can not only realize the spanning of distances under large angles or large drops with the help of the universal support module to achieve the purpose of adapting to photovoltaic brackets in various terrain environments, but also realize automatic cleaning of the roller brush during the cleaning process to avoid the reduction of cleaning efficiency.

[0009] The objective of the present invention is achieved through the following technical solutions:

[0010] A complex terrain photovoltaic power station wall-mounted cleaning robot, characterized in that: the complex terrain photovoltaic power station wall-mounted cleaning robot comprises a housing, a telescopic span module, a rotary clamping module, a universal support module, a cleaning module, a variable-diameter walking module and a guide hanging wheel module, the left and right sides of the cleaning module are symmetrically installed with the variable-diameter walking module and the guide hanging wheel module, the upper side is fixed with a rotary clamping module and a housing for protection, and the two ends of the telescopic span module are fixedly installed with universal support modules, and are movably connected with the rotary clamping module;

[0011] The telescopic span module includes a fixed rod, a telescopic rod, a rack, a motor I, and a gear I; the fixed rod is a hollow rod with a chute provided thereon, and the fixed rod is slidably connected to the telescopic rod through the chute. One side of the telescopic rod is fixedly connected to the rack, and the other side is fixedly installed with a universal support module. The motor I provides power for the meshing movement of the gear I and the rack, so that the telescopic rod contracts and extends along the chute of the fixed rod;

[0012] The rotary clamping module includes clamping blocks, fixed blocks, a motor II, movable blocks, link I, link II, link III, link IV, link V, and a turntable; the motor II drives the movable block to move along the chute of the fixed block, and realizes the dynamic adjustment of the distance between the two clamping blocks through a link mechanism. The fixed block is installed on the turntable and is connected to the clamping block through a link mechanism. The specific connection method is as follows: one end of link I is rotatably connected to the fixed block coaxially, and the other end is rotatably connected to link V coaxially. One end of link II is rotatably connected to the movable block coaxially, and the other end is rotatably connected to link III and link IV coaxially through a pin shaft. One end of link III is rotatably connected to the fixed block coaxially, and the other end is rotatably connected to link II and link IV coaxially through a pin shaft. One end of link IV is rotatably connected to the fixed block coaxially, and the other end is rotatably connected to link II and link III coaxially through a pin shaft. One end of link V is rotatably connected to the fixed block coaxially, and the other end is rotatably connected to link I coaxially through a pin shaft;

[0013] The universal support module includes a motor III, a first telescopic rod, a second telescopic rod, a third telescopic rod, a universal joint, a movable hinge seat, and a rubber suction cup; the first telescopic rod, the second telescopic rod, and the third telescopic rod are coaxially connected. The number of universal joints is two, and the relative orientations are 90° and are respectively rotatably connected to the movable hinge seat coaxially. The end faces of the two universal joints are respectively fixedly connected to the third telescopic rod and the rubber suction cup, and the motor III provides power to control the extension and contraction of the first telescopic rod, the second telescopic rod, and the third telescopic rod;

[0014] The cleaning module is composed of a frame, a connection disk, a motor IV, a motor V, a scraper, a fourth telescopic rod, a support shaft, and a cleaning brush roller; a connection disk and a support shaft are fixedly installed on the upper side of the frame, and a variable-diameter walking module and a guiding hanging wheel module are connected to the left and right sides respectively. The connection disk is fixedly connected to the turntable coaxially. The motor IV provides power for the rotation of the turntable and the movement of the turntable along the chute on the fixed rod. The motor V controls the rotation of the cleaning brush roller and the extension and contraction of the fourth telescopic rod. The scraper is coaxially installed with the cleaning brush roller, but the radius of the scraper is slightly larger than the radius of the cleaning brush roller. One end of the fourth telescopic rod is fixedly connected to the scraper, and the other end is fixedly connected to the support shaft;

[0015] The variable-diameter walking module consists of a large gear, a small gear, Motor VI, a motor base, a walking wheel, Motor VII, a crank, a slider, and an arc-shaped leg; the large gear is coaxially connected to Motor VI and is driven by Motor VI to rotate, the small gear meshes with the large gear and is coaxially rotatably connected to the crank, Motor VII is coaxially rotatably connected to the walking wheel through the motor base, the slider is slidably connected to the arc-shaped leg and fixedly connected to the crank;

[0016] The guiding and hanging wheel module consists of an ear plate, a guiding wheel base, a turning shaft, Motor VIII, and a guiding wheel. The guiding wheel base is fixed to the frame through the ear plate. The turning shaft is rotatably connected to the guiding wheel base and is driven by Motor VIII to achieve a 90° flip of the guiding wheel base. The guiding wheel is rotatably connected to the guiding wheel base.

[0017] Furthermore, in the above-mentioned wall-mounted cleaning robot for a complex terrain photovoltaic power station, the machine shell is provided with slot holes so that the rotation of the rotating clamping module driving the telescopic span module and the universal support module is not interfered. A visual monitoring system is installed on the machine shell, and the visual monitoring system includes a camera and a distance sensor.

[0018] Furthermore, in the above-mentioned wall-mounted cleaning robot for a complex terrain photovoltaic power station, the number of telescopic span modules is two, which are slidably connected to the clamping blocks in the rotating clamping module. When it is necessary to cross a distance, Motor I is driven to rotate, so that the telescopic rod fixedly connected to the rack can extend or retract from the fixed rod. The telescopic rod is placed in the fixed rod along the chute; the turntable of the rotating clamping module is coaxially connected to the connecting plate, and the turntable can rotate coaxially relative to the connecting plate;

[0019] Furthermore, in the above-mentioned wall-mounted cleaning robot for a complex terrain photovoltaic power station, the number of universal support modules is four, which are respectively fixed at both ends of the two telescopic span modules. The number of universal joints is two, and the relative azimuth is 90°. They are coaxially rotatably connected to the movable hinge seats respectively. The rubber suction cups are coaxially fixed on one side of the universal joints and can be adsorbed on the photovoltaic panel plane at any angle;

[0020] Furthermore, in the above-mentioned wall-mounted cleaning robot for a complex terrain photovoltaic power station, a visual monitoring system is installed on the telescopic rod, and the visual monitoring system includes a camera and a distance sensor; the fourth telescopic rod of the cleaning module can control the distance between the scraper and the cleaning brush to realize the cleaning work of the cleaning brush; Motor VI in the variable-diameter walking module drives the rotation of the large gear to control the opening and closing of the arc-shaped legs, and Motor VII controls the rotation of the walking wheel; the guiding and hanging wheel module can drive the guiding wheel base to flip 90° around the rotation axis under the action of Motor VIII, so that the rolling surface of the guiding wheel is parallel to the horizontal plane to avoid obstacles during the spanning process.

[0021] Further, in the above-mentioned wall-mounted cleaning robot for a complex terrain photovoltaic power station, the working process of the wall-mounted cleaning robot for a complex terrain photovoltaic power station includes the following steps:

[0022] X1: When the photovoltaic panel cleaning robot is cleaning the photovoltaic modules, the fourth telescopic rod contracts, so that the scraper is away from the cleaning brush, avoiding hindering the operation effect of the cleaning brush. At the same time, the walking wheels run, and when the cleaning robot passes over the photovoltaic modules on the bracket, the cleaning brush cleans the dust on the surface of the photovoltaic panel;

[0023] X2: When the cleaning robot detects the existence of a spacing and a drop between the photovoltaic module panels in the forward direction during walking, the motor VIII drives the guide wheel seat to rotate 90° around the rotation axis, so that the rolling surface of the guide wheel is parallel to the horizontal plane, avoiding obstacles during the spanning process. At the same time, the visual monitoring system including a camera and a distance sensor is used to judge what kind of spanning method to adopt;

[0024] Y1: When the spacing and the drop between the photovoltaic module panels in the forward direction are less than the wheelbase of the walking wheels: the motor VII drives the walking wheels to rotate, and the cleaning robot directly crosses the spacing between two sets of photovoltaic module panels through the walking wheels;

[0025] Y2: When the spacing and the drop between the photovoltaic module panels in the forward direction are greater than the wheelbase of the walking wheels but less than twice the wheelbase of the walking wheels: the motor VI drives the rotation of the large gear, driving the rotation of the small gear meshed with it, controlling the opening of the arc-shaped legs, so that the variable-diameter walking module changes from a wheeled structure to a wheel-leg structure, and then crosses the spacing between two sets of photovoltaic module panels;

[0026] After the cleaning robot crosses the spacing between two sets of photovoltaic module panels, the motor VI drives the large gear to rotate in the reverse direction, driving the small gear meshed with it to rotate in the reverse direction, controlling the arc-shaped legs to retract, so that the variable-diameter walking module changes from a wheel-leg structure to a wheeled structure and continues to move forward;

[0027] Y3: When the spacing and the drop between the photovoltaic module panels in the forward direction are greater than twice the wheelbase of the walking wheels, the telescopic spanning module, the rotary clamping module and the universal support module are started. This process specifically includes the following steps:

[0028] Z1: The rotary clamping module is started, and the motor IV drives the turntable to rotate, so that the telescopic spanning module rotates out of the machine shell;

[0029] Z2: The telescopic spanning module is started, the motor II drives the movable block to move along the chute provided on the fixed block, so that the distance between the two clamping blocks increases. At the same time, the motor I drives the gear I to rotate, so that the telescopic rod extends out of the fixed rod to cross the spacing between the photovoltaic module panels;

[0030] Z3: The universal support module starts, motor III starts, drives the first telescopic rod and the second telescopic rod to extend, so that the rubber suction cups at both ends of the telescopic span module respectively adsorb on the surfaces of two photovoltaic module panels. Subsequently, the third telescopic rod extends, lifting the body of the cleaning robot away from the module surface by a certain gap;

[0031] Z4: The rotary clamping module drives the body to move along the sliding grooves on the fixed rod and the telescopic rod. When the distance after crossing the gap is just enough to dock the body, the third telescopic rod contracts, placing the cleaning robot on the module panel;

[0032] Z5: The rubber suction cups release, the first telescopic rod and the second telescopic rod retract, the telescopic rods retract to the fixed rod, and the turntable rotates, retracting the telescopic span module into the casing;

[0033] X3: After the span process is completed, motor VIII drives the guide wheel seat to reverse and flip 90° around the rotation axis, making the rolling surface of the guide wheel perpendicular to the horizontal plane. The driving wheels operate, and the cleaning robot continues to clean the dust on the surface of the photovoltaic panel;

[0034] X4: When the cleaning efficiency of the cleaning robot decreases due to dirt such as mud and bird droppings during the cleaning process, the fourth telescopic rod extends, bringing the scraper closer to the cleaning brush roller. The cleaning brush roller operates, and the dirt such as mud on the cleaning brush roller is scraped off by the scraper.

[0035] The beneficial effects of the present invention are:

[0036] 1. The cleaning robot of the present invention can achieve spanning distances during operation and can select an appropriate spanning method according to the distance between two sets of photovoltaic modules to be spanned, so as to be applicable to photovoltaic modules in various complex terrain environments.

[0037] 2. The rubber suction cups of the present invention are connected to the universal support module, can play a stable adsorption role at various inclination angles, and are applicable to the spanning situation between two adjacent photovoltaic modules with an inclination angle.

[0038] 3. The distance between the scraper and the brush roller of the present invention can be dynamically adjusted, and can automatically clean the brush roller during the cleaning process to avoid the reduction of cleaning efficiency.

[0039] 4. The guide wheel that fits the frame can be flipped 90°, avoiding interference during the spanning process of the photovoltaic cleaning robot. Description of the drawings:

[0040] Figure 1 is a schematic structural diagram of the present invention with 1 / 4 of the casing omitted in the long-distance spanning state;

[0041] Figure 2 is a schematic structural diagram of the present invention with the casing omitted in the long-distance spanning state;

[0042] Figure 3 This is a schematic structural diagram of the present invention with the housing omitted in the cleaning state;

[0043] Figure 4 This is a schematic structural diagram of the telescopic span module and the rotary clamping module of the present invention;

[0044] Figure 5 For the present invention Figure 4 Enlarged structural view of a part;

[0045] Figure 6 This is a schematic structural diagram of the universal support module of the present invention;

[0046] Figure 7 This is a schematic structural diagram of the present invention with the housing and 1 / 4 of the frame omitted in the short-distance span state;

[0047] Figure 8 This is a schematic structural diagram of the variable-diameter walking mechanism of the present invention in the short-distance span state;

[0048] Figure 9 This is a schematic structural diagram of the variable-diameter walking mechanism of the present invention in the cleaning state;

[0049] Figure 10 This is a schematic structural diagram of the guide idler wheel module of the present invention;

[0050] In the figure, 1 is the housing, 101 is the slot hole, 2 is the telescopic span module, 201 is the fixed rod, 202 is the telescopic rod, 203 is the rack, 204 is the motor I, 205 is the gear I, 3 is the rotary clamping module, 301 is the clamping block, 302 is the fixed block, 303 is the motor II, 304 is the movable block, 305 is the connecting rod I, 306 is the connecting rod II, 307 is the connecting rod III, 308 is the connecting rod IV, 309 is the connecting rod V, 310 is the turntable, 4 is the universal support module, 401 is the motor III, 402 is the first telescopic rod, 403 is the second telescopic rod, 404 is the third telescopic rod, 405 is the universal joint, 406 is the movable hinge seat, 407 is the rubber suction cup, 5 is the cleaning module, 501 is the frame, 502 is the connecting disk, 503 is the motor IV, 504 is the motor V, 505 is the scraper, 506 is the fourth telescopic rod, 507 is the support shaft, 508 is the cleaning brush, 6 is the variable-diameter walking module, 601 is the large gear, 602 is the small gear, 603 is the motor VI, 604 is the motor base, 605 is the walking wheel, 606 is the motor VII, 607 is the crank, 608 is the slider, 609 is the arc-shaped leg, 7 is the guide idler wheel module, 701 is the ear plate, 702 is the guide wheel seat, 703 is the turning shaft, 704 is the motor VIII, 705 is the guide wheel. Specific embodiments:

[0051] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0052] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. It 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 thus cannot be construed as a limitation on the present invention. In addition, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0053] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, terms such as "installation", "connection", and "coupling" should be understood in a broad sense. For example, it 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 elements. 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.

[0054] As Figures 1-10 shown, this embodiment is a wall-mounted cleaning robot for a photovoltaic power station in complex terrain. The wall-mounted cleaning robot for a photovoltaic power station in complex terrain includes a machine shell 1, a telescopic span module 2, a rotary clamping module 3, a universal support module 4, a cleaning module 5, a variable-diameter walking module 6, and a guiding hanging wheel module 7. The variable-diameter walking module 6 and the guiding hanging wheel module 7 are symmetrically installed on the left and right sides of the cleaning module 5, and the rotary clamping module 3 and the machine shell 1 for providing protection are fixed on the upper side. Both ends of the telescopic span module 2 are fixedly installed with the universal support module 4 and are movably connected to the rotary clamping module 3;

[0055] In this embodiment, the telescopic span module 2 includes a fixed rod 201, a telescopic rod 202, a rack 203, a motor I 204, and a gear I 205. The fixed rod 201 is a hollow rod with a chute provided thereon. The fixed rod 201 is slidably connected to the telescopic rod 202 through the chute. One side of the telescopic rod 202 is fixedly connected to the rack 203, and the other side is fixedly installed with the universal support module 4. The motor I 204 provides power for the meshing movement of the gear I 205 and the rack 203, so that the telescopic rod 202 can be contracted and extended along the chute of the fixed rod 201;

[0056] In this embodiment, the rotary clamping module 3 includes a clamping block 301, a fixed block 302, a motor II 303, a movable block 304, a connecting rod I 305, a connecting rod II 306, a connecting rod III 307, a connecting rod IV 308, a connecting rod V 309, and a turntable 310. The motor II 303 drives the movable block 304 to move along the chute of the fixed block 302, and the dynamic adjustment of the distance between the two clamping blocks 301 is realized through a connecting rod mechanism. The fixed block 302 is installed on the turntable 310 and is connected to the clamping block 301 through a connecting rod mechanism. The specific connection method is as follows: One end of the connecting rod I 305 is rotatably connected to the fixed block 302 coaxially, and the other end is rotatably connected to the connecting rod V 309 coaxially. One end of the connecting rod II 306 is rotatably connected to the movable block 304 coaxially, and the other end is rotatably connected to the connecting rod III 307 and the connecting rod IV 308 coaxially through a pin shaft. One end of the connecting rod III 307 is rotatably connected to the fixed block 302 coaxially, and the other end is rotatably connected to the connecting rod II 306 and the connecting rod IV 308 coaxially through a pin shaft. One end of the connecting rod IV 308 is rotatably connected to the fixed block 302 coaxially, and the other end is rotatably connected to the connecting rod II 306 and the connecting rod III 307 coaxially through a pin shaft. One end of the connecting rod V 309 is rotatably connected to the fixed block 302 coaxially, and the other end is rotatably connected to the connecting rod I 305 coaxially through a pin shaft.

[0057] In this embodiment, the universal support module 4 includes a motor III 401, a first telescopic rod 402, a second telescopic rod 403, a third telescopic rod 404, a universal joint 405, a movable hinge seat 406, and a rubber suction cup 407. The first telescopic rod 402, the second telescopic rod 403, and the third telescopic rod 404 are coaxially connected. The number of the universal joints 405 is two, and the relative positions are 90° and are respectively rotatably connected to the movable hinge seat 406 coaxially. The end faces of the two universal joints 405 are respectively fixed to the third telescopic rod 404 and the rubber suction cup 407, and the motor III 401 provides power to control the extension and contraction of the first telescopic rod 402, the second telescopic rod 403, and the third telescopic rod 404.

[0058] In this embodiment, the cleaning module 5 is composed of a frame 501, a connecting disk 502, a motor IV 503, a motor V 504, a scraper 505, a fourth telescopic rod (506), a support shaft 507, and a cleaning roller brush 508; a connecting disk 502 and a support shaft 507 are fixed on the upper side of the frame 501, and variable-diameter walking modules 6 and guide hanger wheel modules 7 are connected to the left and right sides. The connecting disk 502 is coaxially fixed with the turntable 310. The motor IV 503 provides power for the rotation of the turntable 310 and the movement of the turntable 310 along the chute on the fixed rod 201. The motor V 504 controls the rotation of the cleaning roller brush 508 and the extension and contraction of the fourth telescopic rod 506. The scraper 505 is coaxially installed with the cleaning roller brush 508, but the radius of the scraper 505 is slightly larger than the radius of the cleaning roller brush 508. One end of the fourth telescopic rod 506 is fixedly connected to the scraper 505, and the other end is fixedly connected to the support shaft 507;

[0059] In this embodiment, the variable-diameter walking module 6 is composed of a large gear 601, a small gear 602, a motor VI 603, a motor base 604, a walking wheel 605, a motor VII 606, a crank 607, a slider 608, and an arc-shaped leg 609; the large gear 601 is coaxially connected to the motor VI 603, and the motor VI 603 provides power to drive the large gear 601 to rotate. The small gear 602 meshes with the large gear 601 and is coaxially rotatably connected to the crank 607. The motor VII 606 is coaxially rotatably connected to the walking wheel 605 through the motor base 604. The slider 608 is slidably connected to the arc-shaped leg 609 and fixedly connected to the crank 607;

[0060] In this embodiment, the guide hanger wheel module 7 is composed of an ear plate 701, a guide wheel seat 702, a turning shaft 703, a motor VIII 704, and a guide wheel 705. The guide wheel seat 702 is fixed on the frame 501 through the ear plate 701. The turning shaft 703 is rotatably connected to the guide wheel seat 702, and the motor VIII 704 provides power to realize a 90° flip of the guide wheel seat 702. The guide wheel 705 is rotatably connected to the guide wheel seat 702.

[0061] In this embodiment, the housing 1 is provided with a slot hole 101 so that the rotation of the rotary clamping module 3 driving the telescopic span module 2 and the universal support module 4 is not interfered. A visual monitoring system is installed on the housing 1. The visual monitoring system includes a camera and a distance sensor.

[0062] In this embodiment, the number of the telescopic span modules 2 is two, which are slidably connected to the clamping blocks 301 in the rotary clamping module 3. When a span is required, the motor 204 drives the gear I 205 to rotate, so that the telescopic rod 202 fixedly connected to the rack 203 can extend or retract from the fixed rod 201. The telescopic rod 202 is placed in the fixed rod 201 along the chute;

[0063] In this embodiment, the turntable 310 of the rotary clamping module 3 is coaxially connected to the connecting plate 502, and the turntable 310 can rotate coaxially relative to the connecting plate 502;

[0064] In this embodiment, the number of the universal support modules 4 is four, which are respectively fixed at both ends of the two telescopic span modules 2. The number of the universal joints 405 is two, and they are coaxially rotatably connected to the movable hinge seats 406 at a relative orientation of 90°. The rubber suction cups 407 are coaxially fixed on one side of the universal joints 405 and can adsorb on the photovoltaic panel plane at any angle;

[0065] In this embodiment, a visual monitoring system is installed on the telescopic rod 202, and the visual monitoring system includes a camera and a distance sensor;

[0066] In this embodiment, the fourth telescopic rod 506 of the cleaning module 5 can control the distance between the scraper 505 and the brush roller, so as to realize the cleaning work of the cleaning brush roller 508;

[0067] In this embodiment, the motor VI 603 in the variable-diameter walking module 6 drives the rotation of the large gear 601 to control the opening and closing of the arc-shaped legs 609, and the motor VII 606 controls the rotation of the walking wheels 605;

[0068] In this embodiment, the guiding idler wheel module 7 can drive the idler wheel seat 702 to flip 90° around the rotation axis under the action of the motor VIII 704, so that the rolling surface of the idler wheel 705 is parallel to the horizontal plane, avoiding obstacles during the spanning process.

[0069] In this embodiment, the working process of the wall-mounted cleaning robot for a complex terrain photovoltaic power station includes the following steps:

[0070] S1: When the photovoltaic panel cleaning robot is cleaning the photovoltaic modules, the fourth telescopic rod 506 contracts, so that the scraper 505 is far away from the cleaning brush roller 508, avoiding hindering the operation effect of the cleaning brush roller 508. At the same time, the walking wheels 605 run, and when the cleaning robot passes the photovoltaic modules on the bracket, the cleaning brush roller 508 cleans the dust on the surface of the photovoltaic panel;

[0071] S2: When the cleaning robot detects the existence of a gap and a drop between the photovoltaic module panels in the forward direction during the walking process, the motor

[0072] VIII 704 drives the idler wheel seat 702 to flip 90° around the rotation axis, so that the rolling surface of the idler wheel 705 is parallel to the horizontal plane, avoiding obstacles during the spanning process. At the same time, the visual monitoring system including a camera and a distance sensor is used to judge what kind of spanning method to adopt;

[0073] Y1: When the spacing and height difference between the photovoltaic module panels in the forward direction are less than the wheelbase of the walking wheels 605: The motor VII 606 drives the walking wheels 605 to rotate, and the cleaning robot directly crosses the spacing between two sets of photovoltaic module panels through the walking wheels 605;

[0074] Y2: When the spacing and height difference between the photovoltaic module panels in the forward direction are greater than the wheelbase of the walking wheels 605 but less than twice the wheelbase of the walking wheels 605: The motor VI 603 drives the rotation of the large gear 601, driving the small gear 602 meshing with it to rotate, controlling the opening of the arc-shaped legs 609, so that the variable-diameter walking module 6 changes from a wheeled structure to a wheel-leg structure, and then crosses the spacing between two sets of photovoltaic module panels;

[0075] After the cleaning robot crosses the spacing between two sets of photovoltaic module panels, the motor VI 603 drives the large gear 601 to rotate in the reverse direction, driving the small gear 602 meshing with it to rotate in the reverse direction, controlling the retraction of the arc-shaped legs 609, so that the variable-diameter walking module 6 changes from a wheel-leg structure to a wheeled structure;

[0076] Y3: When the spacing and height difference between the photovoltaic module panels in the forward direction are greater than twice the wheelbase of the walking wheels, the telescopic span module 2, the rotary clamping module 3 and the universal support module 4 are activated. This process specifically includes the following steps:

[0077] Z1: The rotary clamping module 3 is activated, and the motor IV 503 drives the turntable 310 to rotate, causing the telescopic span module 2 to rotate out of the machine housing 1;

[0078] Z2: The telescopic span module 2 is activated. The motor II 303 drives the movable block 304 to move along the chute provided on the fixed block 302, increasing the distance between the two clamping blocks 301. At the same time, the motor I 204 drives the gear I 205 to rotate, causing the telescopic rod 202 to extend beyond the fixed rod 201 across the spacing between the photovoltaic module panels;

[0079] Z3: The universal support module 4 is activated. The motor III 403 is started, driving the first telescopic rod 402 and the second telescopic rod 403 to extend, so that the rubber suction cups 407 at both ends of the telescopic span module 2 are respectively adsorbed on the surfaces of two photovoltaic module panels. Subsequently, the third telescopic rod 403 extends, lifting the body of the cleaning robot away from the surface of the module by a certain gap;

[0080] Z4: The rotary clamping module 3 drives the body to move along the chutes on the fixed rod 201 and the telescopic rod 202. When the distance after crossing the gap is just enough to dock the body, the third telescopic rod 403 contracts, placing the cleaning robot on the module panel;

[0081] Z5: The rubber suction cup 407 is released, the first telescopic rod 402 and the second telescopic rod 403 are retracted, the telescopic rod 202 is retracted to the fixed rod 201, and the turntable 310 rotates to retract the telescopic span module 2 into the machine housing 1;

[0082] S3: After the span process is completed, the motor VIII 704 drives the guide wheel seat 702 to reverse and flip by 90° around the rotation axis, so that the rolling surface of the guide wheel 705 is perpendicular to the horizontal plane, the traveling wheel 605 runs, and the cleaning robot continues to clean the dust on the surface of the photovoltaic panel;

[0083] S4: When the cleaning efficiency of the cleaning robot decreases due to dirt such as mud and bird droppings during the cleaning process, the fourth telescopic rod 506 extends, so that the scraper 505 approaches the cleaning brush 508, and the cleaning brush 508 runs, and the dirt such as mud on the cleaning brush is scraped off by the scraper 505.

[0084] Obviously, the above embodiments are only examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A complex terrain photovoltaic power station wall-mounted cleaning robot, characterized by: The invention comprises a housing (1), a telescopic span module (2), a rotary clamping module (3), a universal support module (4), a cleaning module (5), a variable-diameter walking module (6) and a guide hanging wheel module (7); the variable-diameter walking module (6) and the guide hanging wheel module (7) are symmetrically installed on the left and right sides of the cleaning module (5); the rotary clamping module (3) and the housing (1) for providing protection are fixed on the upper side; the universal support modules (4) are fixedly installed on both ends of the telescopic span module (2) and are movably connected to the rotary clamping module (3); The telescopic span module (2) comprises a fixed rod (201), a telescopic rod (202), a rack (203), a motor I (204) and a gear I (205); the fixed rod (201) is a hollow rod with a slide groove arranged thereon, the fixed rod (201) is slidably connected to the telescopic rod (202) via the slide groove, one side of the telescopic rod (202) is fixedly connected to the rack (203), and the other side is fixedly mounted with a universal support module (4), the motor I (204) provides power for the meshing movement of the gear I (205) and the rack (203), so that the telescopic rod (202) can be contracted and extended along the slide groove of the fixed rod (201).

2. The complex terrain photovoltaic power station wall-mounted cleaning robot according to claim 1, characterized in that: The rotating clamping module (3) comprises a clamping block (301), a fixed block (302), a motor II (303), a movable block (304), a connecting rod I (305), a connecting rod II (306), a connecting rod III (307), a connecting rod IV (308), a connecting rod V (309) and a turntable (310); the motor II (303) drives the movable block (304) to move along the slide groove of the fixed block (302), and the dynamic adjustment of the distance between the two clamping blocks (301) is realized through the connecting rod mechanism; the fixed block (302) is installed on the turntable (310) and is connected to the clamping block (301) through the connecting rod mechanism, and the specific connection method is: one end of the connecting rod I (305) is connected to the fixed block (302) for rotation coaxially, and the other end is connected to the fixed block (302) for rotation coaxially. The connecting rod V (309) is connected to rotate coaxially, one end of the connecting rod II (306) is connected to rotate coaxially with the movable block (304), and the other end is connected to rotate coaxially with the connecting rod III (307) and the connecting rod IV (308) through a pin shaft, one end of the connecting rod III (307) is connected to rotate coaxially with the fixed block (302), and the other end is connected to rotate coaxially with the connecting rod II (306) and the connecting rod IV (308) through a pin shaft, one end of the connecting rod IV (308) is connected to rotate coaxially with the fixed block (302), and the other end is connected to rotate coaxially with the connecting rod II (306) and the connecting rod III (307) through a pin shaft, one end of the connecting rod V (309) is connected to rotate coaxially with the fixed block (302), and the other end is connected to rotate coaxially with the connecting rod I (305) through a pin shaft; The universal support module (4) comprises a motor III (401), a first telescopic rod (402), a second telescopic rod (403), a third telescopic rod (404), a universal joint (405), a movable hinge seat (406), and a rubber suction cup (407); the first telescopic rod (402), the second telescopic rod (403), and the third telescopic rod (404) are coaxially connected, the number of the universal joints (405) is two, and the relative orientations are 90 degrees and are coaxially rotatably connected to the movable hinge seat (406), and the end surfaces of the two universal joints (405) are fixedly connected to the third telescopic rod (404) and the rubber suction cup (407), respectively, and the motor III (401) provides power to control the extension and contraction of the first telescopic rod (402), the second telescopic rod (403), and the third telescopic rod (404); The cleaning module (5) is composed of a frame (501), a connecting plate (502), a motor IV (503), a motor V (504), a scraper (505), a fourth telescopic rod (506), a support shaft (507), and a cleaning roller brush (508); the connecting plate (502) and the support shaft (507) are fixed on the upper side of the frame (501), and the variable diameter walking module (6) and the guide hanging wheel module (7) are connected to the left and right sides; the connecting plate (502) is coaxially fixed with the rotating disk (310), and the motor IV (503) is fixed to the rotating disk (310). ) provides power for the rotation of the rotating disk (310) and the movement of the rotating disk (310) along the slide groove on the fixed rod (201); the motor V (504) controls the rotation of the cleaning roller brush (508) and the extension and contraction of the fourth telescopic rod (506); the scraper (505) and the cleaning roller brush (508) are installed coaxially, but the radius of the scraper (505) is slightly larger than the radius of the cleaning roller brush (508); one end of the fourth telescopic rod (506) is fixedly connected to the scraper (505), and the other end is fixedly connected to the support shaft (507); The variable diameter walking module (6) is composed of a large gear (601), a small gear (602), a motor VI (603), a motor seat (604), a walking wheel (605), a motor VII (606), a crank (607), a slider (608) and an arc-shaped leg (609); the large gear (601) is coaxially connected to the motor VI (603), and the motor VI (603) provides power to drive the large gear (601) to rotate; the small gear (602) is meshed with the large gear (601) and is coaxially connected to the crank (607); the motor VII (606) is coaxially connected to the walking wheel (605) through the motor seat (604); the slider (608) is slidably connected to the arc-shaped leg (609) and is fixedly connected to the crank (607); The guide wheel module (7) is composed of an ear plate (701), a guide wheel seat (702), a flip shaft (703), a motor VIII (704) and a guide wheel (705); the guide wheel seat (702) is fixed on the frame (501) through the ear plate (701); the flip shaft (703) is rotatably connected to the guide wheel seat (702); the motor VIII (704) provides power to realize a 90° flip of the guide wheel seat (702); and the guide wheel (705) is rotatably connected to the guide wheel seat (702).

3. The complex terrain photovoltaic power station wall-mounted cleaning robot according to claim 2, characterized in that: The housing (1) is provided with a slot (101) so that the rotating clamping module (3) is not disturbed when driving the telescopic span module (2) and the universal support module (4) to rotate. A visual monitoring system is installed on the housing (1), and the visual monitoring system includes a camera and a distance sensor.

4. The complex terrain photovoltaic power station wall-mounted cleaning robot according to claim 2, characterized in that: There are two telescopic span modules (2) which are slidably connected to the clamping block (301) in the rotating clamping module (3). When the span needs to be crossed, the motor (204) drives the gear I (205) to rotate, so that the telescopic rod (202) fixedly connected to the rack (203) can be extended or retracted from the fixed rod (201). The telescopic rod (202) is built into the fixed rod (201) along a slide groove; The rotating disk (310) of the rotating clamping module (3) is coaxially connected to the connecting disk (502), and the rotating disk (310) can realize coaxial rotation relative to the connecting disk (502); The number of the universal support modules (4) is four, which are respectively fixed at the two ends of the two telescopic span modules (2); the number of the universal joints (405) is two, which are coaxially rotatably connected to the movable hinge seats (406) at 90° relative orientations; the rubber suction cup (407) is coaxially fixed on one side of the universal joint (405) and can be adsorbed on the photovoltaic panel plane at any angle; A visual monitoring system is installed on the telescopic rod (202), and the visual monitoring system includes a camera and a distance sensor; The fourth telescopic rod (506) of the cleaning module (5) can control the distance between the scraper (505) and the roller brush, thereby achieving a cleaning operation on the cleaning roller brush (508); The motor VI (603) in the variable-diameter walking module (6) drives the rotation of the large gear (601) to control the opening and closing of the arc-shaped leg (609), and the motor VII (606) controls the rotation of the walking wheel (605); The guide wheel module (7) can drive the guide wheel seat (702) to flip 90 degrees around the rotation axis under the action of the motor VIII (704), so that the rolling surface of the guide wheel (705) is parallel to the horizontal plane, avoiding obstruction during the span process.

5. The complex terrain photovoltaic power station wall-mounted cleaning robot according to claim 2, characterized in that: The working process of the wall-mounted cleaning robot for photovoltaic power stations with complex terrain The following steps are involved: X1: When the photovoltaic panel cleaning robot is cleaning the photovoltaic components, the fourth telescopic rod (506) is retracted, so that the scraper (505) is away from the cleaning roller brush (508) to avoid hindering the operation effect of the cleaning roller brush (508). At the same time, the walking wheel (605) is running, and when the cleaning robot passes the photovoltaic components on the bracket, the cleaning roller brush (508) cleans the dust on the surface of the photovoltaic panel; X2: When the cleaning robot detects that there is a gap and a drop between the photovoltaic module panels in the forward direction during walking, the motor VIII (704) drives the guide wheel seat (702) to flip 90 degrees around the rotation axis, so that the rolling surface of the guide wheel (705) is parallel to the horizontal plane to avoid obstacles during the span process. At the same time, the visual monitoring system including the camera and the distance sensor determines which span mode to adopt; Y1: When the distance and height difference between the photovoltaic module panels in the forward direction are smaller than the wheelbase of the running wheel (605): the motor VII (606) drives the running wheel (605) to rotate, and the cleaning robot directly crosses the distance between the two sets of photovoltaic module panels through the running wheel (605); Y2: When the spacing and height difference between the photovoltaic module panels in the forward direction is greater than the wheelbase of the walking wheel (605) but less than twice the wheelbase of the walking wheel (605): the motor VI (603) drives the large gear (601) to rotate, driving the small gear (602) meshing therewith to rotate, and controls the arc leg (609) to open, so that the variable diameter walking module (6) changes from a wheel-type structure to a wheel-leg type structure, thereby crossing the spacing between the two sets of photovoltaic module panels; When the cleaning robot passes the gap between two sets of photovoltaic module panels, the motor VI (603) drives the large gear (601) to rotate in the opposite direction, driving the small gear (602) meshing with it to rotate in the opposite direction, and controls the arc-shaped legs (609) to retract, so that the variable-diameter walking module (6) changes from a wheel-leg structure to a wheel structure and continues to move; Y3: When the spacing and height difference between the photovoltaic module panels in the advancing direction is greater than twice the wheelbase of the traveling wheels, the telescopic span module (2), the rotating clamping module (3) and the universal support module (4) are started. The process specifically includes the following steps: Z1: The rotating clamping module (3) is started, and the motor IV (503) drives the rotating disk (310) to rotate, so that the telescopic span module (2) is rotated out of the housing (1); Z2: the telescopic span module (2) is started, the motor II (303) drives the movable block (304) to move along the slide groove provided on the fixed block (302), so that the distance between the two clamping blocks (301) increases, and at the same time the motor I (204) drives the gear I (205) to rotate so that the telescopic rod (202) extends out of the fixed rod (201) to cross the distance between the photovoltaic module panels; Z3: The universal support module (4) is started, and the motor III (403) is started, driving the first telescopic rod (402) and the second telescopic rod (403) to extend, so that the rubber suction cups (407) at both ends of the telescopic span module (2) are respectively adsorbed on the surfaces of the two photovoltaic module panels, and then the third telescopic rod (403) is extended to lift the cleaning robot body away from the module surface by a certain gap; Z4: The rotating clamping module (3) drives the body to move along the slide grooves on the fixed rod (201) and the telescopic rod (202). When the distance after crossing the gap is just enough to stop the lower body, the third telescopic rod (403) is retracted to place the cleaning robot on the component panel; Z5: The rubber suction cup (407) is released, the first telescopic rod (402) and the second telescopic rod (403) are retracted, the telescopic rod (202) is retracted to the fixed rod (201), and the rotating disk (310) rotates, so that the telescopic span module (2) is retracted into the housing (1); X3: After the span process is completed, the motor VIII (704) drives the guide wheel seat (702) to reversely flip around the rotation axis by 90°, so that the rolling surface of the guide wheel (705) is perpendicular to the horizontal plane, the walking wheel (605) runs, and the cleaning robot continues to clean the dust on the surface of the photovoltaic panel; X4: When the cleaning efficiency of the cleaning robot is reduced due to dirt such as mud and bird droppings during the cleaning process, the fourth telescopic rod (506) is extended so that the scraper (505) is close to the cleaning roller brush (508), and the cleaning roller brush (508) is operated, and dirt such as mud on the cleaning roller brush is scraped off by the scraper (505).

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