Crawler-type automatic driving photovoltaic cleaning machine

Abstract

The invention relates to the technical field of mechanical equipment in the photovoltaic cleaning industry, and discloses a crawler-type automatic driving photovoltaic cleaning machine which comprises a crawler-type frame, and a lifting frame is arranged at the top of the crawler-type frame; the angle adjusting assembly is used for adjusting the angle between the spraying pipe and the mounting arm; the water spraying direction adjusting assembly is used for adjusting the water spraying direction of the spraying pipe; and the dust blocking assembly is used for blocking splashing dust and sewage during cleaning. Through cooperation of the crawler-type frame and the generator, the high-pressure water pump, the water tank and the spraying pipe above the crawler-type frame, the automatic spraying and washing effect is achieved; through the arrangement of the water spraying direction adjusting assembly, the direction of the spraying pipe can be adjusted, water flow sprayed by the multiple spraying heads always faces the advancing direction, sewage on the photovoltaic panel is continuously pushed to the moving direction of the crawler-type frame, and secondary pollution caused by sewage backflow to the photovoltaic panel is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment in the photovoltaic cleaning industry, and particularly relates to a crawler-type self-driving photovoltaic cleaning machine. Background Art

[0002] A solar photovoltaic power station refers to a photovoltaic power generation system connected to the power grid and transmitting electricity to the power grid. Its power generation principle is to utilize photovoltaic power generation technology, that is, to convert sunlight into usable electric energy through a semiconductor interface (solar cell). If dust, dirt, bird droppings and other sundries accumulate on the surface of the photovoltaic panel, it will block sunlight and affect the absorption of sunlight by the photovoltaic panel. These obstacles reduce the light flux reaching the photovoltaic panel, resulting in a reduction in the electric energy generated by the photovoltaic panel. Therefore, the photovoltaic panel needs to be cleaned regularly to ensure the power generation efficiency of the photovoltaic panel.

[0003] Currently, there are still devices for manually cleaning photovoltaic panels. Such devices save water and effort, and the cleaning effect is very good. In particular, the worker can inflate by holding the handle of the inflatable rod, and can also step on the foot pedal to inflate the inflating device.

[0004] However, in the prior art, there are the following problems: 1. In the prior art, a water storage vehicle and a spraying device are usually used to clean the photovoltaic panel. It is necessary to manually drive the water storage vehicle, and the distance and angle between the spraying device and the photovoltaic panel need to be adjusted manually, which is rather troublesome to operate. Moreover, in a sandy environment, due to the influence of wind and sand and terrain undulation, the worker needs to observe the driving route in real time when driving the water storage vehicle. Since there are many blind spots in manual driving, there may be a situation where the photovoltaic panel is damaged due to manual operation errors.

[0005] 2. When the existing spraying device cleans the photovoltaic panel, the angle of the spraying rod is usually fixedly set. When the water storage vehicle reciprocally drives to reciprocally clean the photovoltaic panel, there may be a situation where the water spraying direction is opposite to the driving direction, causing the sewage generated by the cleaning to flow onto the already cleaned photovoltaic panel, resulting in secondary pollution to the photovoltaic panel and affecting the cleaning effect. Summary of the Invention

[0006] The purpose of the present invention is to provide a crawler-type self-driving photovoltaic cleaning machine to solve the above problems and overcome the defects of the prior art, as described in detail below.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A crawler-type self-driving photovoltaic cleaning machine includes a crawler-type vehicle frame, a lifting structure, and a water supply and cleaning structure;

[0009] The lifting structure includes a lifting frame, a mounting arm, and a lifting seat;

[0010] The water supply and cleaning structure includes a water tank, a high-pressure water pump and a spraying device. The spraying device includes a spraying rod and a spraying pipe. The high-pressure water pump is connected to the water tank on the vehicle through a water pipe;

[0011] The top of the crawler-type vehicle frame is connected to a lifting frame. The lifting frame is slidably connected to a lifting seat. The lifting seat is hinged to an installation arm. The installation arm is rotatably connected to the spraying rod. The spraying rod is hinged to the spraying pipe. The spraying pipe is provided with a plurality of nozzles. The spraying pipe is connected to the high-pressure water pump through a water pipe;

[0012] It further includes an angle adjustment component and a water spraying direction adjustment component. The angle adjustment component is used to adjust the angle between the spraying pipe and the installation arm;

[0013] The water spraying direction adjustment component includes a second installation rod, a second cylinder and a hoop. The second cylinder is fixed on the spraying rod through the second installation rod. The output end of the second cylinder is hinged to the hoop. The hoop is sleeved on the outer wall of the spraying pipe to realize the adjustment of the water spraying direction of the spraying pipe.

[0014] As an implementable manner, it further includes a dust blocking component. The dust blocking component includes a baffle. The baffle is installed on the outer wall of the spraying rod. The two sides of the baffle are respectively provided with bevel edges. The spraying rod is located between the two bevel edges of the baffle.

[0015] As an implementable manner, the lifting structure further includes a first electric winch and a first steel cable; the lifting frame is connected to the first electric winch. The first electric winch is connected to the first steel cable. One end of the first steel cable away from the first electric winch is connected to the lifting seat. A pulley is provided on the lifting frame. The middle section of the first steel cable is slidably sleeved on the pulley on the lifting frame.

[0016] As an implementable manner, the lifting structure includes a second electric winch and a second steel cable. The second electric winch is connected to the second steel cable. One end of the second steel cable away from the second electric winch is connected to the lifting seat. A pulley is provided on the installation arm. The middle section of the second steel cable is slidably sleeved on the pulley on the installation arm. Distance sensors are respectively provided at both ends of the installation arm.

[0017] As an implementable manner, the lifting structure further includes a first connecting rod and two second connecting rods. The two sides of the installation arm are respectively hinged to the first connecting rod through brackets. Two second connecting rods are hinged to the lifting seat through brackets. The two first connecting rods are hinged to the two second connecting rods. A limiting mechanism is provided at the hinge joint between the lifting seat and the installation arm. A limiting sensor is also provided at the hinge joint between the lifting seat and the installation arm. The limiting sensor is connected to the second electric winch.

[0018] As an implementable manner, the angle adjustment component includes a first installation rod. The first installation rod is installed on the installation arm. The first installation rod is provided with a first cylinder. The output end of the first cylinder is hinged to the spraying rod.

[0019] As an implementable mode, the dust blocking component further includes two L-shaped frames, two reinforcing rods and two first scraping strips. The inner wall of the baffle is slidably connected with two L-shaped frames. Two reinforcing rods are connected between the two L-shaped frames. The two L-shaped frames are respectively connected with the chute frames. The two ends of the spray pipe are respectively connected with sliding shafts. The chute frames are provided with chutes. The two sliding shafts are respectively slidably connected with the chutes of the two chute frames. Two first scraping strips are connected between the two L-shaped frames. When the two first scraping strips move, they contact the baffle.

[0020] As an implementable mode, the dust blocking component further includes a push-pull rod, two sliding rods and two second scraping strips. The two inclined sides of the baffle are respectively slidably connected with two sliding rods. The two ends of the L-shaped frame are respectively hinged with the push-pull rod. The four ends of the four push-pull rods away from the L-shaped frame are respectively hinged with the four sliding rods. Two second scraping strips are connected between the two sliding rods located on the same inclined side of the baffle. When the four second scraping strips move, they respectively contact the two inclined sides of the baffle.

[0021] As an implementable mode, the baffle is provided with a portal frame. The portal frame is provided with a plurality of cleaning brushes. The plurality of cleaning brushes are respectively located on the movement tracks of the plurality of nozzles. The portal frame is connected with two elastic rods. A set of elastic pieces are respectively connected to the two elastic rods. Triangular blocks are respectively connected to the two chute frames. When the two triangular blocks move, they respectively contact the two sets of elastic pieces.

[0022] The beneficial effects are as follows:

[0023] 1. Through the cooperation among the crawler-type vehicle frame, the generator, the high-pressure water pump, the water tank and the spray pipe above it, the present invention realizes the effect of automatic spray washing. The crawler-type vehicle frame can realize automatic driving by using radar and navigation equipment, avoiding collision with the photovoltaic panels; the washing height is adjusted by the first electric winch and the first steel cable, and the washing angle is adjusted by the second electric winch and the second steel cable, so that the plane where the multiple nozzles are located is parallel to the photovoltaic panels, improving the washing uniformity. At the same time, the limiting mechanism of the mounting arm can prevent the mounting arm from colliding with the photovoltaic panels.

[0024] 2. Through the setting of the water spraying direction adjusting component, the spray pipe can be adjusted in direction, and the water flow sprayed by the multiple nozzles always faces the traveling direction, so that the sewage on the photovoltaic panels is continuously pushed to the moving direction of the crawler-type vehicle frame, avoiding secondary pollution of the photovoltaic panels caused by sewage backflow; through the setting of the angle adjusting component, the spray rod can adjust the angle between it and the mounting arm, keeping the spray rod for advancing cleaning at a certain inclination angle, so that the sewage flowing down above the frontmost photovoltaic panel can wash the lower part of the photovoltaic panel in advance, improving the cleaning effect to a certain extent.

[0025] 3. Through the provision of the dust shielding component, the baffle can shield the cleaning position, thereby preventing excessive accumulation of dirt on the mounting arm, lifting seat, and lifting frame, which may affect the usage effect. Through the cooperation of two first scraping bars and four second scraping bars, the two first scraping bars and four second scraping bars can regularly clean the contact surface between the baffle and the sewage, preventing excessive dirt from adhering to the baffle and increasing its own weight, thus increasing the load on the mounting arm. Through the provision of multiple cleaning brushes, the multiple cleaning brushes can respectively clean multiple nozzles, preventing blockage caused by the accumulation of scale and dust after long-term use of the nozzles. At the same time, the cleaning brushes can vibrate, enhancing the cleaning effect and shaking off the dirt adhering to themselves. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 is the overall structural schematic diagram of the present invention;

[0028] Figure 2 is the structural schematic diagram of the crawler-type vehicle frame of the present invention;

[0029] Figure 3 is the structural schematic diagram of the lifting frame of the present invention;

[0030] Figure 4 is the structural schematic diagram of the lifting seat of the present invention;

[0031] Figure 5 is the structural schematic diagram of the mounting arm of the present invention;

[0032] Figure 6 is the structural schematic diagram of the spray bar of the present invention;

[0033] Figure 7 is the structural schematic diagram of the angle adjustment component of the present invention;

[0034] Figure 8 is the structural schematic diagram of the water spray direction adjustment component of the present invention;

[0035] Figure 9 is the structural schematic diagram of the spray bar of the present invention;

[0036] Figure 10 is the structural schematic diagram of the dust shielding component of the present invention;

[0037] Figure 11 is the structural schematic diagram of the baffle of the present invention;

[0038] Figure 12 is a schematic structural view of the gantry structure of the present invention;

[0039] Figure 13 is a schematic structural view of the cleaning brush of the present invention.

[0040] Explanation of the reference numerals in the drawings is as follows: 1, crawler frame; 2, lifting frame; 21, first electric winch; 22, first steel cable; 3, lifting seat; 31, second electric winch; 32, second steel cable; 33, first connecting rod; 34, second connecting rod; 4, mounting arm; 5, spray bar; 6, spray pipe; 61, nozzle; 7, angle adjustment assembly; 71, first mounting rod; 72, first cylinder; 8, water spray direction adjustment assembly; 81, second mounting rod; 82, second cylinder; 83, hoop; 9, dust shielding assembly; 91, baffle; 92, sliding shaft; 93, L-shaped frame; 94, chute frame; 95, reinforcing rod; 96, first scraping strip; 97, push-pull rod; 98, sliding rod; 99, second scraping strip; 910, gantry; 911, cleaning brush; 912, elastic rod; 913, elastic piece; 914, triangular block; 10, generator; 11, high-pressure water pump; 12, water tank; 13, bucket. Detailed implementation manners

[0041] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other implementation manners obtained by those of ordinary skill in the art based on the embodiments of the present invention without any creative efforts shall fall within the scope protected by the present invention.

[0042] Embodiment 1

[0043] Please refer to Figure 1 - Figure 13, A crawler - type autonomous photovoltaic cleaning machine, including a crawler - type vehicle frame 1. The bottom of the crawler - type vehicle frame 1 is provided with a crawler wheel set. The crawler - type vehicle frame 1 moves by means of the crawler wheel set, which is convenient for moving on various terrains. The top of the crawler - type vehicle frame 1 is provided with a lifting frame 2. A lifting seat 3 is slidably connected to the lifting frame 2. An installation arm 4 is hinged to the lifting seat 3. A spraying rod 5 is rotatably connected to the installation arm 4. A spraying pipe 6 is hinged to the spraying rod 5. A plurality of nozzles 61 are provided on the spraying pipe 6. The crawler - type vehicle frame 1 is provided with a generator 10, a high - pressure water pump 11 and a water tank 12. The generator 10 is equipped with a fuel tank and a battery for providing power. The crawler - type vehicle frame 1 is provided with a bucket 13. In this embodiment, buckets are respectively arranged at the front and rear ends. The two buckets 13 can be driven by a hydraulic mechanism to clean the sundries on the traveling route of the crawler - type vehicle frame 1. The high - pressure water pump 11 is connected to the water tank 12 through a water pipe, and the spraying pipe 6 is connected to the high - pressure water pump 11 through a water pipe. The crawler - type vehicle frame 1 is provided with a radar and a navigation device. The crawler - type vehicle frame 1 realizes autonomous driving by using the radar and the navigation device, can detect the surrounding terrain and automatically plan the traveling route. The high - pressure water pump 11 transports the water in the water tank 12 to the spraying pipe 6 through the water pipe, and the spraying pipe 6 sprays the water through a plurality of nozzles 61 to realize the cleaning of the photovoltaic panels.

[0044] The lifting frame 2 is provided with a first electric winch 21. The first electric winch 21 is connected to a first steel cable 22. One end of the first steel cable 22 away from the first electric winch 21 is connected to the lifting seat 3. A pulley is provided on the lifting frame 2. The middle section of the first steel cable 22 is slidably sleeved with the pulley on the lifting frame 2. Workers can control the first electric winch 21 to take in and release the first steel cable 22 to adjust the up - and - down height of the lifting seat 3 to meet the cleaning requirements of photovoltaic panels at different heights; through the cooperation between the crawler - type vehicle frame 1 and the generator 10, high - pressure water pump 11, water tank 12 and spraying pipe 6 above it, the effect of automatic spraying and flushing is realized. The crawler - type vehicle frame 1 can realize autonomous driving by using the radar and the navigation device to avoid colliding with the photovoltaic panels; the adjustment of the flushing height is realized through the first electric winch 21 and the first steel cable 22.

[0045] Further, the lifting seat 3 is provided with a second electric winch 31. The second electric winch 31 is connected to a second steel cable 32. One end of the second steel cable 32 away from the second electric winch 31 is connected to the lifting seat 3. A pulley is provided on the mounting arm 4. The middle section of the second steel cable 32 is slidably sleeved with the pulley on the mounting arm 4. The staff can adjust the angle of the mounting arm 4 by controlling the second electric winch 31 to wind and unwind the second steel cable 32. Distance sensors are respectively provided at both ends of the mounting arm 4. When the mounting arm 4 is above the photovoltaic panel, the two distance sensors can detect the distance between themselves and the photovoltaic panel. When the distances between the two distance sensors and the photovoltaic panel are equal, the plane where the mounting arm 4 is located is parallel to the plane where the photovoltaic panel is located, and the plane where the spray pipe 6 is located is also parallel to the plane where the photovoltaic panel is located. At this time, the distances from the multiple nozzles 61 to the photovoltaic panel are equal, so that the water flow impact force received by the surface of the photovoltaic panel is relatively uniform, and thus the flushing effect is more uniform.

[0046] Both sides of the mounting arm 4 are respectively hinged to the first connecting rods 33 through brackets. Two second connecting rods 34 are hinged to the lifting seat 3 through brackets. The two first connecting rods 33 are hinged to the two second connecting rods 34. The cooperation between the two first connecting rods 33 on the mounting arm 4 and the two second connecting rods 34 can improve the stability of the mounting arm 4 in the horizontal direction and prevent it from shaking during the cleaning operation. A limiting mechanism is provided at the hinge joint between the lifting seat 3 and the mounting arm 4. The limiting mechanism can limit the rotation angle of the mounting arm 4 to prevent the mounting arm 4 from falling downward and hitting the photovoltaic panel after the second steel cable 32 breaks, thus causing losses. A limiting sensor is also provided at the hinge joint between the lifting seat 3 and the mounting arm 4. The limiting sensor is connected to the second electric winch 31. When the second electric winch 31 fails and continues to wind and unwind, when the rotation angle of the mounting arm 4 exceeds the limited position, the limiting sensor can control the second electric winch 31 to shut down, so that the mounting arm 4 can swing within a safe range and avoid hitting the photovoltaic panel and causing losses; the adjustment of the flushing angle is realized through the second electric winch 31 and the second steel cable 32, so that the plane where the multiple nozzles 61 are located is parallel to the photovoltaic panel, improving the flushing uniformity. At the same time, the limiting mechanism of the mounting arm 4 can prevent the mounting arm 4 from hitting the photovoltaic panel.

[0047] In one embodiment, it further includes an angle adjustment assembly 7 for adjusting the angle between the spray pipe 6 and the mounting arm 4. The angle adjustment assembly 7 includes a first mounting rod 71 mounted on the mounting arm 4. The first mounting rod 71 is provided with a first cylinder 72. The output end of the first cylinder 72 is hinged to the spray rod 5. When the first cylinder 72 expands and contracts, it can drive the spray rod 5 to swing through its output end, so that the angle of the spray pipe 6 in the traveling direction can be adjusted. The upper end of the spray pipe 6 is more forward than the lower end in the traveling direction. When the sewage after cleaning flows down along the photovoltaic panel at the upper end of the spray pipe 6, the sewage flowing down from the high place of the photovoltaic panel can take away part of the dust at the low place of the photovoltaic panel first. Subsequently, the water sprayed from the lower end of the spray pipe 6 will clean the low place of the photovoltaic panel again. Through the setting of the angle adjustment assembly 7, the spray rod 5 can adjust the angle between it and the mounting arm 4, and keep the spray rod 5 advancing and cleaning at a certain inclination angle, so that the sewage flowing down above the frontmost photovoltaic panel can wash the lower part of the photovoltaic panel in advance, and the cleaning effect is improved to a certain extent.

[0048] Specifically, it further includes a water spray orientation adjustment assembly 8 for adjusting the water spray orientation of the spray pipe 6. The water spray orientation adjustment assembly 8 includes a second mounting rod 81 mounted on the spray rod 5. The second mounting rod 81 is provided with a second cylinder 82. The output end of the second cylinder 82 is hinged to a clamp 83, and the clamp 83 is sleeved on the outer wall of the spray pipe 6. When the second cylinder 82 expands and contracts, it can drive the spray pipe 6 to swing through the clamp 83, thereby adjusting the orientation of the multiple nozzles 61. Through the setting of the water spray orientation adjustment assembly 8, the spray pipe 6 can be adjusted in orientation, and the water flow sprayed from the multiple nozzles 61 always faces the traveling direction, so that the sewage on the photovoltaic panel is continuously pushed to the moving direction of the crawler frame 1, avoiding the secondary pollution of the photovoltaic panel caused by the backflow of sewage.

[0049] In addition, there is a dust blocking assembly 9 for blocking the flying dust and sewage during cleaning. The dust blocking assembly 9 includes a baffle 91 mounted on the outer wall of the spray rod 5. The two sides of the baffle 91 are respectively provided with bevel edges. The spray rod 5 is located between the two bevel edges of the baffle 91. The baffle 91 can block the flying dust and sewage during flushing, avoiding a large amount of dust and sewage from splashing onto the mounting arm 4, the lifting seat 3 and the lifting frame 2, so that the mounting arm 4, the lifting seat 3 and the lifting frame 2 are affected by the operation of the mechanism due to more dust adhering after long-term use, and at the same time, the cleaning work of the staff is also reduced.

[0050] The inner wall of the baffle 91 is provided with two L-shaped frames and is slidably connected to 93. Two reinforcing rods 95 are connected between the two L-shaped frames 93. Slide groove frames 94 are respectively connected to the two L-shaped frames 93. The two ends of the spray pipe 6 are respectively connected to the slide shafts 92. Slide grooves are provided on the slide groove frames 94. The two slide shafts 92 are respectively slidably connected to the slide grooves of the two slide groove frames 94. The two slide shafts 92 drive the two L-shaped frames 93 to move a certain distance in the swinging direction of the spray pipe 6 through the two slide groove frames 94. Two first scraping strips 96 are connected between the two L-shaped frames 93. When the two first scraping strips 96 move, they contact the baffle 91. The two L-shaped frames 93 drive the two first scraping strips 96 to move synchronously, so that the two first scraping strips 96 can scrape off a part of the dirt attached to the baffle 91. Two slide rods 98 are respectively slidably connected to the two inclined edges of the baffle 91. The two ends of the L-shaped frame 93 are respectively hinged to the push-pull rods 97. The ends of the four push-pull rods 97 away from the L-shaped frame 93 are respectively hinged to the four slide rods 98. Two second scraping strips 99 are connected between the two slide rods 98 located on the same inclined edge of the baffle 91. When the two L-shaped frames 93 move back and forth, they can drive the four slide rods 98 to slide on the two inclined edges of the baffle 91 through the four push-pull rods 97. When the four second scraping strips 99 move, they respectively contact the two inclined edges of the baffle 91. The two second scraping strips 99 on the inclined edges of the baffle 91 can scrape off the dirt attached to the inclined edges when sliding.

[0051] Through the setting of the dust blocking assembly 9, the baffle 91 can block the cleaning position, thereby preventing excessive dirt from accumulating at the installation arm 4, the lifting seat 3 and the lifting frame 2, which affects the use effect; through the cooperation of the two first scraping strips 96 and the four second scraping strips 99, the two first scraping strips 96 and the four second scraping strips 99 can regularly clean the contact surface between the baffle 91 and the sewage, avoiding excessive dirt attached to the baffle 91 and increasing its own weight, thereby increasing the load on the installation arm 4.

[0052] In addition, the baffle 91 is provided with a portal frame 910, and the portal frame 910 is provided with a plurality of cleaning brushes 911. The plurality of cleaning brushes 911 are respectively located on the movement trajectories of the plurality of nozzles 61. When the nozzle 61 moves to the middle section of its movement trajectory, the nozzle 61 contacts the cleaning brush 911, so that the cleaning brush 911 can clean the nozzle 61. The portal frame 910 is connected to two elastic rods 912, and a set of elastic pieces 913 are respectively connected to the two elastic rods 912. Triangular blocks 914 are respectively connected to the two chute frames 94. When the two triangular blocks 914 move, they respectively contact the two sets of elastic pieces 913. When the triangular block 914 moves and contacts a set of elastic pieces 913, it causes the set of elastic pieces 913 to vibrate, so that the two sets of elastic pieces 913 can respectively drive the two elastic rods 912 to vibrate. The two elastic rods 912 transmit the vibration to the plurality of cleaning brushes 911 through the portal frame 910, so that the plurality of cleaning brushes 911 can promote the cleaning effect through vibration, and at the same time, it can also shake off the mud blocks attached to the cleaning brushes 911; through the arrangement of the plurality of cleaning brushes 911, the plurality of cleaning brushes 911 can respectively clean the plurality of nozzles 61, avoiding blockage caused by the accumulation of scale and dust after the nozzles 61 are used for a long time. At the same time, the cleaning brushes 911 can also vibrate, playing the role of promoting the cleaning effect and shaking off the mud blocks attached to themselves.

[0053] With the above structure, the working principle of the present application is as follows:

[0054] The crawler-type vehicle frame 1 moves by using the crawler wheel set, which is convenient for moving on various terrains. The crawler-type vehicle frame 1 realizes autonomous driving by using radar and navigation equipment, can detect the surrounding terrain, and automatically plan the traveling route. The generator 10 is equipped with a fuel tank and a battery for providing power. The two buckets 13 can be driven by a hydraulic mechanism and can clean the sundries on the traveling route of the crawler-type vehicle frame 1. The high-pressure water pump 11 conveys the water in the water tank 12 to the spray pipe 6 through a water pipe, and the spray pipe 6 sprays the water through a plurality of nozzles 61 to realize the cleaning of the photovoltaic panel.

[0055] When the first electric winch 21 winds up the first steel cable 22, the first steel cable 22 drives the lifting seat 3 to move upward through the cooperation with the pulley on the lifting frame 2. When the first electric winch 21 releases the steel cable, the lifting seat 3 descends by gravity. Therefore, the staff can control the first electric winch 21 to wind up and release the first steel cable 22 to adjust the up and down height of the lifting seat 3 to meet the cleaning requirements of photovoltaic panels at different heights. When the second electric winch 31 winds up the second steel cable 32, the second steel cable 32 drives the mounting arm 4 to swing upward with the connection point between it and the lifting seat 3 as the fulcrum through the cooperation with the pulley on the mounting arm 4. When the second electric winch 31 releases the steel cable, the mounting arm 4 swings downward by gravity. Therefore, the staff can control the second electric winch 31 to wind up and release the second steel cable 32 to adjust the angle of the mounting arm 4. When the mounting arm 4 is above the photovoltaic panel, the two distance sensors at both ends of the mounting arm 4 can detect the distance between itself and the photovoltaic panel. When the distances between the two distance sensors and the photovoltaic panel are equal, the distances between both ends of the mounting arm 4 and the photovoltaic panel are equal. At this time, the plane where the mounting arm 4 is located is parallel to the plane where the photovoltaic panel is located. Since the plane where the spray rod 5 and the spray pipe 6 are located is parallel to the plane where the mounting arm 4 is located, the plane where the spray pipe 6 is located is parallel to the plane where the photovoltaic panel is located. At this time, the distances from the multiple nozzles 61 to the photovoltaic panel are equal, making the water flow impact force on the surface of the photovoltaic panel more uniform, thus making the flushing effect more uniform.

[0056] The two first connecting rods 33 on the mounting arm 4 can improve the stability of the mounting arm 4 in the horizontal direction through the cooperation with the two second connecting rods 34, avoiding shaking during the cleaning operation. The limiting mechanism at the hinge joint between the lifting seat 3 and the mounting arm 4 can limit the rotation angle of the mounting arm 4, preventing the mounting arm 4 from falling downward and hitting the photovoltaic panel after the second steel cable 32 breaks, thus causing losses. The limiting sensor at this position is connected to the second electric winch 31. When the second electric winch 31 malfunctions and continues to wind up and release, when the rotation angle of the mounting arm 4 exceeds the limited position, the limiting sensor can control the second electric winch 31 to shut down, so that the mounting arm 4 can swing within a safe range, avoiding hitting the photovoltaic panel and causing losses. Through the cooperation between the crawler-type vehicle frame 1 and the generator 10, high-pressure water pump 11, water tank 12 and spray pipe 6 above it, the effect of automatic spray flushing is achieved. The crawler-type vehicle frame 1 can achieve automatic driving by using radar and navigation equipment, avoiding hitting the photovoltaic panel. The adjustment of the flushing height is realized through the first electric winch 21 and the first steel cable 22, and the adjustment of the flushing angle is realized through the second electric winch 31 and the second steel cable 32, making the plane where the multiple nozzles 61 are located parallel to the photovoltaic panel, improving the flushing uniformity. At the same time, the limiting mechanism of the mounting arm 4 can prevent the mounting arm 4 from hitting the photovoltaic panel.

[0057] Since the second cylinder 82 is fixed to the spray bar 5 through the second mounting rod 81, when the second cylinder 82 expands and contracts, it can drive the spray pipe 6 to swing through the clamp 83, thereby adjusting the orientations of the multiple nozzles 61. When the crawler chassis 1 moves forward, the multiple nozzles 61 face forward, causing the water flow ejected to push the sewage on the surface of the photovoltaic panel forward along with the crawler chassis 1. When the crawler chassis 1 turns to move backward, by controlling the second cylinder 82, the multiple nozzles 61 face backward, causing the water flow ejected to push the sewage on the photovoltaic panel backward along with the crawler chassis 1. Through the arrangement of the water spray orientation adjustment assembly 8, the spray pipe 6 can be adjusted in orientation, and the water flow ejected from the multiple nozzles 61 always faces the traveling direction, continuously pushing the sewage on the photovoltaic panel to the moving direction of the crawler chassis 1, avoiding secondary pollution of the photovoltaic panel caused by sewage backflow.

[0058] Since the first cylinder 72 is fixed to the mounting arm 4 through the first mounting rod 71, when the first cylinder 72 expands and contracts, it can drive the spray bar 5 to swing through its output end, causing the spray bar 5 to swing with its connection point with the mounting arm 4 as the fulcrum, thereby adjusting the angle between the spray bar 5 and the mounting arm 4. When the spray bar 5 swings, it drives the spray pipe 6 to swing synchronously, enabling the angle of the spray pipe 6 along the traveling direction to be adjusted, so that the upper end of the spray pipe 6 is more forward than the lower end in the traveling direction. When the sewage after cleaning at the upper end of the spray pipe 6 flows down along the photovoltaic panel, the sewage flowing down from the high place of the photovoltaic panel can first carry away part of the dust at the low place of the photovoltaic panel. Subsequently, the water ejected from the lower end of the spray pipe 6 will clean the low place of the photovoltaic panel again. Through the arrangement of the angle adjustment assembly 7, the spray bar 5 can adjust the angle between it and the mounting arm 4, maintaining the spray bar 5 to perform a propulsive cleaning at a certain inclination angle, enabling the sewage flowing down above the frontmost photovoltaic panel to pre-rinse the lower part of the photovoltaic panel, and improving the cleaning effect to a certain extent.

[0059] The baffle 91 can block the splashing dust and sewage during flushing, preventing a large amount of dust and sewage from splashing onto the mounting arm 4, the lifting seat 3, and the lifting frame 2, so as to avoid affecting the operation of the mechanism due to excessive dust attachment after long-term use of the mounting arm 4, the lifting seat 3, and the lifting frame 2, and at the same time reducing the cleaning work of the staff; whenever the spray pipe 6 swings, the spray pipe 6 drives the two sliding shafts 92 to move synchronously. The two sliding shafts 92 drive the two L-shaped frames 93 to move a certain distance in the swinging direction of the spray pipe 6 through the two chute frames 94. The two L-shaped frames 93 drive the two first scraping strips 96 to move synchronously, enabling the two first scraping strips 96 to scrape off a part of the dirt attached to the baffle 91. The two reinforcing rods 95 can improve the stability of the two L-shaped frames 93. When the two L-shaped frames 93 move back and forth, they can drive the four sliding rods 98 to slide on the two inclined sides of the baffle 91 through the four push-pull rods 97. The four sliding rods 98 respectively drive the four second scraping strips 99 to slide on the two inclined sides of the baffle 91, and the two second scraping strips 99 on the inclined sides of the baffle 91 can scrape off the dirt attached to the inclined sides when sliding.

[0060] During the swinging process of multiple nozzles 61, when the nozzle 61 moves to the middle section of its movement trajectory, the nozzle 61 contacts the cleaning brush 911, enabling the cleaning brush 911 to clean the nozzle 61. When the two chute frames 94 move, they drive the two triangular blocks 914 to move synchronously. When the triangular blocks 914 move, they contact a group of elastic pieces 913, causing the group of elastic pieces 913 to vibrate, enabling the two groups of elastic pieces 913 to drive the two elastic rods 912 to vibrate respectively. The two elastic rods 912 transmit the vibration to the multiple cleaning brushes 911 through the portal frame 910, enabling the multiple cleaning brushes 911 to promote the cleaning effect through vibration and at the same time shake off the mud blocks attached to the cleaning brushes 911; through the setting of the dust-blocking assembly 9, the baffle 91 can block the cleaning position, thereby preventing excessive dirt from accumulating at the mounting arm 4, the lifting seat 3, and the lifting frame 2, thus affecting the use effect; through the cooperation of the two first scraping strips 96 and the four second scraping strips 99, the two first scraping strips 96 and the four second scraping strips 99 can regularly clean the contact surface between the baffle 91 and the sewage, preventing excessive dirt from adhering to the baffle 91 and increasing its own weight, thereby increasing the load on the mounting arm 4; through the setting of the multiple cleaning brushes 911, the multiple cleaning brushes 911 can respectively clean the multiple nozzles 61, preventing the nozzles 61 from being blocked due to the accumulation of scale and dust after long-term use, and at the same time the cleaning brushes 911 can also vibrate, achieving the effects of promoting the cleaning effect and shaking off the mud blocks attached to themselves.

[0061] The above are only specific embodiments 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 can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described above.

Claims

1. A crawler-type automatic driving photovoltaic cleaning machine, comprising a crawler-type frame, a lifting structure, a water supply and cleaning structure; The lifting structure includes a lifting frame, a mounting arm and a lifting seat; The water supply and cleaning structure includes a water tank, a high-pressure water pump and a spray device. The spray device includes a spray rod and a spray pipe. The high-pressure water pump is connected to the water tank added to the vehicle through a water pipe. The top of the crawler frame is connected to a lifting frame, the lifting frame is slidably connected to a lifting seat, the lifting seat is hinged to a mounting arm, the mounting arm is rotatably connected to a spray rod, the spray rod is hinged to a spray pipe, the spray pipe is provided with a plurality of spray heads, and the spray pipe is connected to a high-pressure water pump through a water pipe; Features: It also includes an angle adjustment component and a water spray direction adjustment component, wherein the angle adjustment component is used to adjust the angle between the spray pipe and the mounting arm; The water spray direction adjustment component includes a second mounting rod, a second cylinder and a clamp. The second cylinder is fixed to the spray rod through the second mounting rod. The output end of the second cylinder is hinged to the clamp, and the clamp is sleeved with the outer wall of the spray pipe to adjust the water spray direction of the spray pipe.

2. The crawler-type automatic driving photovoltaic cleaning machine according to claim 1, characterized in that: It also includes a dust blocking component, which includes a baffle plate installed on the outer wall of the spray rod. The two sides of the baffle plate are respectively provided with bevel edges, and the spray rod is located between the two bevel edges of the baffle plate.

3. The crawler-type automatic driving photovoltaic cleaning machine according to claim 1, characterized in that: The lifting structure also includes a first electric winch and a first steel cable; the lifting frame is connected to the first electric winch, the first electric winch is connected to the first steel cable, one end of the first steel cable away from the first electric winch is connected to the lifting seat, the lifting frame is provided with a pulley, and the middle section of the first steel cable is slidably connected to the pulley on the lifting frame.

4. A crawler-type automatic driving photovoltaic cleaning machine according to claim 1 or 2, characterized in that: The lifting structure includes a second electric winch and a second steel cable. The second electric winch is connected to the second steel cable. One end of the second steel cable away from the second electric winch is connected to the lifting seat. A pulley is provided on the mounting arm. The middle section of the second steel cable is slidably connected to the pulley on the mounting arm. Distance sensors are respectively provided at both ends of the mounting arm.

5. The crawler-type automatic driving photovoltaic cleaning machine according to claim 4, characterized in that: The lifting structure also includes a first connecting rod and two second connecting rods. The first connecting rods are hinged on both sides of the mounting arm through brackets respectively. The two second connecting rods are hinged on the lifting seat through brackets. The two first connecting rods are hinged with the two second connecting rods. A limit mechanism is provided at the hinge between the lifting seat and the mounting arm. A limit sensor is also provided at the hinge between the lifting seat and the mounting arm. The limit sensor is connected to the second electric winch.

6. A crawler-type automatic driving photovoltaic cleaning machine according to claim 1 or 2, characterized in that: The angle adjustment assembly comprises a first mounting rod, which is mounted on the mounting arm. The first mounting rod is provided with a first cylinder, and the output end of the first cylinder is hinged to the spray rod.

7. The crawler-type automatic driving photovoltaic cleaning machine according to claim 1, characterized in that: The dust blocking assembly also includes two L-shaped frames, two reinforcement rods and two first scraping strips. The inner wall of the baffle is slidably connected to the two L-shaped frames. The two reinforcement rods are connected between the two L-shaped frames. The two L-shaped frames are respectively connected to the slide slot frames. The two ends of the spray pipe are respectively connected to the sliding shafts. The slide slot frames are provided with slide slots. The two sliding shafts are respectively slidably connected to the slide slots of the two slide slot frames. The two first scraping strips are connected between the two L-shaped frames. The two first scraping strips contact the baffle when moving.

8. The crawler-type automatic driving photovoltaic cleaning machine according to claim 7, characterized in that: The dust blocking assembly also includes a push-pull rod, two sliding rods and two second scraping strips. The two sliding rods are respectively slidably connected to the two oblique sides of the baffle plate. The two ends of the L-shaped frame are respectively hinged to the push-pull rods. The ends of the four push-pull rods away from the L-shaped frame are respectively hinged to the four sliding rods. The two second scraping strips are connected between the two sliding rods located on the same oblique side of the baffle plate. When the four second scraping strips move, they respectively contact the two oblique sides of the baffle plate.

9. A crawler-type automatic driving photovoltaic cleaning machine according to any one of claims 6 to 8, characterized in that: The baffle is provided with a door-shaped frame, which is provided with multiple cleaning brushes. The multiple cleaning brushes are respectively located on the movement tracks of the multiple nozzles. The door-shaped frame is connected to two elastic rods, and a group of springs are respectively connected to the two elastic rods. The two slide frames are respectively connected to triangular blocks, and the two triangular blocks are respectively in contact with the two groups of springs when moving.

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