Photovoltaic cleaning robot

Abstract

The invention relates to the field of photovoltaic module cleaning, in particular to a photovoltaic cleaning robot which is provided with a movable base. A moving assembly is arranged at the bottom of the moving base, a lifting driving device is fixedly arranged at the top of the moving base, a supporting arm is rotationally arranged on the lifting driving device, a mounting plate is rotationally arranged on the supporting arm, and a spraying assembly, a rolling brush assembly and a scraping assembly are arranged on the mounting plate; a collecting box is further arranged, a first partition plate, a second partition plate and a third partition plate are fixedly arranged in the collecting box, the interior of the collecting box is divided into a water collecting area, a filtering area, a disinfection area and a water storage area by the first partition plate, the second partition plate and the third partition plate, and the water collecting area, the filtering area, the disinfection area and the water storage area are communicated. An electronic check valve is fixedly arranged at the communication position, a filtering block is detachably installed in the filtering area, and a disinfection device is fixedly arranged in the disinfection area; water can be recycled, and meanwhile the cleaning precision and effect are improved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning of photovoltaic modules, and particularly to a cleaning robot for photovoltaic use. Background Art

[0002] With the continuous growth of the solar photovoltaic industry, the problems of the later operation and maintenance of photovoltaic power stations have begun to stand out, especially the cleaning problem of photovoltaic modules which is directly related to the power generation efficiency is particularly obvious.

[0003] Traditional cleaning methods require a lot of manpower and material resources, and have low cleaning efficiency, excessive water consumption, high comprehensive costs, and manual cleaning is also relatively casual, some places are clean and some places are not. Moreover, for large-scale ground power stations built in the western region, long-term and frequent cleaning is required, and water is inconvenient to use. It is not very realistic to clean photovoltaic modules manually.

[0004] There is a need for a cleaning robot that can save water and improve the cleaning accuracy and effect. Summary of the Invention

[0005] The object of the present invention is to provide a cleaning robot for photovoltaic use, which can realize the recycling of water and improve the cleaning accuracy and effect at the same time.

[0006] The technical solution for achieving the object of the present invention is as follows: The present invention has a mobile base; a moving component is provided at the bottom of the mobile base, and the mobile base moves along the arrangement direction of the photovoltaic modules through the moving component; a lifting driving device is fixedly provided at the top of the mobile base, one end of a support arm is rotatably connected to the driving end of the lifting driving device, and at the other end of the support arm, a mounting plate is rotatably provided with both ends extending along the extension direction of the support arm. The mounting plate is provided with a spraying component for spraying the surface of the photovoltaic module, a rolling brush component for rolling the surface of the photovoltaic module after spraying, and a scraping component for scraping the liquid remaining on the surface of the photovoltaic module after rolling. The spraying component, the rolling brush component, and the scraping component wash, roll, and wipe the surface of the photovoltaic module through the movement of the mobile base; there is also a collection tank for collecting, treating, and recycling the liquid sprayed on the surface of the photovoltaic module. The collection tank extends along the arrangement direction of the photovoltaic modules. A first partition, a second partition, and a third partition are fixedly provided in the collection tank. The interior of the collection tank is divided by the first partition, the second partition, and the third partition into a water collection area for collecting the liquid sprayed on the surface of the photovoltaic module, a filtration area for finely filtering the liquid in the water collection area, a disinfection area for disinfecting the liquid in the filtration area, and a water storage area for storing the liquid in the disinfection area. The first partition, the second partition, and the third partition are all provided with first through holes, and the water collection area, the filtration area, the disinfection area, and the water storage area are communicated through the first through holes. An electronic check valve is fixedly provided in the first through hole, and the liquid sequentially passes through the water collection area, the filtration area, the disinfection area, and the water storage area under the action of the electronic check valve. A filter block for filtering is detachably installed in the filtration area, and a disinfection device is fixedly provided in the disinfection area; a control unit for controlling the operation of the moving component, the spraying component, and the rolling brush component is fixedly provided on the mobile base, and the electronic check valve is electrically connected to the control unit.

[0007] Further, the spraying assembly includes a central box and spray heads. The central box is fixedly arranged on one side of the mounting plate and extends along the extension direction of the mounting plate. There are multiple spray heads, which are evenly arranged along the extension direction of the mounting plate. The mounting plate is provided with second through holes corresponding to each spray head one by one and allowing the spray heads to pass through. After passing through the second through holes, each spray head is communicated with the central box; a first slot is provided on the side wall of the moving base. A supercharger with a water inlet and a water outlet is arranged in the first slot. A third through hole allowing the water inlet of the supercharger to pass through and a fourth through hole allowing the water outlet of the supercharger to pass through are provided on the inner upper part of the first slot; a first connecting pipe is also provided. A first electric check valve is provided through the collecting box, which communicates with the water storage area and can form a detachable fixed connection with one end of the first connecting pipe and communicates with the inside of the collecting box. The water inlet of the supercharger is detachably fixedly connected to the other end of the first connecting pipe. The water inlet of the supercharger forms a communication with the water storage area through the detachable connection of one end of the first connecting pipe with the first electric check valve and the detachable connection of the other end of the first connecting pipe with the water inlet of the supercharger; a second connecting pipe is also provided. A second electric check valve is provided through the central box, which can form a detachable fixed connection with one end of the second connecting pipe and communicates with the inside of the central box. The water outlet of the supercharger can form a detachable fixed connection with the other end of the second connecting pipe. The water outlet of the supercharger communicates with the central box through the detachable connection of the second electric check valve with one end of the second connecting pipe and the detachable connection of the other end of the second connecting pipe with the water outlet of the supercharger; the liquid in the water storage area is sprayed out from each spray head after passing through the first connecting pipe, the supercharger, the second connecting pipe and the central box; the first electric check valve, the second electric check valve and the supercharger are electrically connected to the control unit.

[0008] Further, the rolling brush assembly includes a first support plate, a rotating roller, rolling brush hairs and a rotation driving device. There are two first support plates, which are fixedly arranged at both ends of the mounting plate extending along the extension direction of the support arm. Both ends of the rotating roller are rotatably arranged on the two first support plates. The rolling brush hairs are evenly arranged along the extension direction of the rotating roller. One of the two ends of the rotating roller penetrates out of the corresponding first support plate where it is rotatably arranged. The rotation driving device is fixedly arranged on the first support plate through which the rotating roller penetrates. The driving end of the rotation driving device is fixedly connected to the end of the rotating roller that penetrates out of the first support plate. The rolling brush hairs roll-brush the surface of the photovoltaic module through the driving of the rotation driving device and the rotation of the rotating roller; the rotation driving device is electrically connected to the control unit.

[0009] Further, the scraping assembly includes a second support plate and a scraping strip. There are two second support plates, which are fixedly arranged at both ends of the mounting plate extending along the extension direction of the support arm. Both ends of the scraping strip are fixedly arranged on the two first support plates. A guiding inclined surface for adapting to the surface of the photovoltaic module and guiding the flow of water is provided at the lower end of the scraping strip. The upper end of the guiding inclined surface extends towards the mounting plate, and the lower end of the guiding inclined surface extends towards the ground.

[0010] Further, the moving assembly includes a mounting seat, a crawler belt, and a moving driving motor. There are two mounting seats, which are fixedly arranged in parallel at the bottom of the moving base. Each mounting seat is provided with a through groove extending along the extension direction of the mounting seat. A plurality of driving gears extending along the extension direction of the through groove and capable of forming a driving engagement with the crawler belt are rotatably arranged inside the through groove. The crawler belt is arranged in the through groove through driving engagement with the driving gears. Each mounting seat is equipped with two of the moving driving motors. The two moving driving motors can drive in the same direction and at the same speed simultaneously. The two moving driving motors are arranged corresponding to the two driving gears closest to both ends of the through groove among the plurality of driving gears. The driving ends of the two moving driving motors are respectively fixedly connected to the two driving gears. The crawler belt is rotatably arranged in the through groove through the driving of the moving driving motors and driving engagement with each driving gear. Each moving driving motor is electrically connected to the control unit.

[0011] Further, a first driving cylinder is provided at the driving end of the lifting driving device. The telescopic end of the first driving cylinder is fixedly connected to the support arm. The support rod is rotatably connected to the driving end of the lifting driving device through a rotating member. The support arm forms an adjustable rotation on the driving end of the lifting driving device through the telescopic driving of the first driving cylinder. The first driving cylinder is electrically connected to the control unit.

[0012] Further, a second driving cylinder is fixedly arranged on the support arm. A first rotating part is fixedly arranged on the mounting plate. A second rotating part capable of forming a rotating fit with the first rotating part is provided on the support arm. The mounting plate is rotationally connected to the support arm through the rotating fit of the first rotating part and the second rotating part. The driving end of the second driving cylinder is fixedly connected to the first rotating part. The mounting plate forms an adjustable rotation through the driving of the second driving cylinder and the rotational connection with the support arm. The second driving cylinder is electrically connected to the control unit.

[0013] Further, distance measuring instruments for detecting the distance from the photovoltaic module are fixedly arranged at both ends of the mounting plate extending along the extension direction of the support arm. The distance measuring instruments are electrically connected to the control unit.

[0014] Further, a water level sensor for detecting the water level and a water quality monitor for monitoring the water quality are fixedly provided on the collection tank, and both the water level sensor and the water quality monitor are located in the water storage area; a coarse filter screen for blocking larger suspended solids is fixedly provided in the water collection area, and an alarm for detecting the accumulation degree of suspended solids and for sending an alarm prompt is also provided in the water collection area; the water level sensor, the water quality monitor and the alarm are all electrically connected to the control unit.

[0015] Further, a second slot is provided on the side wall of the mobile base, and a main control power supply is fixedly provided in the second slot, and the main control power supply is electrically connected to the control unit; a solar panel for charging the main control power supply is fixedly provided on the mobile base.

[0016] The present invention has positive effects: (1) The moving component of the present invention drives the mobile base to move, drives the mounting plate to extend along the extension direction of the photovoltaic module for movement, and the spraying component, the brush roller component and the scraping and cleaning component on the mounting plate sequentially spray, brush and scrape the surface of the photovoltaic module. The liquid after spraying enters the collection tank, and the liquid after spraying enters the water storage area after passing through the water collection area, the filtration area and the disinfection area. Through the setting of the collection tank, the used liquid can be collected and recycled, which is convenient for the recycling of water and can reduce the water consumption during cleaning.

[0017] (2) The support arm of the present invention rotates on the driving end of the lifting driving device under the driving of the first driving cylinder, and the mounting plate rotates on the support arm under the driving of the second driving cylinder. The mounting plate can be lifted or lowered under the driving of the lifting driving device and the first driving cylinder. The mounting plate can be rotated under the driving of the second driving cylinder to be parallel to the surface of the photovoltaic module. At the same time, the rotation of the support plate and the rotation of the mounting plate can enable the mounting plate to have a larger movement angle, so as to adapt to photovoltaic modules with different installation angles; the parallel setting of the mounting plate and the surface of the photovoltaic module can make the spraying area and spraying force of the spraying component on the mounting plate reach the most suitable position, which is convenient for the spraying angle of the spraying component to clean the dead corners to the greatest extent.

[0018] (3) The spraying component and the brush roller component of the present invention are used in cooperation. The spraying component sprays a gas-water mixture, and the gas-water mixture covers each other, which is convenient for cleaning and prevents the dead corners from not being cleaned properly; after the spraying is finished, the brush roller component is started. The brush roller component is located below the spraying device and uses the brush roller hair to scrape and wash, and the surface of the component is scraped and washed clean. Then, the surface of the photovoltaic module is wiped clean by the scraping and cleaning component to prevent sewage residue, so that the cleaning effect is the best; the setting of the spray head can make the cleaning more in place, prevent secondary contamination, save water and save costs.

[0019] (4) The scraping assembly of the present invention comprises a second support plate and a scraping strip. The lower end of the scraping strip is provided with a guiding slope for adapting to the surface of the photovoltaic module and for guiding the flow of water. The upper end of the guiding slope extends toward the mounting plate, and the lower end of the guiding slope extends toward the ground. The scraping strip can wipe the photovoltaic module comprehensively and efficiently, thereby ensuring the overall cleanliness of the photovoltaic module. It is convenient and practical.

[0020] (5) The crawler tracks of the present invention have a larger force-bearing area and lower pressure than four-wheel drive. The crawler tracks can operate normally in the sand and can also climb over some smaller obstacles. The connection between each connection groove and the bracket on the photovoltaic module is guided and positioned. The guide rollers in each connection groove can assist the mobile base in positioning and can also assist in guiding the movement of the mobile base. It is convenient and practical.

[0021] (6) A water level sensor for detecting the water level and a water quality monitor for monitoring the water quality are fixedly provided on the collection box of the present invention, and both the water level sensor and the water quality monitor are located in the water storage area; a coarse filter for blocking larger suspended matter is fixedly provided in the water collection area, and an alarm for detecting the degree of suspended matter accumulation and for issuing an alarm prompt is also provided in the water collection area; the water level sensor and the water quality monitor can detect the flow rate and quality of water entering the water storage area, thereby detecting whether the filter block and the disinfection device need to be processed.

[0022] (7) The mounting plate of the present invention is provided with a distance meter fixedly disposed on both ends thereof extending along the extension direction of the support arm for detecting the distance to the photovoltaic module. The distance meter can judge the distance to the photovoltaic module, thereby enabling the mounting plate to be better parallel to the surface of the photovoltaic module, thereby improving the cleaning accuracy and effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is an overall top view of the present invention; Figure 3 It is a structural schematic diagram of the mobile base part of the present invention; Figure 4 A side view of a mobile base portion of the present invention; Figure 5 A front view of a mobile base portion of the present invention; Figure 6 It is a schematic diagram of the overall structure of the collection box part of the present invention; Figure 7Schematic diagram of the cooperation state of the first rotating part and the second rotating part of the present invention.

[0024] In the figure, mobile base: 1, lifting drive device: 11, first drive cylinder: 111, first slot: 12, first sealing door: 121, second slot: 13, second sealing door: 131, solar panel: 14, mobile component: 2, mounting seat: 21, crawler: 22, mobile drive motor: 23, support arm: 3, second drive cylinder: 31, second rotating part: 32, mounting plate: 4, first rotating part: 41, rangefinder: 42, spraying component: 5, centralized box: 51, spray head: 52, rolling brush component: 6, first support plate: 61, rotating roller: 62, rolling brush hair: 63, rotating drive device: 64, scraping and cleaning component: 7, second support plate: 71, scraping strip: 72, pressure sensor: 721, collection box: 8, first partition: 81, second partition: 82, third partition: 83, water collection area: 84, filtration area: 85, disinfection area: 86, water storage area: 87, coarse filter screen: 88, cover plate: 89, guiding plate: 8-1, electronic check valve: 9, filter block: a, disinfection device: b, supercharger: c, first connecting pipe: d, first electric one-way valve: e, second connecting pipe: f, second electric one-way valve: g, drive gear: h, total control power supply: i, water level sensor: j, water quality monitor: k, alarm: L. Detailed implementation manners

[0025] See Figures 1 to 7, the present invention has a mobile base 1; a moving component 2 is provided at the bottom of the mobile base 1, and the mobile base 1 moves along the arrangement direction of the photovoltaic modules through the moving component 2; a lifting drive device 11 is fixedly provided at the top of the mobile base 1, and one end of a support arm 3 is rotatably connected to the drive end of the lifting drive device 11. The other end of the support arm 3 is rotatably provided with a mounting plate 4 extending along the extension direction of the support arm 3 at both ends. A spraying component 5 for spraying the surface of the photovoltaic module, a rolling brush component 6 for rolling the surface of the photovoltaic module after spraying, and a scraping component 7 for scraping the liquid remaining on the surface of the photovoltaic module after rolling are provided on the mounting plate 4. The spraying component 5, the rolling brush component 6, and the scraping component 7 wash, roll, and wipe the surface of the photovoltaic module through the movement of the mobile base 1; a collection tank 8 for collecting, treating, and recycling the liquid sprayed on the surface of the photovoltaic module is also provided. The collection tank 8 extends along the arrangement direction of the photovoltaic modules. A first partition 81, a second partition 82, and a third partition 83 are fixedly provided in the collection tank 8. The interior of the collection tank 8 is divided by the first partition 81, the second partition 82, and the third partition 83 into a water collection area 84 for collecting the liquid sprayed on the surface of the photovoltaic module, a filtration area 85 for finely filtering the liquid in the water collection area 84, a disinfection area 86 for disinfecting the liquid in the filtration area 85, and a water storage area 87 for storing the liquid in the disinfection area 86. First through holes are provided on the first partition 81, the second partition 82, and the third partition 83. The water collection area 84, the filtration area 85, the disinfection area 86, and the water storage area 87 are communicated through the first through holes. An electronic check valve 9 is fixedly provided in the first through hole. The liquid sequentially passes through the water collection area 84, the filtration area 85, the disinfection area 86, and the water storage area 87 under the action of the electronic check valve 9. A filter block a for filtration is detachably installed in the filtration area 85, and a disinfection device b is fixedly provided in the disinfection area 86; a control unit for controlling the operation of the moving component 2, the spraying component 5, and the rolling brush component 6 is fixedly provided on the mobile base 1. The electronic check valve 9 is electrically connected to the control unit.

[0026] The mobile base 1 and the collection tank 8 are respectively located on both sides of the photovoltaic module.

[0027] A chute extending towards the bottom of the collection tank 8 is provided on the side wall in the filtration area 85. The filter block a includes a sand filter layer, an activated carbon filter layer, and a HEPA filter layer. The sand filter layer, the activated carbon filter layer, and the HEPA filter layer are pressed against each other to form an integral body. A slider that can form a sliding fit with the chute is fixedly provided on the side surface of the filter block a. The filter block a is slidably arranged in the filtration area 85 through the sliding fit of the slider and the chute. A magnetic attraction block is fixedly provided on the slider, and a attracted block that can form a magnetic attraction fit with the magnetic attraction block is fixedly provided in the chute. The filter block a is fixed in the filtration area 85 through the magnetic attraction fit of the magnetic attraction block and the attracted block.

[0028] A guide plate 8-1 extending along the extension direction of the collection box 8 is fixedly arranged on the collection box 8. The guide plate 8-1 is fixedly arranged in the water collection area 84. The lower end of the guide plate 8-1 faces the inside of the water collection area 84, and the upper end of the guide plate 8-1 extends towards the outside of the collection box 8. The liquid sprayed from the spray head 52 onto the surface of the photovoltaic module will flow to the guide plate 8-1 after flowing, and the liquid will enter the water collection area 84 to the greatest extent under the guidance of the guide plate 8-1.

[0029] The spraying assembly 5 includes a centralized box 51 and spray heads 52. The centralized box 51 is fixedly arranged on one side of the mounting plate 4 and extends along the extension direction of the mounting plate 4. A plurality of spray heads 52 are arranged uniformly along the extension direction of the mounting plate 4. Second through holes corresponding to each spray head 52 one by one and allowing the spray heads 52 to pass through are provided on the mounting plate 4. After passing through the second through holes, each spray head 52 is communicated with the centralized box 51. A first slot 12 is provided on the side wall of the moving base 1. A supercharger c with a water inlet and a water outlet is arranged in the first slot 12. A third through hole allowing the water inlet of the supercharger c to pass through and a fourth through hole allowing the water outlet of the supercharger c to pass through are provided on the inner part of the first slot 12. A first connecting pipe d is also provided. A first electric one-way valve e penetrating through the collection box 8, communicating with the water storage area 87, and capable of forming a detachable fixed connection with one end of the first connecting pipe d and communicating with the inside of the collection box 8 is provided. The water inlet of the supercharger c is detachably fixedly connected with the other end of the first connecting pipe d. The water inlet of the supercharger c forms a communication with the water storage area 87 through the detachable connection of one end of the first connecting pipe d with the first electric one-way valve e and the detachable connection of the other end of the first connecting pipe d with the water inlet of the supercharger c. A second connecting pipe f is also provided. A second electric one-way valve g penetrating through the centralized box 51 and capable of forming a detachable fixed connection with one end of the second connecting pipe f and communicating with the inside of the centralized box 51 is provided. The water outlet of the supercharger c can be detachably fixedly connected with the other end of the second connecting pipe f. The water outlet of the supercharger c is communicated with the centralized box 51 through the detachable connection of one end of the second connecting pipe f with the second electric one-way valve g and the detachable connection of the other end of the second connecting pipe f with the water outlet of the supercharger c. The liquid in the water storage area 87 is sprayed out from each spray head 52 after passing through the first connecting pipe d, the supercharger c, the second connecting pipe f, and the centralized box 51. The first electric one-way valve e, the second electric one-way valve g, and the supercharger c are electrically connected to the control unit.

[0030] The detachable connection structures of the first connecting pipe d and the first electric check valve e, the detachable connection structure of the first connecting pipe d and the water inlet of the supercharger c, the detachable connection structure of the second connecting pipe f and the second electric check valve g, and the detachable connection structure of the first connecting pipe d and the water outlet of the supercharger c are quick-release block structures existing in the prior art, and the specific structures will not be described in detail here.

[0031] The brush roller assembly 6 includes a first support plate 61, a rotating roller 62, brush hairs 63, and a rotation driving device 64. There are two first support plates 61, and the two first support plates 61 are fixedly arranged at both ends of the mounting plate 4 extending along the extension direction of the support arm 3. Both ends of the rotating roller 62 are rotatably arranged on the two first support plates 61. The brush hairs 63 are uniformly arranged along the extension direction of the rotating roller 62. One of the two ends of the rotating roller 62 penetrates through the corresponding first support plate 61 where it is rotatably arranged. The rotation driving device 64 is fixedly arranged on the first support plate 61 through which the rotating roller 62 penetrates. The driving end of the rotation driving device 64 is fixedly connected to the end of the rotating roller 62 that penetrates through the first support plate 61. The brush hairs 63 brush the surface of the photovoltaic module through the driving of the rotation driving device 64 and the rotation of the rotating roller 62; the rotation driving device 64 is electrically connected to the control unit.

[0032] The scraping and cleaning assembly 7 includes a second support plate 71 and a scraping strip 72. There are two second support plates 71, and the two first support plates 61 are fixedly arranged at both ends of the mounting plate 4 extending along the extension direction of the support arm 3. Both ends of the scraping strip 72 are fixedly arranged on the two first support plates 61 respectively; a guiding inclined surface for adapting to the surface of the photovoltaic module and guiding the flow of water is provided at the lower end of the scraping strip 72. The upper end of the guiding inclined surface extends towards the mounting plate 4, and the lower end of the guiding inclined surface extends towards the ground; a pressure sensor 721 is fixedly arranged on the scraping strip 72, and the sensing end of the pressure sensor 721 extends to the lowermost end of the scraping strip 72. The pressure sensor 721 is electrically connected to the control unit.

[0033] The moving component 2 includes a mounting base 21, a crawler 22, and a moving drive motor 23. There are two mounting bases 21, and the two mounting bases 21 are fixedly arranged in parallel at the bottom of the moving base 1; each mounting base 21 is provided with a through groove extending along the extension direction of the mounting base 21. Inside the through groove, a plurality of drive gears h extending along the extension direction of the through groove and capable of forming a driving engagement with the crawler 22 are rotatably provided. The crawler 22 is arranged in the through groove through the driving engagement with the drive gears h; two of the moving drive motors 23 are provided on each mounting base 21. The two moving drive motors 23 can be driven in the same direction and at the same speed simultaneously. The two moving drive motors 23 are arranged corresponding to the two drive gears h closest to the two ends of the through groove among the plurality of drive gears h. The drive ends of the two moving drive motors 23 are respectively fixedly connected to the two drive gears h; the crawler 22 is rotatably arranged in the through groove through the drive of the moving drive motor 23 and the driving engagement with each drive gear h; each moving drive motor 23 is electrically connected to the control unit.

[0034] A first driving cylinder 111 is provided on the drive end of the lifting drive device 11. The telescopic end of the first driving cylinder 111 is fixedly connected to the support arm 3. The support rod is rotatably connected to the drive end of the lifting drive device 11 through a rotating member. The support arm 3 forms an adjustable rotation on the drive end of the lifting drive device 11 through the telescopic drive of the first driving cylinder 111. The first driving cylinder 111 is electrically connected to the control unit; the rotating member can adopt a sliding bearing type rotating pair or a rolling bearing type rotating pair, and its structure is prior art, and the specific structure will not be described in detail here.

[0035] A second driving cylinder 31 is fixedly provided on the support arm 3. A first rotating portion 41 is fixedly provided on the mounting plate 4. A second rotating portion 32 capable of forming a rotating fit with the first rotating portion 41 is provided on the support arm 3. The mounting plate 4 is rotatably connected to the support arm 3 through the rotating fit between the first rotating portion 41 and the second rotating portion 32. The drive end of the second driving cylinder 31 is fixedly connected to the first rotating portion 41. The mounting plate 4 forms an adjustable rotation through the drive of the second driving cylinder 31 and the rotating connection with the support arm 3. The second driving cylinder 31 is electrically connected to the control unit; after the first rotating portion 41 and the second rotating portion 32 are rotatably connected, a sliding bearing type rotating pair or a rolling bearing type rotating pair is formed.

[0036] The driving of the above-mentioned first driving cylinder 111, second driving cylinder 31, and the drive of the lifting drive device 11 can enable the mounting plate 4 to rotate and move to more and more precise angles.

[0037] On both ends of the mounting plate 4 extending along the extending direction of the support arm 3, distance measuring instruments 42 for detecting the distance from the photovoltaic module are fixedly provided, and the distance measuring instruments 42 are electrically connected to the control unit; when the distances detected by the distance measuring instruments 42 at both ends from the photovoltaic module differ greatly, the control unit controls the second driving cylinder 31 to drive the mounting plate 4 to rotate, and the rotated mounting plate 4 can make the distances detected by the distance measuring instruments 42 at both ends from the photovoltaic module consistent.

[0038] A water level sensor j for detecting the water level and a water quality monitor k for monitoring the water quality are fixedly provided on the collection box 8, and both the water level sensor j and the water quality monitor k are located in the water storage area 87; a coarse filter screen 88 for blocking larger suspended solids is fixedly provided in the water collection area 84, and an alarm L for detecting the accumulation degree of suspended solids and giving an alarm prompt is also provided in the water collection area 84; the water level sensor j, the water quality monitor k and the alarm L are all electrically connected to the control unit.

[0039] A second slot 13 is provided on the side wall of the mobile base 1, and a total control power supply i is fixedly provided in the second slot 13, and the total control power supply i is electrically connected to the control unit; a solar panel 14 for charging the total control power supply i is fixedly provided on the mobile base 1.

[0040] The above-mentioned first slot 12 and second slot 13 are respectively fixedly provided with a first sealing door 121 and a second sealing door 131 for closing.

[0041] A cover plate 89 for closing the filtering area 85, the disinfection area 86 and the water storage area 87 is rotatably provided on the collection box 8, and the cover plate 89 can prevent impurities and waste from entering the collection box 8.

[0042] Working principle of the present invention: By controlling the rise of the driving end of the lifting driving device 11, the mounting plate 4 is lifted above the photovoltaic module. The control unit drives the telescopic end of the first driving cylinder 111 to extend and retract. After the telescopic end of the first driving cylinder 111 extends and retracts, it drives the support arm 3 to rotate. The rotated support arm 3 moves the mounting plate 4 as close as possible to the photovoltaic module. At this time, two distance measuring instruments 42 on the mounting plate 4 measure the distance to the surface of the photovoltaic module. The control unit controls the telescopic end of the second driving cylinder 31 to extend and retract. After the telescopic end of the first driving cylinder 111 extends and retracts, it drives the first rotating part 41 to rotate. After the first rotating part 41 rotates, it drives the mounting plate 4 to rotate. During the rotation of the mounting plate 4, the distance measuring instrument 42 continuously measures until the measured distances of the two distance measuring instruments 42 are the same, and then the second driving cylinder 31 stops operating. The control unit controls the driving end of the lifting driving device 11 to descend. The descent of the driving end of the lifting driving device 11 drives the scraping strip 72 to contact the surface of the photovoltaic module. When the pressure sensor 721 senses a pressure value, the control unit controls the driving end of the lifting driving device 11 to stop descending; Put a cleaning liquid in the water storage area 87 of the collection box 8. The liquid enters the first connecting pipe d through the first electric check valve e. The liquid enters the water inlet of the booster c under the connection of the first connecting pipe d. After being pressurized by the booster c, the liquid enters the second connecting pipe f from the water outlet of the booster c. The liquid entering the second connecting pipe f enters the centralized box 51 through the second electronic check valve. The liquid simultaneously sprays the surface of the photovoltaic module through each spray head 52. During this process, the control unit controls the opening and closing of the first electric check valve e and the second electric check valve g. When spraying, the control unit controls the first electric check valve e, the second electric check valve g and the booster c to open. When not spraying, the control unit controls the first electric check valve e, the second electric check valve g and the booster c to close; After the spray head 52 sprays, the rotation driving device 64 drives the rotating roller 62 to roll. The rolling rotating roller 62 drives the rolling brush hair 63 to roll-brush the surface of the sprayed photovoltaic module, evenly rolling the liquid on the surface of the photovoltaic module. At the same time, the rolling brush hair 63 drives the liquid to brush the surface of the photovoltaic module. During this process, when the control unit controls the first electric check valve e and the second electric check valve g to open, the control unit simultaneously controls the rotation driving device 64 to start operating. When the control unit controls the first electric check valve e and the second electric check valve g to close, the control unit simultaneously controls the rotation driving device 64 to stop operating; During the spraying by the spray head 52 and the brushing by the roller brush 63, the moving drive motor 23 drives the drive gear h to rotate. During the rotation of the drive gear h, it engages with the crawler 22 to rotate. The crawler 22 rotates under the drive of the moving drive motor 23 and the meshing transmission with the drive gear h. The moving base 1 can move under the rotation of the crawler 22, and the moving moving base 1 can drive the mounting plate 4 to move; during this process, when the control unit controls the operation of the moving drive motor 23, the control unit simultaneously controls the first electric check valve e, the second electric check valve g, the supercharger c, and the rotation drive device 64 to operate. When the control unit controls the moving drive motor 23 to stop operating, the control unit simultaneously controls the first electric check valve e, the second electric check valve g, the supercharger c, and the rotation drive device 64 to stop operating; During the movement of the mounting plate 4 along with the moving base 1, the scraping strip 72 scrapes on the surface of the photovoltaic module. After the scraping strip 72 scrapes the liquid remaining on the surface of the photovoltaic module, the liquid flows along the extending direction of the scraping strip 72 and flows into the water collection area 84; The liquid flowing down from the surface of the photovoltaic module and scraped off by the scraping strip 72 enters the water collection area 84. The used liquid sequentially passes through the filtration area 85, the disinfection area 86, and the water storage area 87 under the action of the electronic check valve 9; the used liquid forms a filtration after passing through the sand filter layer, the activated carbon filter layer, and the HEPA filter layer in the filtration area 85 in sequence. The filtered liquid enters the disinfection area 86. The disinfection device b uses ultraviolet disinfection or ozone disinfection, and the disinfected liquid enters the water storage area 87 for storage; during this process, the water level sensor j detects the water level height in the water storage area 87 and transmits the value to the control unit. The control unit judges whether to control the opening and closing of the electronic check valve 9 according to the value. The water quality monitor k detects the water quality in the water storage area 87 and transmits the value to the control unit. The control unit judges whether to issue the replacement of the filter block a and the maintenance of the disinfection device b according to the value. At the same time, the alarm L located in the water collection area 84 detects the accumulation degree of suspended matter and transmits the detection result to the control unit. The control unit judges whether to issue an alarm to prompt the cleaning of the coarse filter screen 88 according to the result.

[0043] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cleaning robot for photovoltaic use, having a mobile base (1); characterized in that: The bottom of the mobile base (1) is provided with a moving component (2), and the mobile base (1) moves along the arrangement direction of the photovoltaic modules through the moving component (2); a lifting driving device (11) is fixedly arranged on the top of the mobile base (1), one end of a support arm (3) is rotatably connected to the driving end of the lifting driving device (11), the other end of the support arm (3) is rotatably provided with a mounting plate (4) whose two ends extend along the extending direction of the support arm (3), a spraying component (5) for spraying the surface of the photovoltaic module, a rolling brush component (6) for rolling the surface of the photovoltaic module after spraying, and a scraping component (7) for scraping the liquid remaining on the surface of the photovoltaic module after rolling are arranged on the mounting plate (4), and the spraying component (5), the rolling brush component (6) and the scraping component (7) wash, roll and wipe the surface of the photovoltaic module through the movement of the mobile base (1); a collection box (8) for collecting, processing and recycling the liquid sprayed on the surface of the photovoltaic module is also provided, the collection box (8) extends along the arrangement direction of the photovoltaic modules, a first partition plate (81), a second partition plate (82) and a third partition plate (83) are fixedly arranged in the collection box (8), the interior of the collection box (8) is divided by the first partition plate (81), the second partition plate (82) and the third partition plate (83) into a water collection area (84) for collecting the liquid sprayed on the surface of the photovoltaic module, a filtration area (85) for finely filtering the liquid in the water collection area (84), a disinfection area (86) for disinfecting the liquid in the filtration area (85), and a water storage area (87) for storing the liquid in the disinfection area (86), the first partition plate (81), the second partition plate (82) and the third partition plate (83) are all provided with first through holes, the water collection area (84), the filtration area (85), the disinfection area (86) and the water storage area (87) are communicated through the first through holes, an electronic check valve (9) is fixedly arranged in the first through hole, the liquid sequentially passes through the water collection area (84), the filtration area (85), the disinfection area (86) and the water storage area (87) under the action of the electronic check valve (9), a filter block (a) for filtration is detachably installed in the filtration area (85), and a disinfection device (b) is fixedly arranged in the disinfection area (86).

2. The cleaning robot for photovoltaic use according to claim 1, wherein: The spray assembly (5) includes a centralized box (51) and spray nozzles (52). The centralized box (51) is fixedly arranged on one side of the mounting plate (4) and extends along the extension direction of the mounting plate (4). A plurality of spray nozzles (52) are provided and arranged uniformly along the extension direction of the mounting plate (4). The mounting plate (4) is provided with second through holes corresponding to each spray nozzle (52) one by one and through which the spray nozzles (52) can pass. After passing through the second through holes, each spray nozzle (52) is communicated with the centralized box (51); a first slot (12) is provided on the side wall of the moving base (1). A pressure booster (c) with a water inlet and a water outlet is arranged in the first slot (12). A third through hole through which the water inlet of the pressure booster (c) can pass and a fourth through hole through which the water outlet of the pressure booster (c) can pass are provided on the inner part of the first slot (12); a first connecting pipe (d) is also provided. A first electric check valve (e) which penetrates through the collection box (8) and communicates with the water storage area (87) and can form a detachable fixed connection with one end of the first connecting pipe (d) and communicates with the inside of the collection box (8) is provided. The water inlet of the pressure booster (c) is detachably fixedly connected to the other end of the first connecting pipe (d). The water inlet of the pressure booster (c) forms a communication with the water storage area (87) through the detachable connection of one end of the first connecting pipe (d) with the first electric check valve (e) and the detachable connection of the other end of the first connecting pipe (d) with the water inlet of the pressure booster (c); a second connecting pipe (f) is also provided. A second electric check valve (g) which penetrates through the centralized box (51) and can form a detachable fixed connection with one end of the second connecting pipe (f) and communicates with the inside of the centralized box (51) is provided. The water outlet of the pressure booster (c) can form a detachable fixed connection with the other end of the second connecting pipe (f). The water outlet of the pressure booster (c) is communicated with the centralized box (51) through the detachable connection of the water outlet of the pressure booster (c) with one end of the second connecting pipe (f) through the second electric check valve (g) and the detachable connection of the other end of the second connecting pipe (f) with the water outlet of the pressure booster (c); the liquid in the water storage area (87) is sprayed out from each spray nozzle (52) after passing through the first connecting pipe (d), the pressure booster (c), the second connecting pipe (f) and the centralized box (51).

3. A cleaning robot for photovoltaic use according to claim 1, characterized in that: The rolling brush assembly (6) includes a first support plate (61), a rotating roller (62), rolling brush bristles (63), and a rotating drive device (64). There are two first support plates (61), and the two first support plates (61) are fixedly arranged at both ends of the mounting plate (4) extending along the extension direction of the support arm (3). Both ends of the rotating roller (62) are rotatably arranged on the two first support plates (61). The rolling brush bristles (63) are uniformly arranged along the extension direction of the rotating roller (62). One end of the two ends of the rotating roller (62) penetrates through the corresponding first support plate (61) on which it is rotatably arranged. The rotating drive device (64) is fixedly arranged on the first support plate (61) through which the rotating roller (62) penetrates. The drive end of the rotating drive device (64) is fixedly connected to the end of the rotating roller (62) that penetrates through the first support plate (61). The rolling brush bristles (63) roll-brush the surface of the photovoltaic module through the drive of the rotating drive device (64) and the rotation of the rotating roller (62).

4. A cleaning robot for photovoltaic use according to claim 1, characterized in that: The scraping and cleaning assembly (7) includes a second support plate (71) and a scraping strip (72). There are two second support plates (71), and the two first support plates (61) are fixedly arranged at both ends of the mounting plate (4) extending along the extension direction of the support arm (3). Both ends of the scraping strip (72) are fixedly arranged on the two first support plates (61); a guiding inclined surface for adapting to the surface of the photovoltaic module and guiding the flow of water is provided at the lower end of the scraping strip (72). The upper end of the guiding inclined surface extends towards the mounting plate (4), and the lower end of the guiding inclined surface extends towards the ground.

5. The cleaning robot for photovoltaic use according to claim 1, wherein: The moving assembly (2) includes a mounting seat (21), a crawler belt (22), and a moving drive motor (23). There are two mounting seats (21), and the two mounting seats (21) are fixedly arranged in parallel at the bottom of the moving base (1); each mounting seat (21) is provided with a through groove extending along the extension direction of the mounting seat (21). A plurality of drive gears (h) extending along the extension direction of the through groove and capable of forming a transmission engagement with the crawler belt (22) are rotatably arranged inside the through groove. The crawler belt (22) is arranged in the through groove through the transmission engagement with the drive gears (h); two of the moving drive motors (23) are provided on each mounting seat (21). The two moving drive motors (23) can drive in the same direction and at the same speed simultaneously. The two moving drive motors (23) are arranged corresponding to the two drive gears (h) closest to both ends of the through groove among the plurality of drive gears (h). The drive ends of the two moving drive motors (23) are respectively fixedly connected to the two drive gears (h); the crawler belt (22) is rotatably arranged in the through groove through the drive of the moving drive motor (23) and the transmission engagement with each drive gear (h).

6. The cleaning robot for photovoltaic use according to claim 1, characterized in that: A first driving cylinder (111) is provided on the driving end of the lifting driving device (11). The telescopic end of the first driving cylinder (111) is fixedly connected to the support arm (3). The support rod is rotationally connected to the driving end of the lifting driving device (11) through a rotating member. The support arm (3) forms an adjustable rotation on the driving end of the lifting driving device (11) through the telescopic drive of the first driving cylinder (111).

7. A cleaning robot for photovoltaic use according to claim 1, wherein: A second driving cylinder (31) is fixedly provided on the support arm (3). A first rotating portion (41) is fixedly provided on the mounting plate (4). A second rotating portion (32) that can form a rotational fit with the first rotating portion (41) is provided on the support arm (3). The mounting plate (4) is rotationally connected to the support arm (3) through the rotational fit of the first rotating portion (41) and the second rotating portion (32). The driving end of the second driving cylinder (31) is fixedly connected to the first rotating portion (41). The mounting plate (4) forms an adjustable rotation through the drive of the second driving cylinder (31) and the rotational connection with the support arm (3).

8. The cleaning robot for photovoltaic use according to claim 1, wherein: Distance measuring instruments (42) for detecting the distance from the photovoltaic module are fixedly provided at both ends of the mounting plate (4) extending along the extending direction of the support arm (3).

9. The cleaning robot for a photovoltaic device according to claim 1, wherein: A water level sensor (j) for detecting the water level and a water quality monitor (k) for monitoring the water quality are fixedly provided on the collection box (8). The water level sensor (j) and the water quality monitor (k) are both located in the water storage area (87). A coarse filter screen (88) for blocking larger suspended matters is fixedly provided in the water collection area (84). An alarm (L) for detecting the accumulation degree of suspended matters and for giving an alarm prompt is also provided in the water collection area (84).

10. A cleaning robot for photovoltaic use according to claim 1, characterized in that: A second slot (13) is provided on the side wall of the moving base (1). A total control power supply (i) is fixedly provided in the second slot (13). A solar panel (14) for charging the total control power supply (i) is fixedly provided on the moving base (1).

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