Unmanned photovoltaic cleaning robot

Abstract

The invention relates to the technical field of photovoltaic cleaning, and discloses an unmanned photovoltaic cleaning robot which comprises a vehicle frame, a water tank and a high-pressure water pump are arranged in the vehicle frame, a walking wheel set is arranged below the vehicle frame, a mounting frame is arranged on one side of the vehicle frame, and a sliding table is slidably connected to the mounting frame; the washing assembly is used for washing the photovoltaic panel; and the guide assembly is used for improving the working stability of the flushing assembly. Through cooperation of the vehicle frame, the moving wheel set and the flushing assembly, the vehicle frame can drive the flushing assembly to clean a photovoltaic panel in an automatic driving mode, a first spray head sprays water out in a rotating mode so as to improve the impact force of water flow, and multiple scraping strips can remove dirt on the surface of the photovoltaic panel through small-amplitude reciprocating motion; and the photovoltaic panel is cleaned for the second time through the cleaning strip, final washing is conducted through the second spray head, and multi-step automatic cleaning is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning, and in particular to an unmanned photovoltaic cleaning robot. Background Art

[0002] During long-term use, a large amount of dust is easily deposited on the surface of photovoltaic panels, and the energy conversion capacity of the photovoltaic panels decreases. Therefore, the photovoltaic panels need to be cleaned regularly to improve the working efficiency of the photovoltaic panels. The current methods for cleaning photovoltaic panels are roughly divided into manual cleaning and mechanical cleaning. Manual cleaning is more troublesome and time-consuming, the labor intensity of the staff is high, and there are certain safety hazards. The mechanical cleaning method mostly uses a water truck and a spray device to flush by spraying water.

[0003] Chinese patent CN220479491U discloses a "photovoltaic panel cleaning robot", which includes a movable frame, a cleaning component and two brackets, and the two brackets are arranged at intervals. The movable frame is arranged between the two brackets, and the movable frame is rotatably connected to the two brackets respectively. The cleaning component is arranged between the two brackets, and the cleaning component is connected to the movable frame. The cleaning component has at least two roller brushes, and each roller brush is arranged in sequence along the walking direction of the photovoltaic panel cleaning robot. The movable frame of this patent is rotatably connected to the bracket, and the movable frame can rely on gravity to droop. The cleaning component always maintains a certain pressure contact with the photovoltaic panel to reduce the vibration impact on the photovoltaic panel. When the bracket tends to tilt, the tilting force is transmitted to the cleaning component through the bracket and the movable frame, and is finally shared by the multiple roller brushes on the cleaning component. The reaction force on the cleaning component on the photovoltaic panel can offset the tilting force of the bracket, avoiding a larger tilt of the bracket, which is conducive to the photovoltaic panel cleaning robot to successfully complete the cleaning task.

[0004] However, the existing technology has the following problems:

[0005] Existing mechanical cleaning methods usually use a relatively simple cleaning method, such as flushing with water and cleaning with a roller brush. Since the surface of the photovoltaic panel may contain difficult-to-clean dirt such as bird droppings, the roller brush combined with flushing cleaning method is not effective in cleaning dirt, resulting in poor overall cleaning effect. Summary of the Invention

[0006] The purpose of the present invention is to provide an unmanned photovoltaic cleaning robot to solve the above problems and overcome the defects of the prior art, as described in detail below.

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

[0008] An unmanned photovoltaic cleaning robot includes a frame, a water tank and a high-pressure water pump are provided inside the frame, the high-pressure water pump is connected to the water tank through a water pipe, a moving wheel set is provided below the frame, a mounting frame is provided on one side of the frame, and a slide is slidably connected to the mounting frame;

[0009] Also included are a flushing assembly and a guide assembly;

[0010] The flushing assembly includes a mounting plate, a slide, a hydraulic cylinder, a pipe, a blade and a first nozzle;

[0011] The guide assembly includes a base, a telescopic assembly and a first guide wheel;

[0012] The mounting plate is connected to the base, the base is connected to the telescopic assembly, one end of the telescopic assembly is provided with a first guide wheel, the mounting plate is hinged on the slide, a hydraulic cylinder is hinged on the slide and the output end of the hydraulic cylinder is hinged to the mounting plate, the pipeline includes a main pipeline, a first branch pipe and a rotating pipe, the mounting plate fixes the main pipeline through a bracket, the main pipeline is connected to the high-pressure water pump through a water pipe, a plurality of first branch pipes are provided on the main pipeline, the inner wall of the first branch pipe is connected to the inner pipe, the inner wall of the inner pipe passes through the rotating pipe and is rotatably connected to the rotating pipe, the inner wall of the rotating pipe at one end inside the inner pipe is connected to a plurality of blades, the rotating pipe is located at one end outside the inner pipe and is connected to the first nozzle.

[0013] As an implementable embodiment, multiple first branch pipes are arranged in an equidistant array, each first branch pipe is provided with a plurality of water outlets, a gap is provided between the first branch pipe and the inner pipe, and the water outlets of the first branch pipe are located in the gap.

[0014] As an implementable embodiment, a plurality of second branch pipes, second nozzles, third nozzles and mounting arms are further provided;

[0015] The main pipeline is connected to multiple second branch pipes, each second branch pipe is located on one side of each first branch pipe, and the second branch pipes are respectively connected to the second nozzle and the third nozzle. The two ends of the main pipeline are respectively connected to the mounting arms, and the two mounting arms are rotatably connected to the mounting seat. Cleaning strips are respectively provided on both sides of the mounting seat, and the two cleaning strips are mirror-imaged.

[0016] As an implementation method, it also includes a movable frame and multiple fixed frames. The main pipeline is connected to the multiple fixed frames through a bracket. The number of fixed frames is the same as the number of the first branch pipe. The fixed frame is slidably connected to the movable frame. The movable frame is connected to the scraping bar. Each scraping bar is located between each first nozzle and the cleaning bar.

[0017] As an implementable embodiment, the movable frame is provided with two shifting rods, and the outer wall of the rotating tube is provided with a plurality of cams, each cam is respectively located between the two shifting rods on each movable frame, and the cam contacts the shifting rod when moving.

[0018] As an implementable embodiment, there are four bases, the telescopic assembly is a telescopic rod, the four bases are respectively installed at the four corners of the mounting plate, the base is provided with a telescopic rod, the end of the telescopic rod away from the base is provided with a wheel frame, a spring is provided between the wheel frame and the base, and the wheel frame is provided with a first guide wheel.

[0019] As an implementable embodiment, a curved rod is provided on the outer wall of the base and is hinged, and one end of the curved rod away from the base is rotatably connected to the second guide wheel, and a connecting rod is provided between the curved rod and the wheel frame and is hinged.

[0020] As an implementable embodiment, the guide assembly also includes a ratchet and a pawl; the top of the mounting seat is rotatably connected to the ratchet, the pawl is arranged at the connection between the mounting seat and the ratchet, the outer wall of the ratchet is provided with a gear ring, and the outer wall of the wheel frame closest to the ratchet is provided with a rack, and the rack is engaged with the gear ring.

[0021] As an implementable embodiment, the moving wheel set includes four connecting frames, wheel rods, wheel seats, rollers and motors;

[0022] The four connecting frames are respectively connected to the inner walls of the four corners of the bottom of the frame, the wheel rod is connected inside the connecting frame, the bottom of the wheel rod is rotatably connected to the wheel seat, the wheel seat is rotatably connected to the roller, the roller is driven by a motor, and a rotating motor is provided inside the connection between the wheel rod and the wheel seat.

[0023] The beneficial effects are:

[0024] 1. The present invention cooperates with a frame, a moving wheel set and a flushing component. The frame can drive the flushing component to clean the photovoltaic panel by automatic driving. The first branch pipe and the inner pipe form a double water channel. The first nozzle sprays water in a rotating manner. The first branch pipe sprays an outer ring of water mist through multiple water outlets to increase the flushing range and the impact force of the water flow. Multiple scrapers can remove dirt on the surface of the photovoltaic panel through a small reciprocating movement. The cleaning strip performs a secondary cleaning of the photovoltaic panel to ensure the cleaning effect. The second nozzle performs a final flush to avoid residual dirt and sewage on the photovoltaic panel, thereby realizing multi-step automated cleaning.

[0025] 2. The present invention sets a guide assembly so that when the mounting plate approaches the photovoltaic panel, the four first guide wheels cooperate with the four second guide wheels to roll along the front of the photovoltaic panel and the four second guide wheels roll along the back of the photovoltaic panel, thereby increasing the stability of the mounting plate when moving, maintaining the distance between the mounting plate and the photovoltaic panel, and achieving the effect of improving the working stability of the flushing assembly.

[0026] 3. The present invention cooperates between the two cleaning strips and the mounting base so that the two cleaning strips can automatically switch positions before each cleaning, so that one cleaning strip cleans the photovoltaic glass while the other cleaning strip is cleaned by multiple third nozzles, thereby maintaining the cleanliness of the cleaning strip itself and ensuring the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the frame structure of the present invention;

[0030] Figure 3 This is a schematic structural diagram of the action wheel set of the present invention;

[0031] Figure 4 It is a schematic structural diagram of the flushing assembly of the present invention;

[0032] Figure 5 It is a schematic diagram of the mounting plate structure of the present invention;

[0033] Figure 6 It is a schematic diagram of the main pipeline structure of the present invention;

[0034] Figure 7 It is a schematic diagram of the rotating tube structure of the present invention;

[0035] Figure 8 It is a schematic diagram of the scraper structure of the present invention;

[0036] Figure 9 It is a schematic structural diagram of the cleaning strip of the present invention;

[0037] Figure 10 It is a schematic structural diagram of the guide assembly of the present invention;

[0038] Figure 11 It is a schematic diagram of the curved rod structure of the present invention.

[0039] The accompanying drawings are as follows: 1. frame; 2. moving wheel assembly; 21. connecting frame; 22. wheel rod; 23. wheel seat; 24. roller; 3. water tank; 4. high-pressure water pump; 5. mounting frame; 6. slide; 7. flushing assembly; 71. mounting plate; 72. main pipe; 73. first branch pipe; 74. inner pipe; 75. rotating pipe; 76. blade; 77. first nozzle; 78. cam; 79. second branch pipe; 710. Second nozzle; 711, third nozzle; 712, fixed frame; 713, movable frame; 714, scraper; 715, shift rod; 716, mounting arm; 717, mounting seat; 718, cleaning strip; 8, guide assembly; 81, base; 82, telescopic rod; 83, wheel frame; 84, first guide wheel; 85, curved rod; 86, second guide wheel; 87, connecting rod; 88, ratchet; 89, gear ring; 810, rack. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other implementations obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0041] Example 1

[0042] See also Figure 1 - Figure 3 , including a frame 1, a water tank 3 and a high-pressure water pump 4 are provided inside the frame 1, and the high-pressure water pump 4 is connected to the water tank 3 through a water pipe. A moving wheel group 2 is provided under the frame 1, and a mounting frame 5 is provided on one side of the frame 1. The mounting frame 5 is slidably connected to a slide 6; the moving wheel group 2 includes four connecting frames 21, and the four connecting frames 21 are respectively connected to the inner walls at the four corners of the bottom of the frame 1. The connecting frames 21 are connected to the wheel rod 22, and the bottom of the wheel rod 22 is rotatably connected to the wheel seat 23. The wheel seat 23 is rotatably connected to the roller 24, and the roller 24 is driven by a motor. A rotating motor is provided inside the connection between the wheel rod 22 and the wheel seat 23. The frame 1 is also provided with a control assembly. The control assembly, radar and GPS antenna cooperate to realize the positioning and automatic driving of the vehicle frame 1. The vehicle frame 1 can identify the position of the photovoltaic panels, and then automatically move to the rows of photovoltaic panels and move according to the cleaning route. The connecting frame 21 is used to install the wheel rod 22. The wheel seat 23 can rotate on the wheel rod 22 by rotating the motor control, and the roller 24 is rotated by the motor control. The four action wheel groups 2 can realize four-wheel steering through the drive of the control assembly. Compared with conventional water tankers, the four-wheel steering method is more flexible, suitable for various terrains, and convenient for movement between multiple rows of photovoltaic panels.

[0043] The high-pressure water pump 4 is equipped with an engine, which drives the high-pressure water pump 4 through a belt drive to provide power for cleaning. The engine is started by the servo driving the throttle, the micro-electric push rod closes the throttle, and the relay controls the engine start. After the engine starts, the micro-electric push rod closes the throttle and the engine starts working. A speed code disk and a sensor are also provided on the engine to monitor the working status of the engine. The mounting frame 5 drives the slide 6 up and down on the mounting frame 5 through a combination of an electric winch and a chain to adjust the height of the slide 6.

[0044] For further information, see Figure 1 - Figure 9 , also includes a flushing component 7 for flushing the photovoltaic panel; the flushing component 7 includes a mounting plate, the mounting plate is connected to the guide component 8, the mounting plate 71 is hinged on the slide 6, the slide 6 is hinged with a hydraulic cylinder, the mounting plate 71 is hinged to the output end of the hydraulic cylinder, the mounting plate 71 is provided with a main pipe 72 through a bracket, the main pipe 72 is connected to the high-pressure water pump 4 through a water pipe, a plurality of first branch pipes 73 are connected to the main pipe 72, the inner wall of the first branch pipe 73 is connected to the inner pipe 74, the inner wall of the inner pipe 74 passes through the rotation connection rotating pipe 75, the inner wall of the rotating pipe 75 is located inside the inner pipe 74 and connected to a plurality of blades 76, the end of the rotating pipe 75 located outside the inner pipe 74 is connected to the first nozzle 77, the plurality of first branch pipes 73 are arranged in an equidistant array, a plurality of water outlet holes are provided on the first branch pipe 73, the first branch pipe 73 and the inner pipe 74 are connected There is a gap between them. The water outlet of the first branch pipe 73 is located in the gap between the first branch pipe 73 and the inner pipe 74. The first branch pipe 73 and the inner pipe 74 inside it form a double water channel. The gap between the first branch pipe 73 and the inner pipe 74 is an outer ring water channel, which is sprayed through multiple water outlets on the first branch pipe 73 to form a large area of water mist. The water in the inner pipe 74 is sprayed out through the rotating pipe 75. The water flow in the rotating pipe 75 drives the rotating pipe 75 to rotate through multiple blades 76 when flowing. The rotating pipe 75 drives the first nozzle 77 to rotate, and water is sprayed out through the first nozzle 77. At the same time, the first nozzle 77 can make the water flow generate a certain centrifugal force through rotation, thereby enhancing the impact force of the water flow. Through the cooperation of the first nozzle 77 and the multiple water outlet holes of the first branch pipe 73, a flushing water flow and an outer ring of water mist are formed, thereby enhancing the flushing effect.

[0045] The main pipe 72 is connected to multiple second branch pipes 79, and the multiple second branch pipes 79 are respectively located on one side of the multiple first branch pipes 73. The second branch pipes 79 are respectively connected to the second nozzle 710 and the third nozzle 711. The two ends of the main pipe 72 are respectively connected to the mounting arms 716, and the two mounting arms 716 are rotatably connected to the mounting seat 717. Cleaning strips 718 are respectively provided on both sides of the mounting seat 717, and the two cleaning strips 718 are mirror-imaged. The main pipe 72 is connected to multiple fixed frames 712 through a bracket. The number of multiple fixed frames 712 is the same as the number of multiple first branch pipes 73. The fixed frames 712 are slidably connected to the movable frames 713, and the movable frames 713 are connected to scraping strips 714. The multiple scraping strips 714 are respectively located between the multiple first nozzles 77 and the cleaning strips 718. Two shift rods 715 are connected to the movable frames 713. The outer wall of the rotating pipe 75 is connected to the cam 78. The multiple cams 78 are respectively located between the two shift rods 715 on the multiple movable frames 713. The cam 78 contacts the shift rod 715 when moving.

[0046] Multiple scraping strips 714 come into contact with the surface of the photovoltaic panel during flushing, and the movable frame 713 can perform a certain degree of elastic expansion and contraction, so that the scraping strips 714 have a certain expansion and contraction range. When the rotating tube 75 rotates, it drives the cam 78 to rotate. When the cam 78 rotates, the two levers 715 drive the movable frame 713 to move back and forth on the fixed frame 712. The movable frame 713 drives the scraping strips 714 to move back and forth, so that the scraping strips 714 are attached to the photovoltaic panel and perform a small reciprocating movement. Multiple scraping strips 714 follow the main pipe 72 to move, and the dirt on the surface of the photovoltaic panel is scraped off while flushing. Compared with the conventional roller cleaning method, using scraping strips 714 to clean dirt is more effective.

[0047] Taking the same area as an example, after being rinsed by the first nozzle 77, it is cleaned by the scraper bar 714, and then the cleaning bar 718 performs a secondary cleaning, and the second nozzle 710 performs a final cleaning. After the multi-step cleaning of the first nozzle 77, the scraper bar 714, the cleaning bar 718 and the second nozzle 710, the cleaning efficiency and cleaning effect are improved, and the photovoltaic panel is efficiently cleaned during the movement of the frame 1; through the cooperation of the frame 1, the moving wheel group 2 and the flushing component 7, the frame 1 can drive the flushing group 7 by automatic driving. Component 7 cleans the photovoltaic panel. The first branch pipe 73 and the inner pipe 74 form a double water channel. The first nozzle 77 sprays water in a rotating manner. The first branch pipe 73 sprays an outer ring of water mist through multiple water outlets to increase the flushing range and water flow impact force. Multiple scraping strips 714 can remove dirt on the surface of the photovoltaic panel through small reciprocating movements. The cleaning strip 718 performs a secondary cleaning of the photovoltaic panel to ensure the cleaning effect. The second nozzle 710 performs a final flushing to avoid residual dirt and sewage on the photovoltaic panel, realizing multi-step automated cleaning.

[0048] Further, see Figure 10 - Figure 11 , the guide assembly 8 is used to improve the stability of the flushing assembly 7 during operation; the guide assembly 8 includes four bases 81, which are respectively mounted at the four corners of the mounting plate 71, the base 81 is connected to the telescopic rod 82, and the end of the telescopic rod 82 away from the base 81 is connected to the wheel frame 83, and a spring is connected between the wheel frame 83 and the base 81, and a first guide wheel 84 is installed on the wheel frame 83. The four first guide wheels 84 roll on the surface of the photovoltaic panel to keep the distance between the mounting plate 71 and the photovoltaic panel stable, while avoiding damage to the photovoltaic panel caused by the mechanism in the flushing assembly 7, thereby ensuring the stability of the flushing assembly 7 during the cleaning process.

[0049] The outer wall of the base 81 is hinged with a curved rod 85, and the end of the curved rod 85 away from the base 81 is rotated to connect the second guide wheel 86. A connecting rod 87 is hinged between the curved rod 85 and the wheel frame 83. When the telescopic rod 82 is extended and retracted, the wheel frame 83 drives the curved rod 85 to move in the opposite direction close to the telescopic rod 82 through the connecting rod 87. The curved rod 85 drives the second guide wheel 86 to move in the direction close to the first guide wheel 84. The second guide wheel 86 moves to the back of the photovoltaic panel. At this time, the first guide wheel 84 and the second guide wheel 86 clamp the photovoltaic panel therebetween, so that the first guide wheel 84 and the second guide wheel 86 move along the photovoltaic panel together. The two sides of the mounting plate 71 roll, further improving the stability of the mounting plate 71, and the second guide wheel 86 does not contact the photovoltaic panel before contacting the back of the photovoltaic panel; through the setting of the guide assembly 8, when the mounting plate 71 is close to the photovoltaic panel, the four first guide wheels 84 cooperate with the four second guide wheels 86 to make the four first guide wheels 84 roll along the front of the photovoltaic panel, and the four second guide wheels 86 roll along the back of the photovoltaic panel, thereby increasing the stability of the mounting plate 71 when moving, maintaining the distance between the mounting plate 71 and the photovoltaic panel, and thus achieving the effect of improving the working stability of the flushing assembly 7.

[0050] Also, see Figure 10 - Figure 11The top of the mounting seat 717 is rotatably connected to the ratchet 88. A pawl is provided at the connection between the mounting seat 717 and the ratchet 88. The outer wall of the ratchet 88 is connected to the toothed ring 89. The outer wall of the wheel frame 83 closest to the ratchet 88 is connected to the rack 810. The rack 810 is meshed with the toothed ring 89. Through the cooperation of the ratchet 88 and the pawl, the ratchet 88 can only drive the mounting seat 717 to rotate in one direction, one hundred and eighty degrees each time. When the telescopic rod 82 is extended and retracted, the wheel frame 83 drives the toothed ring 89 to rotate through the rack 810, causing the mounting seat 717 to rotate one hundred and eighty degrees. The two cleaning bars 718 By exchanging positions, one cleaning bar 718 cleans the photovoltaic panel, and the other cleaning bar 718 performs self-cleaning through multiple third nozzles 711, maintaining the cleanliness of the cleaning bar 718, thereby ensuring the cleaning effect; through the cooperation between the two cleaning bars 718 and the mounting seat 717, the two cleaning bars 718 can automatically switch positions before each cleaning, so that one cleaning bar 718 cleans the photovoltaic glass, while the other cleaning bar 718 is cleaned by multiple third nozzles 711, maintaining the cleanliness of the cleaning bar 718 itself, thereby ensuring the cleaning effect.

[0051] Adopting the above structure, the working principle of this case is that the frame 1 is also provided with a control assembly, a radar and a GPS antenna. Through the cooperation of the control assembly, the radar and the GPS antenna, the positioning and automatic driving of the frame 1 are realized. The frame 1 can identify the position of the photovoltaic panels, and then automatically move to the rows of photovoltaic panels and move according to the cleaning route. The connecting frame 21 is used to install the wheel rod 22. The wheel seat 23 can rotate on the wheel rod 22 through the control of the rotating motor. The roller 24 is rotated by the motor control. The four action wheel groups 2 can realize four-wheel steering through the drive of the control assembly. Compared with conventional water tankers, the four-wheel steering method is more flexible, suitable for a variety of terrains, and convenient for movement between multiple rows of photovoltaic panels.

[0052] The high-pressure water pump 4 is equipped with an engine, which drives the high-pressure water pump 4 through a belt drive to provide power for cleaning. The engine is started by the steering gear driving the throttle, the micro-electric push rod closes the air door, and the relay controls the engine to start. After the engine starts, the micro-electric push rod closes the air door and the engine starts to work. A speed code disk and a sensor are also provided on the engine to monitor the working status of the engine. The mounting frame 5 drives the slide 6 up and down on the mounting frame 5 through a combination of an electric winch and a chain to adjust the height of the slide 6. The slide 6 drives the mounting plate 71 to move synchronously, thereby adjusting the cleaning height. The high-pressure water pump 4 transports the water in the water tank 3 to the main pipe 72 through a water pipe, and the main pipe 72 transports the water to multiple In the first branch pipe 73 and multiple second branch pipes 79, the first branch pipe 73 and the inner pipe 74 inside it form a double water channel. The gap between the first branch pipe 73 and the inner pipe 74 is an outer ring water channel, which is sprayed through multiple water outlets on the first branch pipe 73 to form a large area of water mist. The water in the inner pipe 74 is sprayed out through the rotating pipe 75. When the water flow in the rotating pipe 75 flows, the rotating pipe 75 is driven to rotate by multiple blades 76. The rotating pipe 75 drives the first nozzle 77 to rotate, and the water is sprayed out through the first nozzle 77. At the same time, the first nozzle 77 can make the water flow generate a certain centrifugal force through rotation, thereby enhancing the impact force of the water flow. Through the cooperation of the first nozzle 77 and the multiple water outlets of the first branch pipe 73, a flushing water flow and an outer ring of water mist are formed to enhance the flushing effect.

[0053] Multiple scraping strips 714 come into contact with the surface of the photovoltaic panel during flushing, and the movable frame 713 can perform a certain degree of elastic expansion and contraction, so that the scraping strips 714 have a certain expansion and contraction range. When the rotating tube 75 rotates, it drives the cam 78 to rotate. When the cam 78 rotates, the two levers 715 drive the movable frame 713 to move back and forth on the fixed frame 712. The movable frame 713 drives the scraping strips 714 to move back and forth, so that the scraping strips 714 are attached to the photovoltaic panel and perform a small reciprocating movement. Multiple scraping strips 714 follow the main pipe 72 to move, and while flushing, they shovel off the dirt on the surface of the photovoltaic panel to promote the cleaning effect. When the main pipe 72 moves, the two mounting arms 716 drive the mounting seat 717 to move synchronously, and the mounting seat 717 drives the two cleaning strips 718 to move synchronously. The cleaning strips 718 are made of flexible material.

[0054] Taking the same area as an example, after being rinsed by the first nozzle 77, it is cleaned by the scraper bar 714, and then the cleaning bar 718 performs a secondary cleaning, and the second nozzle 710 performs a final cleaning. After the multi-step cleaning of the first nozzle 77, the scraper bar 714, the cleaning bar 718 and the second nozzle 710, the cleaning efficiency and cleaning effect are improved, and the photovoltaic panel is efficiently cleaned during the movement of the frame 1; through the cooperation of the frame 1, the moving wheel group 2 and the flushing component 7, the frame 1 can drive the flushing group 7 by automatic driving. Component 7 cleans the photovoltaic panel. The first branch pipe 73 and the inner pipe 74 form a double water channel. The first nozzle 77 sprays water in a rotating manner. The first branch pipe 73 sprays an outer ring of water mist through multiple water outlets to increase the flushing range and water flow impact force. Multiple scraping strips 714 can remove dirt on the surface of the photovoltaic panel through small reciprocating movements. The cleaning strip 718 performs a secondary cleaning of the photovoltaic panel to ensure the cleaning effect. The second nozzle 710 performs a final flushing to avoid residual dirt and sewage on the photovoltaic panel, realizing multi-step automated cleaning.

[0055] Before cleaning begins, the hydraulic cylinder on the slide 6 drives the mounting plate 71 to adjust the angle. When the mounting plate 71 is parallel to the photovoltaic panel, the frame 1 moves to make the mounting plate 71 close to the photovoltaic panel, so that the four first guide wheels 84 contact the photovoltaic panel. After the first guide wheels 84 contact the photovoltaic panel, the frame 1 continues to move a certain distance, so that the four telescopic rods 82 retract inward. At this time, the elastic force of the spring between the wheel frame 83 and the base 81 causes the first guide wheels 84 to apply a small amount of pressure to the surface of the photovoltaic panel.

[0056] During cleaning, the four first guide wheels 84 roll on the surface of the photovoltaic panel, keeping the distance between the mounting plate 71 and the photovoltaic panel stable, and preventing the mechanism in the flushing assembly 7 from damaging the photovoltaic panel, thereby ensuring the stability of the flushing assembly 7 during the cleaning process. While the telescopic rod 82 is extending and retracting, the wheel frame 83 drives the curved rod 85 to move in the opposite direction of the telescopic rod 82 through the connecting rod 87, and the curved rod 85 drives the second guide wheel 86 to move in the direction close to the first guide wheel 84. The second guide wheel 86 moves to the back of the photovoltaic panel. At this time, the first guide wheel 84 and the second guide wheel 86 clamp the photovoltaic panel therebetween, so that the first guide wheel 84 and the second guide wheel 86 roll together along the two sides of the photovoltaic panel, further improving the stability of the mounting plate 71.

[0057] The second guide wheel 86 does not contact the photovoltaic panel before it contacts the back of the photovoltaic panel. While the telescopic rod 82 is extending and retracting, the wheel frame 83 drives the gear ring 89 to rotate through the rack 810. The gear ring 89 drives the mounting seat 717 to rotate through the cooperation of the ratchet 88 and the pawl. Through the cooperation of the ratchet 88 and the pawl, the ratchet 88 can only drive the mounting seat 717 to rotate in one direction, one hundred and eighty degrees each time. When the mounting seat 717 rotates, it drives the two cleaning strips 718 to rotate. Multiple third nozzles 711 are aimed at the cleaning strips 718 away from the photovoltaic panel. When one of the cleaning strips 718 contacts the photovoltaic panel, the other cleaning strip 718 is rinsed by the multiple third nozzles 711. Whenever the four first guide wheels 84 contact a new photovoltaic panel, the mounting seat 717 will rotate, causing the two cleaning strips 718 to exchange positions. One cleaning strip 718 cleans the photovoltaic panel, and the other cleaning strip 718 is self-cleaned by the multiple third nozzles 711 to maintain the cleanliness of the cleaning strip 718, thereby ensuring the cleaning effect.

[0058] Through the setting of the guide assembly 8, when the mounting plate 71 approaches the photovoltaic panel, the four first guide wheels 84 cooperate with the four second guide wheels 86 to make the four first guide wheels 84 roll along the front of the photovoltaic panel, and the four second guide wheels 86 roll along the back of the photovoltaic panel, thereby increasing the stability of the mounting plate 71 when moving, maintaining the distance between the mounting plate 71 and the photovoltaic panel, and thus achieving the effect of improving the working stability of the flushing assembly 7; through the cooperation between the two cleaning strips 718 and the mounting seat 717, the two cleaning strips 718 can automatically switch positions before each cleaning, so that one of the cleaning strips 718 cleans the photovoltaic glass, and the other cleaning strip 718 is cleaned by multiple third nozzles 711, maintaining the cleanliness of the cleaning strip 718 itself, thereby ensuring the cleaning effect.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An unmanned photovoltaic cleaning robot, comprising a frame, a water tank and a high-pressure water pump disposed within the frame, the high-pressure water pump being connected to the water tank via a water pipe, a moving wheel set disposed below the frame, and a mounting frame disposed on one side of the frame, the mounting frame being slidably connected to a slide; Its characteristics are: Also included are a flushing assembly and a guide assembly; The flushing assembly includes a mounting plate, a slide, a hydraulic cylinder, a pipe, a blade and a first nozzle; The guide assembly includes a base, a telescopic assembly and a first guide wheel; The mounting plate is connected to the base, the base is connected to the telescopic assembly, one end of the telescopic assembly is provided with a first guide wheel, the mounting plate is hinged on the slide, a hydraulic cylinder is hinged on the slide and the output end of the hydraulic cylinder is hinged to the mounting plate, the pipeline includes a main pipeline, a first branch pipe and a rotating pipe, the mounting plate fixes the main pipeline through a bracket, the main pipeline is connected to the high-pressure water pump through a water pipe, a plurality of first branch pipes are provided on the main pipeline, the inner wall of the first branch pipe is connected to the inner pipe, the inner wall of the inner pipe passes through the rotating pipe and is rotatably connected to the rotating pipe, the inner wall of the rotating pipe at one end inside the inner pipe is connected to a plurality of blades, the rotating pipe is located at one end outside the inner pipe and is connected to the first nozzle.

2. The unmanned photovoltaic cleaning robot according to claim 1, characterized in that: The plurality of first branch pipes are arranged in an equidistant array, each first branch pipe is provided with a plurality of water outlet holes, a gap is provided between the first branch pipe and the inner pipe, and the water outlet holes of the first branch pipe are located in the gap.

3. The unmanned photovoltaic cleaning robot according to claim 2, characterized in that: A plurality of second branch pipes, a second nozzle, a third nozzle and a mounting arm are also provided; The main pipeline is connected to multiple second branch pipes, each second branch pipe is located on one side of each first branch pipe, and the second branch pipes are respectively connected to the second nozzle and the third nozzle. The two ends of the main pipeline are respectively connected to the mounting arms, and the two mounting arms are rotatably connected to the mounting seat. Cleaning strips are respectively provided on both sides of the mounting seat, and the two cleaning strips are mirror-imaged.

4. The unmanned photovoltaic cleaning robot according to claim 3, characterized in that: It also includes a movable frame and multiple fixed frames. The main pipeline is connected to the multiple fixed frames through a bracket. The number of fixed frames is the same as the number of the first branch pipes. The fixed frames are slidably connected to the movable frame. The movable frame is connected to the scraping strips. Each scraping strip is located between each first nozzle and the cleaning strip.

5. The unmanned photovoltaic cleaning robot according to claim 4, characterized in that: The movable frame is provided with two shifting rods, and the outer wall of the rotating tube is provided with a plurality of cams. Each cam is respectively located between the two shifting rods on each movable frame, and the cam contacts the shifting rod when moving.

6. An unmanned photovoltaic cleaning robot according to any one of claims 1 to 5, characterized in that: There are four bases, and the telescopic assembly is a telescopic rod. The four bases are respectively installed at the four corners of the mounting plate. The base is provided with a telescopic rod. A wheel frame is provided at one end of the telescopic rod away from the base. A spring is provided between the wheel frame and the base, and the wheel frame is provided with a first guide wheel.

7. The unmanned photovoltaic cleaning robot according to claim 6, characterized in that: A curved rod is provided on the outer wall of the base and is hinged. One end of the curved rod away from the base is rotatably connected to the second guide wheel. A connecting rod is provided between the curved rod and the wheel frame and is hinged.

8. The unmanned photovoltaic cleaning robot according to claim 7, characterized in that: The guide assembly also includes a ratchet and a pawl; the top of the mounting seat is rotatably connected to the ratchet, and the pawl is arranged at the connection between the mounting seat and the ratchet. The outer wall of the ratchet is provided with a gear ring, and the outer wall of the wheel frame closest to the ratchet is provided with a rack, and the rack is engaged with the gear ring.

9. An unmanned photovoltaic cleaning robot according to any one of claims 1 to 5, characterized in that: The moving wheel assembly includes four connecting frames, wheel rods, wheel seats, rollers and motors; The four connecting frames are respectively connected to the inner walls of the four corners of the bottom of the frame, the wheel rod is connected inside the connecting frame, the bottom of the wheel rod is rotatably connected to the wheel seat, the wheel seat is rotatably connected to the roller, the roller is driven by a motor, and a rotating motor is provided inside the connection between the wheel rod and the wheel seat.

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