Photovoltaic panel cleaning robot and cleaning method for Sagger complex terrain

Abstract

The invention relates to the technical field of photovoltaic panel cleaning, in particular to a photovoltaic panel cleaning robot and cleaning method.The photovoltaic panel cleaning robot comprises a carrier loader, a supporting table and a fixing frame, the supporting table and the fixing frame are fixed to the carrier loader, and a mechanical arm capable of moving at multiple degrees of freedom is installed on the supporting table; the air blowing cleaning mechanism is arranged on the manipulator and comprises an air feeding cylinder, the air feeding cylinder is communicated with a plurality of nozzles which are distributed at equal intervals, and the air blowing cleaning mechanism is provided with a conduction assembly; the pump air cylinder is fixed to the fixing frame, a two-way air pumping mechanism is arranged in the pump air cylinder, a driving mechanism connected with the two-way air pumping mechanism is arranged on the fixing frame, the two-way air pumping mechanism is controlled by the driving mechanism to convey air into the air feeding cylinder at different speeds, and when the pressure intensity in the air feeding cylinder is changed, the two-way air pumping mechanism is driven by the driving mechanism to convey the air into the air feeding cylinder. And the air supply angle of the spray head is adjusted, so that air is discharged through the spray head at different pressure intensities, and dust on the photovoltaic panel is cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, in particular to a Shago photovoltaic panel cleaning robot for complex terrain and a cleaning method. Background Art

[0002] Photovoltaic power generation (solar photovoltaic power generation) is a technology that uses solar cells to convert sunlight directly into electrical energy. Desert and Gobi areas are vast and sparsely populated. Building photovoltaic energy bases in these areas can not only effectively utilize land but also realize the use of clean energy.

[0003] Photovoltaic power generation in the Shago area faces challenges from the natural environment. Frequent sandstorms in the area can easily lead to dust accumulation on the surface of the photovoltaic panels, thereby reducing power generation efficiency. This requires frequent cleaning by humans or robots.

[0004] Therefore, when robots clean photovoltaic panels, they usually use water flushing to remove the sand and dust adhering to the surface of the photovoltaic panels. However, due to the scarcity of water resources in the Shago area, water impact avoidance will lead to a waste of water resources.

[0005] To address this, air blowing can be used for cleaning. High-pressure airflow can be directly applied to the surface of the photovoltaic panel, effectively removing dust from the panel. However, due to the relatively small mass of dust, if the airflow acts directly on the photovoltaic panel in a nearly vertical direction, the impact force provided to the panel is maximized. However, the dust blown away may remain suspended above the panel and then fall back onto the panel under the action of gravity. If the airflow acts on the panel in an oblique direction, the impact force is reduced, resulting in stubborn dust remaining on the panel. In order to achieve effective cleaning, the airflow speed must be increased, which increases energy consumption. Therefore, the existing technology for blowing dust off photovoltaic panels is ineffective and consumes a lot of energy. Summary of the Invention

[0006] The purpose of the present invention is to provide a photovoltaic panel cleaning robot and cleaning method for complex terrains to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: The Shugo photovoltaic panel cleaning robot for complex terrain comprises: a carrier vehicle, and a support platform and a fixed frame fixed on the carrier vehicle, wherein a manipulator capable of moving with multiple degrees of freedom is installed on the support platform; and further comprises: an air blowing cleaning mechanism, which is arranged on the manipulator and comprises an air supply cylinder, wherein the air supply cylinder is connected to a plurality of nozzles distributed at equal intervals, and the air blowing cleaning mechanism is provided with a conduction component, and the air blowing cleaning mechanism can adjust the conduction size of the nozzle through the conduction component when adjusting the air supply angle of the air supply cylinder, and make the air flow be discharged through the nozzle at different air pressures; a pump cylinder, which is fixed on the fixed frame, and a two-way pumping mechanism is provided in the pump cylinder, and a driving mechanism connected to the two-way pumping mechanism is provided on the fixed frame, and the driving mechanism can pump gas into the air supply cylinder at different rates through the two-way pumping mechanism.

[0008] As a further solution of the present invention: the air blowing cleaning mechanism includes a movable plate rotatably mounted on the manipulator, a support column rotatably mounted on the movable plate, a support plate fixed to the end of the support column, a fixed rod rotatably connected to the air supply cylinder fixed on the support plate, an axially sliding movable sleeve of the fixed rod, a first guide column fixed in the air supply cylinder, an axially sliding buffer disk fixedly connected to the movable sleeve of the first guide column; and also includes a guide assembly arranged on the support plate for adjusting the angle of the air supply cylinder.

[0009] As a further solution of the present invention: the guide assembly includes a guide groove formed on the circumferential outer wall of the fixed rod, a limit block is fixed to the inner wall of the movable sleeve and is slidably engaged with the guide groove, and a first spring is sleeved on the fixed rod, and the two ends of the first spring are respectively in contact with the buffer disk and the inner wall of the air supply cylinder.

[0010] As a further solution of the present invention: the conduction component includes an arc-shaped partition fixed on the support plate, and the arc-shaped partition is formed with air supply grooves that are evenly distributed and conduct with the nozzle.

[0011] As a further solution of the present invention: the air supply groove is arranged in an inverted teardrop shape on the arc-shaped partition.

[0012] As a further solution of the present invention: the bidirectional air pumping mechanism includes a second guide column fixed in the pump cylinder, and the axial sliding of the second guide column is provided with a piston disk which is slidingly and sealingly connected to the pump cylinder.

[0013] As a further solution of the present invention: the two-way pumping mechanism also includes an air intake pipe and an air supply pipe connected to the pump cylinder, a filter tube is fixed on the fixed frame, a filter groove is formed at the end of the filter tube, the air intake pipe is connected to the filter tube, and the air supply pipe is connected to the air supply cylinder.

[0014] As a further solution of the present invention: the driving mechanism includes a fixed plate fixed on the fixed frame, a motor is fixed on the fixed plate, a transmission rod connected to the output shaft of the motor is rotatably mounted on the fixed plate, and a cam is fixed on the transmission rod.

[0015] As a further solution of the present invention: the driving mechanism also includes a push rod fixed on the piston disc and passing through the pump cylinder, the end of the push rod is fixed with a follower plate, the follower plate is fixed with a limiting rod, the end of the limiting rod is fixed with a limiting wheel that contacts the cam, and a second spring is sleeved on the push rod, and the two ends of the second spring are respectively in contact with the piston disc and the inner wall of the pump cylinder.

[0016] The cleaning method of the Shago complex terrain photovoltaic panel cleaning robot includes the following steps: Step 1: According to the angle of the photovoltaic panel, adjust the air supply angle of the air supply cylinder and the nozzle through the manipulator and air blowing cleaning mechanism; Step 2: Under the action of the driving mechanism, the bidirectional air pumping mechanism is driven to move, so as to pump the external air into the air supply cylinder at different rates through the pump cylinder; Step 3: Under the action of the air supply cylinder, the gas is blown to the surface of the photovoltaic panel at different pressures through the nozzle; Step 4: At the same time, when the pressure in the air supply cylinder changes, it will also drive the air blowing cleaning mechanism to move, thereby changing the air supply angle of the air supply cylinder and the nozzle, and adjusting the conduction size of the nozzle through the conduction component.

[0017] Compared with the prior art, the beneficial effect of the present invention is that the present application can continuously adjust the air supply angle and air supply pressure of the nozzle according to the change of the air pressure in the air supply cylinder to ensure that the photovoltaic panel can be comprehensively and effectively cleaned. Specifically, under the action of the driving mechanism, the air in the pump cylinder is pumped into the air supply cylinder at different rates through the two-way pumping mechanism to achieve the purpose of continuously changing the pressure in the air supply cylinder. At the same time, under the action of the air blowing cleaning mechanism, the spraying angle of the nozzle is adjusted through the air supply cylinder, and the conduction size of the nozzle is changed through the conduction component to increase the speed of the airflow sprayed by the nozzle, thereby enhancing the cleaning effect on the photovoltaic panel.

[0018] Through the cooperation of the cam and the limiting wheel, the piston disc can be controlled to move in a state of first accelerating and then decelerating, thereby gradually increasing the air pressure in the air supply cylinder and then gradually reducing the air pressure in the air supply cylinder to control the air blowing cleaning mechanism to achieve the desired effect. At the same time, under the action of the second spring, the limiting wheel can be ensured to always remain in contact with the cam, thereby realizing the variable speed reciprocating motion of the piston disc.

[0019] By continuously changing the pressure in the air supply cylinder, the spraying angle and spraying air pressure of the nozzle can be continuously changed. In this way, the air blowing range of the photovoltaic panel can be increased, and when the air flow is blown toward the photovoltaic panel, the impact force on the photovoltaic panel can be enhanced, thereby loosening stubborn sand and dust, and when the gas blowing direction gradually moves away from the photovoltaic panel, the loosened dust is first blown away from the surface of the photovoltaic panel, and then the dust suspended above the photovoltaic panel is blown away, so as to prevent the suspended dust from falling back onto the photovoltaic panel under the action of gravity and airflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 2 This is a schematic structural diagram of the first angle of the embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 3 This is a schematic structural diagram from a second angle of the embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 4 This is a schematic diagram of the connection relationship between part of the driving mechanism and part of the bidirectional pumping mechanism in the embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 5 This is a schematic diagram of the structure of the manipulator and air-blowing cleaning mechanism in an embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 6 This is a structural diagram of part of the bidirectional air pump mechanism, part of the drive mechanism, and the fixing frame in an embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 7 This is a schematic diagram of the exploded structure of part of the driving mechanism of the Shago complex terrain photovoltaic panel cleaning robot embodiment; Figure 8 This is a structural diagram of the air delivery cylinder and part of the air blowing cleaning mechanism in the embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 9 This is a schematic cross-sectional view of the air delivery cylinder in the embodiment of the Shugo complex terrain photovoltaic panel cleaning robot; Figure 10 This is a schematic structural diagram of a portion of the air-blowing cleaning mechanism in an embodiment of the Shago complex terrain photovoltaic panel cleaning robot; Figure 11 This is a schematic diagram of the explosion structure of part of the air blowing cleaning mechanism in the embodiment of the Shago photovoltaic panel cleaning robot for complex terrain.

[0021] In the figure: 1. Carrier; 2. Support platform; 3. Manipulator; 4. Movable plate; 5. Support column; 6. Support plate; 7. Air supply cylinder; 701. Nozzle; 8. Arc partition; 801. Air supply groove; 9. Fixed rod; 901. Spiral groove; 902. Straight groove; 10. First guide column; 11. Movable sleeve; 1101. Limit block; 12. Buffer plate; 13. First spring; 14. Fixed frame; 15. Pump cylinder; 16. Second guide column; 17. Piston plate; 18. Push rod; 19. Second spring; 20. Follower plate; 21. Limit rod; 22. Limit wheel; 23. Fixed plate; 24. Motor; 25. Transmission rod; 26. Cam; 27. Suction pipe; 28. Filter pipe; 2801. Filter groove; 29. ​​Air supply pipe. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] In addition, when an element in the present invention is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0024] See also Figures 1 to 11In an embodiment of the present invention, the Shugo photovoltaic panel cleaning robot for complex terrain includes: a carrier 1, a support platform 2 and a fixed frame 14 fixed on the carrier 1, the support platform 2 is equipped with a manipulator 3 capable of multi-degree-of-freedom movement; it also includes: an air blowing cleaning mechanism, which is arranged on the manipulator 3, including an air supply cylinder 7, and the air supply cylinder 7 is connected to a plurality of nozzles 701 distributed at equal intervals, and the air blowing cleaning mechanism is provided with a conduction component, and the air blowing cleaning mechanism can adjust the conduction size of the nozzle 701 through the conduction component when adjusting the air supply angle of the air supply cylinder 7, and make the air flow be discharged through the nozzle 701 at different air pressures; a pump cylinder 15, which is fixed on the fixed frame 14, and a two-way pumping mechanism is provided in the pump cylinder 15, and a driving mechanism connected to the two-way pumping mechanism is provided on the fixed frame 14, and the driving mechanism can pump gas into the air supply cylinder 7 at different rates through the two-way pumping mechanism.

[0025] Specifically, when cleaning the surface of the photovoltaic panel, since the photovoltaic panel is installed in a dry area with less water resources and strong wind and sand, air blowing cleaning can be used to clean the dust adhering to the photovoltaic panel. In order to enhance the efficiency of photovoltaic power generation, the photovoltaic panel is usually installed in an inclined manner. For this, the manipulator 3 and the air blowing cleaning mechanism can be used to control the inclination angle of the air supply cylinder 7 and the photovoltaic panel to be in a coordinated state, and the nozzles 701 are evenly distributed in the inclination direction of the photovoltaic panel. When the driving mechanism is working, it drives the two-way pumping mechanism to move, and after filtering the external air, it is delivered to the pump cylinder 15, and then pumped into the air supply cylinder 7. The gas rate delivered by the pump cylinder 15 is in a changing state of gradually increasing and gradually decreasing. At this time, at the initial stage of gas entry, the air pressure in the air supply cylinder 7 is relatively small, and a certain pressure gradient is formed in the air supply cylinder 7. The nozzle 701 is close to the air supply cylinder 7 is the starting point. This position is on the side of the photovoltaic panel that is tilted downward. The air pressure of the gas sprayed therein is the largest. As the gas gradually increases, the air pressure in the air supply cylinder 7 gradually increases. Under the action of the air pressure, the movement of the air blowing cleaning mechanism is controlled to adjust the air supply angle of the air supply cylinder 7 and the nozzle 701, so that the air supply angle of the nozzle 701 is directed toward the photovoltaic panel, and under the action of the conductive component, the conductive size of the nozzle 701 is gradually reduced, thereby increasing the flow rate of the gas blown by the nozzle 701 to increase the cleaning force of the photovoltaic panel. Under the action of the gas, the stubborn sand and dust are loosened. When the gas velocity entering the air supply cylinder 7 decreases, the angle between the nozzle 701 and the photovoltaic panel increases again, thereby first blowing the loose sand and dust away from the surface of the photovoltaic panel, and then blowing away the dust suspended above the photovoltaic panel to avoid the dust falling back onto the photovoltaic panel due to gravity or airflow.

[0026] See also Figure 1-Figure 4 、 Figure 6 、 Figure 7 The bidirectional air pumping mechanism includes a second guide column 16 fixed in the pump cylinder 15, and the axial sliding of the second guide column 16 is provided with a piston disk 17 which is slidingly sealed with the pump cylinder 15. The bidirectional air pumping mechanism also includes an air intake pipe 27 and an air supply pipe 29 connected to the pump cylinder 15. A filter tube 28 is fixed on the fixed frame 14, and a filter groove 2801 is formed at the end of the filter tube 28. The air intake pipe 27 is connected to the filter tube 28, and the air supply pipe 29 is connected to the air supply cylinder 7.

[0027] See also Figure 1-Figure 4 、 Figure 6 、 Figure 7 The driving mechanism includes a fixed plate 23 fixed on the fixed frame 14, a motor 24 is fixed on the fixed plate 23, a transmission rod 25 connected to the output shaft of the motor 24 is rotatably mounted on the fixed plate 23, and a cam 26 is fixed on the transmission rod 25. The driving mechanism also includes a push rod 18 fixed on the piston disc 17 and passing through the pump cylinder 15, a follower plate 20 is fixed to the end of the push rod 18, a limiting rod 21 is fixed on the follower plate 20, and a limiting wheel 22 that contacts the cam 26 is fixed to the end of the limiting rod 21. A second spring 19 is sleeved on the push rod 18, and the two ends of the second spring 19 respectively abut against the piston disc 17 and the inner wall of the pump cylinder 15.

[0028] See also Figure 7 In detail, the cam 26 can be divided into three parts, namely the arc short axis end, the arc long axis end, and the lateral arc end, and the circumferential radius of the arc short axis end is larger than the circumferential radius of the arc long axis end, and the rotation center of the transmission rod 25 and the circumferential center of the arc short axis end are located at the same axial position.

[0029] The suction pipe 27 and the air supply pipe 29 are symmetrically arranged. After the two air supply pipes 29 are extended to a certain length, they are combined into one pipeline. Four one-way valves are installed on the pump cylinder 15, two of which are connected to the suction pipe 27, and the other two are connected to the air supply pipe 29. Under the action of the one-way valves, air can only enter the pump cylinder 15 through the suction pipe 27 and then be discharged through the air supply pipe 29. When the arc short axis end of the cam 26 abuts against the limiting wheel 22, it means that the limiting rod 21 is in the direction of the cam 26. At the end of the stroke, the push rod 18 is controlled by the follower plate 20 to be located at the end of the stroke inserted into the pump cylinder 15, and the elongation of the second spring 19 in the natural state is greater than the size of the push rod 18 entering the pump cylinder 15. In this regard, the second spring 19 is in a pre-compressed state and always provides a thrust to the piston disc 17 in the direction away from the follower plate 20. Under the action of the piston disc 17, the pump cylinder 15 is divided into two cavities. At this time, the size of one of the cavities is the largest and is filled with air, and the size of the other cavity is the smallest.

[0030] When it is necessary to pump air into the air supply cylinder 7, the cam 26 is driven to rotate through the transmission rod 25 under the action of the motor 24. When the arc end of the short axis of the cam 26 abuts against the limiting wheel 22, the limiting wheel 22 remains stationary. When the limiting wheel 22 is separated from the arc short axis end of the cam 26, the limiting wheel 22 will move to abut against the lateral arc end of the cam 26. Under the action of the cam 26, the limiting wheel 22 is pushed to move in the direction away from the transmission rod 25, thereby driving the follower plate 20 to move through the limiting rod 21, and driving the piston disc 17 to move through the push rod 18, so that the second spring 19 is compressed. Under the action of the piston disc 17, the air in one of the cavities is passed through the air supply pipe 29 It is transported to the air supply cylinder 7, and a negative pressure is formed in another cavity. Under the action of the negative pressure, the gas in the filter tube 28 is sucked into the cavity through the suction pipe 27, and under the action of the filter groove 2801, the dust mixed in the air hole can be effectively filtered to ensure that the air flow blown to the surface of the photovoltaic panel is in a clean state; under the action of the lateral arc end of the cam 26, the limiting wheel 22 can also be gradually accelerated, so that the movement rate of the piston disc 17 increases, thereby speeding up the gas pumped into the air supply cylinder 7, so as to gradually increase the pressure in the air supply cylinder 7, thereby controlling the movement of the air blowing cleaning mechanism, and under the action of the air blowing cleaning mechanism, the surface of the photovoltaic panel is air-blown and cleaned.

[0031] When the limiting wheel 22 separates from the lateral arc end of the cam 26 and abuts against the arc major axis end, the position of the limiting wheel 22 no longer changes. Since the radius of the arc major axis end itself is small, the limiting wheel 22 will only stay for a short time. When the limiting wheel 22 separates from the arc major axis end, the second spring 19 is elastically released, so that the limiting wheel 22 always remains in abutment with the cam 26, and under the action of the other lateral arc end, the limiting wheel 22 gradually resets, and the movement speed is in a state of first fast and then slow, until the limiting wheel 22 abuts against the circumferential major axis end of the cam 26 again.

[0032] Preferably, through the above steps, the piston disc 17 can be controlled to move in a state of first accelerating and then decelerating, thereby gradually increasing the air pressure in the air supply cylinder 7 and then gradually reducing the air pressure in the air supply cylinder 7 to control the air blowing cleaning mechanism to achieve the desired effect. At the same time, under the action of the second spring 19, it can be ensured that the limiting wheel 22 always remains in contact with the cam 26, thereby realizing the variable speed reciprocating motion of the piston disc 17.

[0033] See also Figure 1-Figure 3 、 Figure 5 、 Figures 8-11The air blowing cleaning mechanism includes a movable plate 4 rotatably mounted on the manipulator 3, the movable plate 4 is rotatably mounted on the support column 5, the end of the support column 5 is fixed with a support plate 6, the support plate 6 is fixed with a fixed rod 9 rotatably connected to the air supply cylinder 7, the fixed rod 9 is axially slid with a movable sleeve 11, and the air supply cylinder 7 is fixed with a first guide column 10, and the first guide column 10 is axially slid with a buffer disk 12 fixedly connected to the movable sleeve 11; it also includes a guide assembly arranged on the support plate 6 for adjusting the angle of the air supply cylinder 7, the guide assembly includes a guide groove formed on the outer wall of the circumference of the fixed rod 9, and the inner wall of the movable sleeve 11 is fixed with a limit block 1101 slidingly engaged with the guide groove. The fixed rod 9 is provided with a first spring 13, and the two ends of the first spring 13 respectively abut against the buffer disk 12 and the inner wall of the air supply cylinder 7.

[0034] See also Figure 8 The conducting component includes an arc-shaped partition 8 fixed on the support plate 6, and air supply grooves 801 are formed on the arc-shaped partition 8, which are evenly distributed and conduct with the nozzle 701. The air supply grooves 801 are arranged in an inverted water drop shape on the arc-shaped partition 8.

[0035] Furthermore, the manipulator 3 can adjust the position of the movable plate 4 in the vertical and horizontal directions with multiple degrees of freedom. In order to enhance the power generation efficiency, the photovoltaic panel is usually arranged in an inclined direction. For this purpose, the yaw angle of the support plate 6 can be adjusted by the support column 5 so that the inclination angle of the support plate 6 is the same as or similar to the inclination angle of the photovoltaic panel. There are multiple nozzles 701 distributed at equal intervals, and the nozzle 701 located on one side of the air supply cylinder 7 is closest to the air supply pipe 29. With the nozzle 701 as the starting point, the nozzle 701 is located near the lower side of the photovoltaic panel, and the remaining nozzles 701 are arranged in sequence along the upper direction of the photovoltaic panel; please refer to Figure 11, the guide groove can be divided into two parts, namely the spiral groove 901 and the straight groove 902, and one end of the two is connected to each other. In the initial state, the limit block 1101 is located at the end of the stroke of the spiral groove 901 away from the straight groove 902, so that the distance between the buffer plate 12 and the inner wall of the air supply cylinder 7 away from the nozzle 701 is the largest, and the elongation of the first spring 13 in the natural state is greater than the distance. In this regard, the first spring 13 is in a pre-compressed state and always provides a thrust to the buffer plate 12 to move toward the nozzle 701 side. At this time, under the action of the limit block 1101 and the spiral groove 901, the nozzle 701 is in a vertical state with the support plate 6, and the air flow blowing direction is staggered with the photovoltaic panel. The air supply groove 801 is arranged in an inverted water drop shape on the arc surface of the arc partition 8, with the end of the air supply groove 801 on the upper side of the arc partition 8 as the starting point. The end has the largest size, and after cooperating with the nozzle 701, the nozzle 701 is in a fully conductive state. When moving downward along the arc partition 8, the size of the air supply groove 801 gradually decreases. In this regard, when the nozzle 701 performs a swinging action, the air supply groove 801 can change the conduction amount of the nozzle 701 to adjust the air flow rate and change the impact force on the photovoltaic panel.

[0036] When the photovoltaic panel needs to be cleaned, the pump cylinder 15 pumps air into the air supply cylinder 7 through the air supply pipe 29. Since the nozzle 701 located at the lower side of the photovoltaic panel is at the shortest distance from the air supply pipe 29, the air will be discharged through the nozzle 701 first, and the remaining air in the air supply cylinder 7 will be discharged in turn through the other nozzles 701, and a pressure gradient will be formed among the multiple nozzles 701. The air pressure of the nozzle 701 at the starting point is the largest, and the air pressure of the nozzles 701 at adjacent positions decreases in turn. As the pressure in the air supply cylinder 7 gradually increases, the buffer plate 12 is pushed to move under the action of the air pressure, and the first spring 13 is compressed, thereby driving the limit block 110 through the movable sleeve 11. 1 slides along the spiral groove 901, causing the movable sleeve 11 to rotate, thereby driving the air supply cylinder 7 to rotate through the buffer plate 12 and the first guide column 10, so that the spraying angle of the nozzle 701 changes, the spraying air pressure gradually increases, and gradually deflects toward the photovoltaic panel. The matching position of the nozzle 701 and the air supply groove 801 also changes. Under the action of the air supply groove 801, the conduction size of the nozzle 701 gradually decreases to increase the flow rate of the air discharged by the nozzle 701. In this regard, by reducing the angle between the nozzle 701 and the photovoltaic panel and increasing the flow rate of the gas sprayed by the nozzle 701, the impact force of the gas on the photovoltaic panel is increased, thereby effectively loosening the stubborn sand and dust on the photovoltaic panel.

[0037] When the limit block 1101 disengages from the spiral groove 901 and enters the straight groove 902, the deflection angle of the nozzle 701 reaches its maximum. At this time, the angle of the nozzle 701 no longer changes. When the air pressure in the air supply cylinder 7 continues to increase, the limit block 1101 will slide along the straight groove 902, thereby having a certain buffering effect on the air pressure in the air supply cylinder 7. At this time, the impact force of the airflow on the photovoltaic panel continues to increase to further loosen the stubborn sand and dust. When the gas delivered to the air supply cylinder 7 by the pump cylinder 15 through the air supply pipe 29 gradually decreases, the first spring 13 is elastically released and pushes the buffer disk 12 to move toward the initial state, so that the limit block 1101 returns to the spiral groove 901 again, so that the spraying angle of the nozzle 701 deflects in the direction away from the photovoltaic panel. Under the action of the nozzle 701, the loosened sand and dust can be blown away from the surface of the photovoltaic panel first, and then the residual dust suspended above the photovoltaic panel can be blown away. The above steps are repeated to achieve effective cleaning of the photovoltaic panel.

[0038] Preferably, by continuously changing the pressure in the air supply cylinder 7, the spraying angle and spraying air pressure of the nozzle 701 can be continuously changed. In this way, the air blowing range to the photovoltaic panel can be increased, and when the air flow is blown toward the photovoltaic panel, the impact force on the photovoltaic panel can be enhanced, thereby loosening the stubborn sand and dust, and when the gas blowing direction gradually moves away from the photovoltaic panel, the loosened dust is first blown away from the surface of the photovoltaic panel, and then the dust suspended above the photovoltaic panel is blown away, so as to prevent the suspended dust from falling back onto the photovoltaic panel again under the action of gravity and airflow.

[0039] The cleaning method of the Shago complex terrain photovoltaic panel cleaning robot includes the following steps: Step 1: According to the angle of the photovoltaic panel, the air supply angle of the air supply cylinder 7 and the nozzle 701 is adjusted by the manipulator 3 and the air blowing cleaning mechanism; Step 2: Under the action of the driving mechanism, the bidirectional pumping mechanism is driven to move, so as to pump the outside air into the air supply cylinder 7 at different rates through the pump cylinder 15; Step 3: Under the action of the air supply cylinder 7, the air is blown to the surface of the photovoltaic panel at different pressures through the nozzle 701; Step 4: At the same time, when the pressure in the air supply cylinder 7 changes, it will also drive the air blowing cleaning mechanism to move, thereby changing the air supply angle of the air supply cylinder 7 and the nozzle 701, and adjusting the conduction size of the nozzle 701 through the conduction component.

[0040] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0041] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. Shago complex terrain photovoltaic panel cleaning robot, including: The air supply mechanism is a pair of air supply mechanisms, each of which is adapted to move the air in the air supply cylinder in a direction of rotation and to move the air in the air supply cylinder in a direction of rotation. The pair of air supply mechanisms is adapted to move the air in the air supply cylinder in a direction of rotation and to move the air in the air supply cylinder in a direction of rotation.

2. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 1 is characterized in that: The air blowing cleaning mechanism includes a movable plate rotatably mounted on the manipulator, a support column rotatably mounted on the movable plate, a support plate fixed to the end of the support column, a fixed rod rotatably connected to the air supply cylinder fixed on the support plate, a movable sleeve axially sliding on the fixed rod, a first guide column fixed in the air supply cylinder, a buffer disk fixedly connected to the movable sleeve axially sliding on the first guide column; and a guide assembly arranged on the support plate for adjusting the angle of the air supply cylinder.

3. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 2, characterized in that: The guide assembly includes a guide groove formed on the circumferential outer wall of the fixed rod, a limit block is fixed to the inner wall of the movable sleeve and is slidably engaged with the guide groove, a first spring is sleeved on the fixed rod, and the two ends of the first spring are respectively in contact with the buffer disk and the inner wall of the air supply cylinder.

4. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 2, characterized in that: The conducting component includes an arc-shaped partition fixed on the support plate, and air delivery grooves are formed on the arc-shaped partition and are evenly distributed and conduction-coordinated with the nozzle.

5. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 4, characterized in that: The air delivery groove is arranged on the arc-shaped partition in an inverted water drop shape.

6. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 1, characterized in that: The bidirectional pumping mechanism includes a second guide column fixed in the pump cylinder, and the second guide column has an axially sliding piston disk that is in sliding sealing connection with the pump cylinder.

7. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 6, characterized in that: The bidirectional pumping mechanism also includes an air intake pipe and an air supply pipe connected to the pump cylinder. A filter tube is fixed on the fixed frame, and a filter groove is formed at the end of the filter tube. The air intake pipe is connected to the filter tube, and the air supply pipe is connected to the air supply cylinder.

8. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 6, characterized in that: The driving mechanism includes a fixing plate fixed on the fixing frame, a motor is fixed on the fixing plate, a transmission rod connected to the output shaft of the motor is rotatably mounted on the fixing plate, and a cam is fixed on the transmission rod.

9. The Shugo complex terrain photovoltaic panel cleaning robot according to claim 8, characterized in that: The driving mechanism also includes a push rod fixed on the piston disc and passing through the pump cylinder, a follower plate is fixed on the end of the push rod, a limiting rod is fixed on the follower plate, a limiting wheel that contacts the cam is fixed on the end of the limiting rod, and a second spring is sleeved on the push rod, and the two ends of the second spring are respectively in contact with the piston disc and the inner wall of the pump cylinder.

10. A cleaning method for a Shugo complex terrain photovoltaic panel cleaning robot, using the Shugo complex terrain photovoltaic panel cleaning robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: According to the angle of the photovoltaic panel, adjust the air supply angle of the air supply cylinder and the nozzle through the manipulator and air blowing cleaning mechanism; Step 2: Under the action of the driving mechanism, the bidirectional air pumping mechanism is driven to move, so as to pump the external air into the air supply cylinder at different rates through the pump cylinder; Step 3: Under the action of the air supply cylinder, the gas is blown to the surface of the photovoltaic panel at different pressures through the nozzle; Step 4: At the same time, when the pressure in the air supply cylinder changes, it will also drive the air blowing cleaning mechanism to move, thereby changing the air supply angle of the air supply cylinder and the nozzle, and adjusting the conduction size of the nozzle through the conduction component.

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