Sahg complex terrain photovoltaic panel cleaning robot and cleaning method

Abstract

The present application relates to photovoltaic panel cleaning technology field, concretely is shago complex topography is used photovoltaic panel cleaning robot and cleaning method, including: carrier, and the support platform and fixing frame fixed on carrier, install the mechanical hand capable of multi-degree-of-freedom activity on support platform;Air blowing cleaning mechanism, set up on the mechanical hand, including gas sending cylinder, the multiple spray heads of equidistance distribution are connected on the gas sending cylinder, the air blowing cleaning mechanism is provided with the conduction assembly;Pump cylinder, fixed on the fixed frame, the bidirectional pump mechanism is provided in the pump cylinder, the driving mechanism connected with the bidirectional pump mechanism is provided on the fixed frame, the gas is sent to the gas sending cylinder by the bidirectional pump mechanism at different rates through driving mechanism control bidirectional pump mechanism, and when the pressure intensity in the gas sending cylinder changes, the gas angle of spray head is adjusted, so that the gas is discharged through the spray head at different pressure intensity, thereby the dust on photovoltaic panel is cleaned.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, specifically a photovoltaic panel cleaning robot and cleaning method for complex terrain in Shago. Background Technology

[0002] Photovoltaic power generation (solar photovoltaic power generation) is a technology that uses solar cells to directly convert sunlight into electrical energy. Desert and Gobi regions are sparsely populated, and building photovoltaic energy bases in these areas can effectively utilize land and achieve the utilization of clean energy.

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

[0004] Therefore, when robots clean photovoltaic panels, water is usually used to wash away the sand and dust adhering to the surface of the photovoltaic panels. However, due to the scarcity of water resources in the Shago area, the impact of water flow would inevitably lead to the waste of water resources.

[0005] This can be addressed by air blowing, where high-pressure airflow is directly blown onto the surface of the photovoltaic panel, effectively removing sand and dust from the panel.

[0006] However, due to the small mass of sand and dust, the impact force is greatest when the airflow acts directly on the photovoltaic panel at a near-vertical angle. However, the blown-off sand and dust may remain suspended above the panel and then fall back onto it under gravity. If the airflow acts on the panel at an angle, the impact force is weaker, resulting in stubborn sand and dust remaining on the panel. In this case, to achieve a cleaning effect, the airflow velocity must be increased, increasing energy consumption. Therefore, existing technologies for cleaning sand and dust from photovoltaic panels are ineffective and energy-intensive. Summary of the Invention

[0007] The purpose of this invention is to provide a photovoltaic panel cleaning robot and cleaning method for complex terrain in Shago, so as to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] The Shago complex terrain photovoltaic panel cleaning robot includes:

[0010] A transport vehicle, and a support platform and a fixed frame fixed on the transport vehicle, wherein a robotic arm capable of multi-degree-of-freedom movement is mounted on the support platform;

[0011] Also includes:

[0012] An air-blowing cleaning mechanism is installed on the robotic arm, including an air supply cylinder. Multiple nozzles are connected to the air supply cylinder at equal intervals. The air-blowing cleaning mechanism is equipped with a guiding component. When the air supply angle of the air supply cylinder is adjusted, the air-blowing cleaning mechanism can adjust the guiding size of the nozzles through the guiding component and make the airflow exit through the nozzles at different air pressures.

[0013] A pump cylinder is fixed on the fixed frame. A bidirectional pumping mechanism is provided inside the pump cylinder. A drive mechanism connected to the bidirectional pumping mechanism is provided on the fixed frame. The drive mechanism can pump gas into the pump cylinder at different rates through the bidirectional pumping mechanism.

[0014] As a further embodiment of the present invention: the air blowing cleaning mechanism includes a movable plate rotatably mounted on the robotic arm, a support column rotatably mounted on the movable plate, a support plate fixed at the end of the support column, a fixed rod fixed on the support plate and rotatably connected to the air delivery cylinder, a movable sleeve slidably on the fixed rod, a first guide column fixed inside the air delivery cylinder, and a buffer disc fixedly connected to the movable sleeve slidably on the first guide column.

[0015] It also includes a guide assembly disposed on the support plate for adjusting the angle of the air delivery cylinder.

[0016] As a further embodiment of the present invention: the guiding component includes a guide groove formed on the outer circumference of the fixed rod, a limiting block fixed on the inner wall of the movable sleeve that slides and engages with the guide groove, and a first spring sleeved on the fixed rod, the two ends of the first spring abutting against the buffer plate and the inner wall of the air delivery cylinder, respectively.

[0017] As a further embodiment of the present invention: the guiding component includes an arc-shaped partition fixed on the support plate, and the arc-shaped partition has air delivery grooves that are evenly distributed and cooperate with the nozzle in guiding.

[0018] As a further embodiment of the present invention: the air delivery channel is arranged in the shape of an inverted water droplet on the arc-shaped partition.

[0019] As a further embodiment of the present invention: the bidirectional pumping mechanism includes a second guide post fixed inside the pumping cylinder, and the second guide post has a piston disc that is slidably and sealingly connected to the pumping cylinder.

[0020] As a further embodiment of the present invention: the bidirectional pumping mechanism further includes an intake pipe and an air delivery pipe connected to the pumping cylinder, a filter pipe is fixed on the fixing frame, a filter groove is formed at the end of the filter pipe, the intake pipe is connected to the filter pipe, and the air delivery pipe is connected to the air delivery cylinder.

[0021] As a further embodiment of the present invention: the driving mechanism includes a fixed plate fixed on the fixed frame, a motor fixed on the fixed plate, a transmission rod rotatably mounted on the fixed plate and connected to the output shaft of the motor, and a cam fixed on the transmission rod.

[0022] As a further embodiment of the present invention: the driving mechanism further includes a push rod fixed on the piston disc and passing through the pump cylinder, a follower plate fixed at the end of the push rod, a limit rod fixed on the follower plate, a limit wheel fixed at the end of the limit rod that abuts against the cam, and a second spring sleeved on the push rod, the two ends of the second spring abutting against the piston disc and the inner wall of the pump cylinder respectively.

[0023] The cleaning method for using a photovoltaic panel cleaning robot in complex terrain, as described in the Shago tutorial, includes the following steps:

[0024] Step 1: Adjust the air delivery angle of the air cylinder and nozzle according to the angle of the photovoltaic panel using a robotic arm and air blowing cleaning mechanism;

[0025] Step 2: Under the action of the drive mechanism, the bidirectional air pumping mechanism is driven to move, so as to pump the outside air into the air delivery cylinder at different rates through the air pumping cylinder.

[0026] Step 3: Under the action of the air delivery cylinder, the gas is blown onto the surface of the photovoltaic panel at different pressures through the nozzle;

[0027] Step 4: At the same time, when the pressure inside the air delivery cylinder changes, it will also drive the air blowing cleaning mechanism to move, thereby changing the air delivery angle of the air delivery cylinder and the nozzle, and adjusting the guide size of the nozzle through the guide component.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: The present application can continuously adjust the air delivery angle and air delivery pressure of the nozzle according to the change of air pressure in the air delivery cylinder, so as to ensure that the photovoltaic panel can be thoroughly and effectively cleaned. Specifically, under the action of the drive mechanism, the air in the pump cylinder is pumped into the air delivery cylinder at different rates through the bidirectional pumping mechanism, so as to continuously change the pressure in the air delivery cylinder. At the same time, under the action of the air blowing cleaning mechanism, the spraying angle of the nozzle is adjusted by the air delivery cylinder, and the guide size of the nozzle is changed by the guide component to increase the speed of the airflow sprayed by the nozzle, thereby enhancing the cleaning effect on the photovoltaic panel.

[0029] By cooperating with the cam and the limit wheel, the piston disc can be controlled to move in a state of approximately first increasing speed and then decreasing speed. This allows for a gradual increase in the air pressure in the air delivery cylinder, followed by a gradual decrease in the air pressure in the air delivery cylinder, thereby controlling the air blowing cleaning mechanism to achieve the desired effect. At the same time, under the action of the second spring, the limit wheel can always be kept in contact with the cam, thus realizing the variable speed reciprocating motion of the piston disc.

[0030] By continuously changing the pressure inside the air cylinder, the spray angle and spray pressure of the nozzle can be continuously changed. In this way, the air blowing range on the photovoltaic panel can be increased, and when the airflow direction is towards the photovoltaic panel, the impact force on the photovoltaic panel can be enhanced, thereby loosening the stubborn sand and dust. As the airflow 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. Attached Figure Description

[0031] Figure 1 A schematic diagram of a photovoltaic panel cleaning robot embodiment for the complex terrain of Shago;

[0032] Figure 2 A schematic diagram of the structure from the first angle in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago;

[0033] Figure 3 A structural schematic diagram from a second angle in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago;

[0034] Figure 4 A schematic diagram showing the connection relationship of some drive mechanisms and some bidirectional pumping mechanisms in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago.

[0035] Figure 5 A schematic diagram of the robotic arm and air-blowing cleaning mechanism in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago;

[0036] Figure 6 A schematic diagram of the structure of a photovoltaic panel cleaning robot for complex terrain in Shago, including a bidirectional air pumping mechanism, a drive mechanism, and a fixed frame;

[0037] Figure 7 An exploded view of some of the drive mechanisms in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago;

[0038] Figure 8 A schematic diagram of the air delivery cylinder and part of the air blowing cleaning mechanism in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago;

[0039] Figure 9 A cross-sectional schematic diagram of the air delivery cylinder in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago.

[0040] Figure 10 A schematic diagram of part of the air-blowing cleaning mechanism in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago;

[0041] Figure 11An exploded structural diagram of part of the air-blowing cleaning mechanism in an embodiment of a photovoltaic panel cleaning robot for complex terrain in Shago.

[0042] In the diagram: 1. Transport vehicle; 2. Support platform; 3. Robotic arm; 4. Movable plate; 5. Support column; 6. Support plate; 7. Air delivery cylinder; 701. Nozzle; 8. Arc-shaped partition; 801. Air delivery groove; 9. Fixed rod; 901. Spiral groove; 902. Straight groove; 10. First guide column; 11. Movable sleeve; 1101. Limiting 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. Limiting rod; 22. Limiting wheel; 23. Fixed plate; 24. Motor; 25. Transmission rod; 26. Cam; 27. Inhalation pipe; 28. Filter pipe; 2801. Filter groove; 29. ​​Air delivery pipe. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0045] Please see Figures 1-11 In this embodiment of the invention, the photovoltaic panel cleaning robot for complex terrain in Shago includes:

[0046] The carrier vehicle 1, and the support platform 2 and the fixing frame 14 fixed on the carrier vehicle 1, wherein the support platform 2 is equipped with a robotic arm 3 capable of multi-degree-of-freedom movement;

[0047] Also includes:

[0048] An air-blowing cleaning mechanism is mounted on the robotic arm 3, including an air supply cylinder 7. The air supply cylinder 7 is connected to a plurality of nozzles 701 that are evenly distributed. The air-blowing cleaning mechanism is provided with a guiding component. When adjusting the air supply angle of the air supply cylinder 7, the air-blowing cleaning mechanism can adjust the guiding size of the nozzles 701 through the guiding component and make the airflow discharged through the nozzles 701 at different air pressures.

[0049] The pump cylinder 15 is fixed on the fixed frame 14. The pump cylinder 15 is provided with a bidirectional pumping mechanism. The fixed frame 14 is provided with a drive mechanism connected to the bidirectional pumping mechanism. The drive mechanism can pump gas to the air delivery cylinder 7 at different rates through the bidirectional pumping mechanism.

[0050] Specifically, when cleaning the surface of the photovoltaic panel, since the photovoltaic panel is installed in a dry area with limited water resources and high wind and sand levels, air blowing can be used to remove the dust adhering to the photovoltaic panel. To enhance photovoltaic power generation efficiency, the photovoltaic panel is usually installed at an angle. Therefore, the tilt angle between the air delivery cylinder 7 and the photovoltaic panel can be controlled by the robotic arm 3 and the air blowing cleaning mechanism. The nozzles 701 are evenly distributed along the tilt direction of the photovoltaic panel. When the drive mechanism operates, it drives the bidirectional air pumping mechanism to move, filtering the outside air and delivering it to the pump cylinder 15, which in turn pumps it into the air delivery cylinder 7. The gas rate delivered by the pump cylinder 15 gradually increases and then gradually decreases. Initially, the air pressure in the air delivery cylinder 7 is low, creating a pressure gradient within the cylinder. The nozzles 701 then approach the air delivery cylinder. The air inlet 7 is the starting point, located on the side of the photovoltaic panel that is tilted downwards. The air pressure of the gas sprayed from this point is the highest. As the gas gradually increases, the air pressure in the air delivery cylinder 7 gradually increases. Under the action of the air pressure, the movement of the air blowing cleaning mechanism is controlled, thereby adjusting the air delivery angle of the air delivery cylinder 7 and the nozzle 701. This makes the air delivery angle of the nozzle 701 face the photovoltaic panel. Under the action of the conductive component, the conductive size of the nozzle 701 gradually decreases, thereby increasing the flow rate of the gas blown by the nozzle 701 to increase the cleaning force on the photovoltaic panel. Under the action of the gas, stubborn sand and dust are loosened. When the gas rate entering the air delivery cylinder 7 decreases, the angle between the nozzle 701 and the photovoltaic panel increases again. This first blows the loosened sand and dust away from the surface of the photovoltaic panel, and then blows away the dust suspended above the photovoltaic panel to avoid the dust falling back onto the photovoltaic panel due to gravity or airflow.

[0051] Please see Figures 1-4 , Figure 6 , Figure 7The bidirectional pumping mechanism includes a second guide post 16 fixed inside the pumping cylinder 15. The second guide post 16 has a piston disc 17 that is slidably and sealingly connected to the pumping cylinder 15. The bidirectional pumping mechanism also includes an intake pipe 27 and an air delivery pipe 29 connected to the pumping cylinder 15. A filter pipe 28 is fixed on the fixing frame 14. A filter groove 2801 is formed at the end of the filter pipe 28. The intake pipe 27 is connected to the filter pipe 28, and the air delivery pipe 29 is connected to the air delivery cylinder 7.

[0052] Please see Figures 1-4 , Figure 6 , Figure 7 The driving mechanism includes a fixed plate 23 fixed on the fixed frame 14, a motor 24 fixed on the fixed plate 23, a transmission rod 25 rotatably mounted on the fixed plate 23 and connected to the output shaft of the motor 24, and a cam 26 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 limit rod 21 is fixed on the follower plate 20, and a limit wheel 22 that abuts against the cam 26 is fixed to the end of the limit rod 21. A second spring 19 is sleeved on the push rod 18, and the two ends of the second spring 19 abut against the piston disc 17 and the inner wall of the pump cylinder 15, respectively.

[0053] Please see Figure 7 In detail, the cam 26 can be divided into three parts: the short arc end, the long arc end, and the lateral arc end. The circumferential radius of the short arc end is larger than that of the long arc end. The rotation center of the transmission rod 25 and the circumferential center of the short arc end are located on the same axis.

[0054] The intake pipe 27 and the delivery pipe 29 are symmetrically arranged. The two delivery pipes 29 extend to a certain length and then converge into a single pipe. Four one-way valves are installed on the pump cylinder 15. Two of these one-way valves are connected to the intake pipe 27, and the other two are connected to the delivery pipe 29. Under the action of the one-way valves, air can only enter the pump cylinder 15 through the intake pipe 27 and then exit through the delivery pipe 29. When the short arc end of the cam 26 abuts against the limit wheel 22, it means that the limit rod 21 is positioned towards the cam 26. At the end of the stroke, the push rod 18 is positioned at the end of the stroke inserted into the pump cylinder 15 by the follower plate 20. The extension of the second spring 19 in its natural state is greater than the size of the push rod 18 entering the pump cylinder 15. Therefore, the second spring 19 is in a pre-compressed state and always provides the piston disc 17 with a thrust 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, one cavity is the largest and is filled with air, while the other cavity is the smallest.

[0055] When air needs to be pumped into the air supply cylinder 7, the motor 24 drives the cam 26 to rotate via the transmission rod 25. When the arc end of the short shaft of the cam 26 abuts against the limit wheel 22, the limit wheel 22 remains stationary. When the limit wheel 22 separates from the arc end of the short shaft of the cam 26, the limit wheel 22 will move to abut against the lateral arc end of the cam 26. Under the action of the cam 26, the limit wheel 22 is pushed to move away from the transmission rod 25, thereby driving the follower plate 20 to move via the limit rod 21. The piston disc 17 is driven by the push rod 18 to move, which compresses the second spring 19. Under the action of the piston disc 17, the air in one cavity is delivered to the air cylinder 7 through the air delivery pipe 29, and a negative pressure is formed in the other cavity. Under the action of the negative pressure, the gas in the filter pipe 28 is drawn into the cavity through the air intake pipe 27. Under the action of the filter groove 2801, the dust and other particles mixed in the air hole can be effectively filtered to ensure that the airflow blown to the surface of the photovoltaic panel is in a clean state.

[0056] Under the action of the lateral arc end of the cam 26, the limiting wheel 22 can also be gradually accelerated, which increases the movement speed of the piston disc 17, thereby accelerating the gas speed pumped into the air delivery cylinder 7, gradually increasing the pressure in the air delivery cylinder 7, thereby controlling the movement of the air blowing cleaning mechanism, and performing air blowing cleaning on the surface of the photovoltaic panel under the action of the air blowing cleaning mechanism.

[0057] When the limiting wheel 22 separates from the lateral arc end of the cam 26 and abuts against the long arc end, the position of the limiting wheel 22 no longer changes. Since the radius of the long arc end itself is small, the limiting wheel 22 will only stay for a short time. When the limiting wheel 22 separates from the long arc end, the second spring 19 is released elastically, so that the limiting wheel 22 always remains in contact with the cam 26. 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 long circumferential end of the cam 26 again.

[0058] Preferably, through the above steps, the piston disc 17 can be controlled to move in a state of approximately first increasing speed and then decreasing speed, thereby gradually increasing the air pressure in the air delivery cylinder 7 and then gradually decreasing the air pressure in the air delivery 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, the limit wheel 22 can always be kept in contact with the cam 26, thereby realizing the variable speed reciprocating motion of the piston disc 17.

[0059] Please see Figures 1-3 , Figure 5 , Figures 8-11The air-blowing cleaning mechanism includes a movable plate 4 rotatably mounted on the robotic arm 3, a support column 5 rotatably mounted on the movable plate 4, a support plate 6 fixed at the end of the support column 5, a fixed rod 9 fixed on the support plate 6 and rotatably connected to the air delivery cylinder 7, a movable sleeve 11 slidably on the fixed rod 9, a first guide column 10 fixed inside the air delivery cylinder 7, a buffer disc 12 slidably on the first guide column 10 and fixedly connected to the movable sleeve 11; it also includes a guide assembly disposed on the support plate 6 for adjusting the angle of the air delivery cylinder 7, the guide assembly including a guide groove formed on the outer circumference of the fixed rod 9, a limiting block 1101 fixed on the inner wall of the movable sleeve 11 that slidably engages with the guide groove, a first spring 13 sleeved on the fixed rod 9, the two ends of the first spring 13 abutting against the buffer disc 12 and the inner wall of the air delivery cylinder 7 respectively.

[0060] Please see Figure 8 The guiding component includes an arc-shaped partition 8 fixed on the support plate 6. The arc-shaped partition 8 has air delivery grooves 801 that are evenly distributed and communicate with the nozzle 701. The air delivery grooves 801 are arranged in the shape of an inverted water droplet on the arc-shaped partition 8.

[0061] Furthermore, the robotic arm 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 set in an inclined direction. In this regard, the tilt angle of the support plate 6 can be adjusted by the support column 5 so that the tilt angle of the support plate 6 is the same as or approximately the tilt angle of the photovoltaic panel. There are multiple nozzles 701 evenly distributed, and the nozzle 701 located on one side of the air cylinder 7 is closest to the air pipe 29. Taking this nozzle 701 as the starting point, the nozzle 701 is located near the lower side of the photovoltaic panel. The remaining nozzles 701 are arranged in sequence along the upper side of the photovoltaic panel.

[0062] Please see Figure 11The guide groove can be divided into two parts: a spiral groove 901 and a straight groove 902, with one end of each connected to the other. Initially, the limiting block 1101 is located at the end of the stroke of the spiral groove 901 on the side away from the straight groove 902, maximizing the distance between the buffer disc 12 and the inner wall of the air cylinder 7 on the side away from the nozzle 701. The first spring 13, in its natural state, elongates beyond this distance, thus being in a pre-compressed state and consistently providing a thrust to the buffer disc 12 moving towards the nozzle 701. At this time, under the action of the limiting block 1101 and the spiral groove 901, the nozzle... 701 is perpendicular to the support plate 6, and the airflow direction is offset from the photovoltaic panel. The air delivery channel 801 is set in an inverted teardrop shape on the arc surface of the arc partition 8. Taking the end of the air delivery channel 801 on the upper side of the arc partition 8 as the starting point, this end has the largest size. After cooperating with the nozzle 701, the nozzle 701 is in a fully conductive state. When it moves downward along the arc partition 8, the size of the air delivery channel 801 gradually decreases. Therefore, when the nozzle 701 performs a yaw action, the air delivery channel 801 can change the conductivity of the nozzle 701 to adjust the airflow speed and change the impact force on the photovoltaic panel.

[0063] 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 on the lower side of the photovoltaic panel is the closest to the air supply pipe 29, the air will be discharged first through the nozzle 701. The remaining air in the air supply cylinder 7 will be discharged sequentially through other nozzles 701. The multiple nozzles 701 will form a pressure gradient, with the nozzle 701 at the starting point having the highest air pressure, and the air pressure of the nozzles 701 at adjacent positions decreasing sequentially.

[0064] As the pressure inside the air delivery cylinder 7 gradually increases, the air pressure pushes the buffer plate 12 to move and compresses the first spring 13. This causes the movable sleeve 11 to drive the limiting block 1101 to slide along the spiral groove 901, making the movable sleeve 11 rotate. This, in turn, drives the air delivery cylinder 7 to rotate through the buffer plate 12 and the first guide post 10, changing the spray angle of the nozzle 701. The spray pressure gradually increases and gradually deflects towards the photovoltaic panel. The mating position between the nozzle 701 and the air delivery groove 801 also changes. Under the action of the air delivery groove 801, the conduction size of the nozzle 701 gradually decreases to increase the flow rate of the air discharged from the nozzle 701. As a result, the reduced angle between the nozzle 701 and the photovoltaic panel, and the increased flow rate of the sprayed gas from the nozzle 701, increase the impact force of the gas on the photovoltaic panel, effectively loosening the stubborn sand and dust on the photovoltaic panel.

[0065] When the limiting 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. As the air pressure in the air supply cylinder 7 continues to increase, the limiting block 1101 will slide along the straight groove 902, thereby buffering 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, further loosening 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 released elastically and pushes the buffer plate 12 to move towards the initial state, so that the limiting block 1101 returns to the spiral groove 901, so that the spraying angle of the nozzle 701 deflects 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. Repeat the above steps to achieve effective cleaning of the photovoltaic panel.

[0066] Preferably, by continuously changing the pressure inside the air cylinder 7, the spraying angle and spraying air pressure of the nozzle 701 can be continuously changed. In this way, the air blowing range on the photovoltaic panel can be increased, and when the air blowing direction is towards the photovoltaic panel, the impact force on the photovoltaic panel can be enhanced, thereby loosening the stubborn sand and dust. As the air 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.

[0067] The cleaning method for using a photovoltaic panel cleaning robot in complex terrain, as described in the Shago tutorial, includes the following steps:

[0068] Step 1: Adjust the air delivery angle of the air delivery cylinder 7 and the nozzle 701 according to the angle of the photovoltaic panel using the robotic arm 3 and the air blowing cleaning mechanism;

[0069] Step 2: Under the action of the drive mechanism, the bidirectional air pumping mechanism is driven to move, so as to pump the outside air into the air delivery cylinder 7 at different rates through the air pumping cylinder 15.

[0070] Step 3: Under the action of the air supply cylinder 7, the gas is blown onto the surface of the photovoltaic panel at different pressures through the nozzle 701;

[0071] Step 4: At the same time, when the pressure inside the air delivery cylinder 7 changes, it will also drive the air blowing cleaning mechanism to move, thereby changing the air delivery angle of the air delivery cylinder 7 and the nozzle 701, and adjusting the guiding size of the nozzle 701 through the guiding component.

[0072] 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 implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0073] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A photovoltaic panel cleaning robot for complex terrain in Shago, including: A transport vehicle, and a support platform and a fixed frame fixed on the transport vehicle, wherein a robotic arm capable of multi-degree-of-freedom movement is mounted on the support platform; Its characteristic is that it further includes: An air-blowing cleaning mechanism, mounted on the robotic arm, includes an air delivery cylinder with multiple nozzles evenly distributed on it. The air-blowing cleaning mechanism is equipped with a guiding component, which allows the guiding size of the nozzles to be adjusted via the guiding component when the air delivery angle of the air delivery cylinder is adjusted, thus allowing airflow to exit through the nozzles at different pressures. A pump cylinder, fixed on the mounting frame, contains a bidirectional pumping mechanism. The mounting frame is equipped with a drive mechanism connected to the bidirectional pumping mechanism, which pumps gas into the air delivery cylinder at different rates via the bidirectional pumping mechanism. The air blowing cleaning mechanism includes a movable plate rotatably mounted on the robotic arm, a support column rotatably mounted on the movable plate, a support plate fixed at the end of the support column, a fixed rod fixed on the support plate and rotatably connected to the air delivery cylinder, a movable sleeve slidably on the fixed rod, a first guide column fixed inside the air delivery cylinder, and a buffer disc fixedly connected to the movable sleeve slidably on the first guide column. It also includes a guide assembly disposed on the support plate for adjusting the angle of the air delivery cylinder.

2. The photovoltaic panel cleaning robot for complex terrain in Shago as described in claim 1, characterized in that, The guiding assembly includes a guide groove formed on the outer circumference of the fixed rod, a limiting block fixed on the inner wall of the movable sleeve that slides into the guide groove, and a first spring sleeved on the fixed rod, the two ends of the first spring abutting against the buffer plate and the inner wall of the air delivery cylinder, respectively.

3. The photovoltaic panel cleaning robot for complex terrain in Shago as described in claim 1, characterized in that, The guiding component includes an arc-shaped partition fixed on the support plate, and the arc-shaped partition has air delivery grooves that are evenly distributed and cooperate with the nozzle.

4. The photovoltaic panel cleaning robot for complex terrain in Shago as described in claim 3, characterized in that, The air delivery channel is arranged in an inverted teardrop shape on the arc-shaped partition.

5. The photovoltaic panel cleaning robot for complex terrain in Shago as described in claim 1, characterized in that, The bidirectional pumping mechanism includes a second guide column fixed inside the pumping cylinder, and the second guide column has a piston disc that is slidably and sealingly connected to the pumping cylinder.

6. The photovoltaic panel cleaning robot for complex terrain in Shago as described in claim 5, characterized in that, The bidirectional air pumping mechanism also includes an air intake pipe and an air delivery pipe connected to the air pump cylinder. A filter pipe is fixed on the fixed frame, and a filter groove is formed at the end of the filter pipe. The air intake pipe is connected to the filter pipe, and the air delivery pipe is connected to the air delivery cylinder.

7. The photovoltaic panel cleaning robot for complex terrain in Shago as described in claim 5, characterized in that, The drive mechanism includes a fixed plate fixed on the fixed frame, a motor fixed on the fixed plate, a transmission rod rotatably mounted on the fixed plate and connected to the output shaft of the motor, and a cam fixed on the transmission rod.

8. The photovoltaic panel cleaning robot for complex terrain in Shago as described in claim 7, characterized in that, The drive mechanism also includes a push rod fixed on the piston disc and passing through the pump cylinder. A follower plate is fixed to the end of the push rod, and a limit rod is fixed to the follower plate. A limit wheel that abuts against the cam is fixed to the end of the limit rod. A second spring is sleeved on the push rod, and the two ends of the second spring abut against the piston disc and the inner wall of the pump cylinder, respectively.

9. A cleaning method for a photovoltaic panel cleaning robot for complex terrain in Shago, comprising the photovoltaic panel cleaning robot for complex terrain in Shago as described in any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Adjust the air delivery angle of the air cylinder and nozzle according to the angle of the photovoltaic panel using a robotic arm and air blowing cleaning mechanism; Step 2: Under the action of the drive mechanism, the bidirectional air pumping mechanism is driven to move, so as to pump the outside air into the air delivery cylinder at different rates through the air pumping cylinder. Step 3: Under the action of the air delivery cylinder, the gas is blown onto the surface of the photovoltaic panel at different pressures through the nozzle; Step 4: At the same time, when the pressure inside the air delivery cylinder changes, it will also drive the air blowing cleaning mechanism to move, thereby changing the air delivery angle of the air delivery cylinder and the nozzle, and adjusting the guide size of the nozzle through the guide component.

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