Ten-degree-of-freedom solar photovoltaic panel cleaning mechanism

Abstract

The invention relates to the technical field of photovoltaic panel cleaning, in particular to a ten-degree-of-freedom solar photovoltaic panel cleaning mechanism which comprises a platform bearing trolley and a supporting frame, the supporting frame is fixedly installed in the middle of the top end of the platform bearing trolley, and a six-degree-of-freedom platform is arranged at the top end of the supporting frame. An inclination angle adjusting assembly used for adjusting the overall inclination angle of the six-degree-of-freedom platform is arranged between the six-degree-of-freedom platform and the supporting frame, a horizontal moving sliding table module is arranged at the top end of the six-degree-of-freedom platform, and a supporting platform is fixedly installed at the top of the moving end of the horizontal moving sliding table module. A rectangular photovoltaic panel sweeping walking frame is fixedly installed at the top end of the supporting platform, a photovoltaic panel sweeping vehicle is placed on the photovoltaic panel sweeping walking frame, the photovoltaic panel sweeping vehicle can walk in the front-back direction of the photovoltaic panel sweeping walking frame, and the photovoltaic panel sweeping mechanism can adapt to photovoltaic panels of different heights and different inclination angles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic panel cleaning, in particular to a ten-degree-of-freedom solar photovoltaic panel cleaning mechanism. BACKGROUND

[0002] Photovoltaic panels need to be cleaned frequently during operation to remove dust or snow on the panel surface to ensure the power generation efficiency of the photovoltaic power station. Some long photovoltaic panels use cleaning vehicles that walk on the panel surface to walk along the length direction of the photovoltaic panel to complete the cleaning work of the photovoltaic panel.

[0003] Most of the current photovoltaic panel cleaning vehicles are in a rear docking mode to dock with the photovoltaic panel and then walk along the length direction of the photovoltaic panel to clean; however, since the inclination angle and height of photovoltaic panels in different areas are different, the photovoltaic panel cleaning vehicle needs to be adjusted to the appropriate height and inclination angle when docking, and the current practice is to manually adjust the photovoltaic panel cleaning vehicle to the appropriate height and inclination angle before docking with the photovoltaic panel, which is time-consuming and laborious. SUMMARY

[0004] The present application aims to provide a ten-degree-of-freedom solar photovoltaic panel cleaning mechanism to solve the technical problems in the background.

[0005] To achieve the above-mentioned purposes, the technical solutions of the present application are as follows:

[0006] A ten-degree-of-freedom solar photovoltaic panel cleaning mechanism, comprising: a platform carrying trolley and a support frame, the support frame is fixedly installed at the top end of the platform carrying trolley, the top end of the support frame is provided with a six-degree-of-freedom platform, a tilt angle adjusting assembly for adjusting the overall inclination angle of the six-degree-of-freedom platform is arranged between the six-degree-of-freedom platform and the support frame, the top end of the six-degree-of-freedom platform is provided with a horizontal moving slide table module, the moving end top of the horizontal moving slide table module is fixedly installed with a support platform, the top end of the support platform is fixedly installed with a rectangular photovoltaic panel cleaning walking frame, a photovoltaic panel cleaning vehicle is placed on the photovoltaic panel cleaning walking frame, the photovoltaic panel cleaning vehicle can walk along the front and back direction of the photovoltaic panel cleaning walking frame, and a limiting component for preventing the photovoltaic panel cleaning vehicle from rolling off the photovoltaic panel cleaning walking frame is further arranged on the photovoltaic panel cleaning walking frame.

[0007] Further, the six-degree-of-freedom platform comprises a lower platform, a mounting plate, a hock hinge hinge seat one, a hinge support three, an electric cylinder two, a hinge support four, a hock hinge hinge seat two and an upper platform, three circumferentially arrayed sunken grooves are formed in the top end of the lower platform, the mounting plate is fixedly connected in the sunken groove, two symmetrically arranged hock hinge hinge seat ones are fixedly installed at the top end of each mounting plate, the electric cylinder two is provided with six, the bottom fixed end and the top telescopic end of the electric cylinder two are fixedly connected with the hinge support three and the hinge support four respectively, three groups of circumferentially arrayed hock hinge hinge seat twos are fixedly installed at the bottom end of the upper platform, and two are symmetrically arranged in each group; the six hinge supports three are respectively hinged to the hinge shafts of the six hock hinge hinge seat ones, and the six hinge supports four are respectively hinged to the hinge shafts of the six hock hinge hinge seat twos.

[0008] Further, the inclination angle adjusting assembly comprises a support bottom plate, a bearing seat one, a hinge shaft one, a fixed plate, an electric cylinder one, a hinge joint, a hinge support one, a hinge shaft two, a support top plate, a hinge seat, a hinge shaft three and a hinge support two, the left end of the support frame is provided with a sunken part, the orthographic projection of the support frame is a rectangle, two support bottom plates are fixedly installed on the right side of the bottom end of the support frame in a front-rear symmetrical manner, the support top plate is fixedly installed at the top end of the sunken part, the electric cylinder one is provided with two, the fixed end of the electric cylinder one is fixedly connected with the fixed plate, the hinge shaft one arranged in a longitudinal direction is fixedly connected to the fixed plate, the bearing seat one is provided with two groups in a front-rear symmetrical manner, the two groups of bearing seat ones are respectively fixedly installed at the top end of the two support bottom plates, the two hinge shaft ones are respectively hinged to the two groups of bearing seat ones, the telescopic end of the electric cylinder one is fixedly connected with the hinge joint, the two hinge supports one are fixedly installed on the bottom end of the lower platform in a front-rear symmetrical manner, the two hinge supports one are respectively hinged to the two hinge joints through the two hinge shaft twos, the support top plate is vertically and uniformly provided with a plurality of hinge seats at the top end, the bottom end of the lower platform is vertically and uniformly provided with a plurality of hinge supports two on the left side, and the plurality of hinge supports two are respectively hinged to the plurality of hinge seats through the plurality of hinge shaft threes; in the initial state, the bottom end face of the lower platform is flush with and in contact with the top end of the support frame.

[0009] Further, the horizontal movement sliding table module is transversely arranged at the top end of the upper platform, and the horizontal movement sliding table module can drive the support platform to transversely displace.

[0010] Further, the photovoltaic panel cleaning walking frame comprises two horizontal rectangular tubes, two vertical short square tubes and three longitudinal short square tubes, two horizontal rectangular tubes are fixedly connected to the front and rear ends of the opposite side of the two vertical short square tubes, forming a rectangular main frame; a plurality of longitudinal short square tubes are longitudinally and uniformly arranged in the main frame, two horizontal rectangular tubes are fixedly connected between the two vertical short square tubes, and the two horizontal rectangular tubes and the plurality of longitudinal short square tubes are cross arranged respectively; two longitudinal short square tubes are symmetrically fixedly connected between the two horizontal rectangular tubes; the support platform is fixedly installed at the bottom end of the two horizontal rectangular tubes and the two longitudinal short square tubes.

[0011] Further, the photovoltaic panel cleaning vehicle comprises a rectangular cleaning main body, side plates, rollers one and rollers two, the distance between the left and right ends of the rectangular cleaning main body is equal to the distance between the left and right ends of the main frame; two side plates are symmetrically fixedly connected to the left and right ends of the rectangular cleaning main body, four rollers two are symmetrically installed at the bottom end of the two side plates, four rollers one are symmetrically installed on the opposite side of the two side plates, four rollers one are rollingly connected to the top end of the two vertical short square tubes, and four rollers two are rollingly connected to the outer side end of the two vertical short square tubes.

[0012] Further, the limiting assembly comprises: vertical rods, connecting shafts one, horizontal connecting rods, connecting shafts two, vertical connecting rods, connecting heads one, connecting shafts three, electric push rods one, connecting heads two and connecting shafts four, the vertical rods, vertical connecting rods, connecting heads one, connecting shafts three, electric push rods one, connecting heads two and connecting shafts four are all provided with two, the connecting shafts one, horizontal connecting rods and connecting shafts two are provided with four, two vertical rods are vertically symmetrically fixedly connected at the left and right sides of the front part of the photovoltaic panel cleaning walking frame, the middle parts of the two vertical rods are respectively hingedly provided with one end of four horizontal connecting rods through four connecting shafts one, the other ends of the four horizontal connecting rods are respectively hingedly connected to the top ends and middle parts of two vertical connecting rods through four connecting shafts two, the top ends of the two horizontal connecting rods at the top are fixedly connected with two connecting heads one at the rear side, the two connecting heads one are respectively hingedly connected with the telescopic ends of two electric push rods one through two connecting shafts three, the fixed ends of the two electric push rods one are respectively fixedly connected with two connecting heads two, and the two connecting heads two are respectively hingedly connected with the upper ends of the two vertical rods through two connecting shafts four, when the vertical connecting rods are completely lowered, the rectangular cleaning main body is located between the vertical rods and the vertical connecting rods, and the distance between the bottom end of the vertical connecting rod and the top end face of the photovoltaic panel cleaning walking frame is smaller than the distance between the top end face of the rectangular cleaning main body and the top end face of the photovoltaic panel cleaning walking frame, when the vertical connecting rods are completely lifted, the distance between the bottom end of the vertical connecting rod and the top end face of the photovoltaic panel cleaning walking frame is greater than the distance between the top end face of the rectangular cleaning main body and the top end face of the photovoltaic panel cleaning walking frame.

[0013] Further, the limiting assembly comprises: vertical rods, connecting shafts one, horizontal connecting rods, connecting shafts two, vertical connecting rods, connecting heads one, connecting shafts three, electric push rods one, connecting heads two and connecting shafts four, the vertical rods, vertical connecting rods, connecting heads one, connecting shafts three, electric push rods one, connecting heads two and connecting shafts four are all provided with two, the connecting shafts one, horizontal connecting rods and connecting shafts two are provided with four, two vertical rods are vertically symmetrically fixedly connected at the left and right sides of the front part of the photovoltaic panel cleaning walking frame, the middle parts of the two vertical rods are respectively hingedly provided with one end of four horizontal connecting rods through four connecting shafts one, the other ends of the four horizontal connecting rods are respectively hingedly connected to the top ends and middle parts of two vertical connecting rods through four connecting shafts two, the top ends of the two horizontal connecting rods at the top are fixedly connected with two connecting heads one at the rear side, the two connecting heads one are respectively hingedly connected with the telescopic ends of two electric push rods one through two connecting shafts three, the fixed ends of the two electric push rods one are respectively fixedly connected with two connecting heads two, and the two connecting heads two are respectively hingedly connected with the upper ends of the two vertical rods through two connecting shafts four, when the vertical connecting rods are completely lowered, the rectangular cleaning main body is located between the vertical rods and the vertical connecting rods, and the distance between the bottom end of the vertical connecting rod and the top end face of the photovoltaic panel cleaning walking frame is smaller than the distance between the top end face of the rectangular cleaning main body and the top end face of the photovoltaic panel cleaning walking frame, when the vertical connecting rods are completely lifted, the distance between the bottom end of the vertical connecting rod and the top end face of the photovoltaic panel cleaning walking frame is greater than the distance between the top end face of the rectangular cleaning main body and the top end face of the photovoltaic panel cleaning walking frame.

[0014] Compared with the prior art, the present application has the following advantages:

[0015] The six-degree-of-freedom platform can lift the photovoltaic panel cleaning vehicle to the appropriate docking height according to the height of the photovoltaic panel; the inclination angle adjusting assembly can coarsely adjust the inclination angle of the photovoltaic panel cleaning vehicle according to the inclination angle of the photovoltaic panel, and the six-degree-of-freedom platform can finely adjust the inclination angle of the photovoltaic panel cleaning vehicle; the horizontal moving slide module can adjust the docking position of the photovoltaic panel cleaning vehicle; through the cooperation of the six-degree-of-freedom platform, the inclination angle adjusting assembly and the horizontal moving slide module, the photovoltaic panel of different heights and inclination angles can be accurately docked, the whole process does not need manual operation, and the work efficiency can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic diagram of the application;

[0017] Figure 2 is a structural schematic diagram of the support frame and the connecting components thereon in the application;

[0018] Figure 3 is a bottom view of the support frame and the connecting components thereon in the application;

[0019] Figure 4 is a structural schematic diagram of the lower platform after being installed on the support frame in the application;

[0020] Figure 5 is a front view of the application;

[0021] Figure 6 is a connection schematic diagram of the upper platform and the second hook hinge seat in the application;

[0022] Figure 7 is a connection schematic diagram of the upper platform and the horizontal moving slide module in the application;

[0023] Figure 8 is a structural view of the photovoltaic panel cleaning walking frame and the installing components thereon in the application;

[0024] Figure 9 is a longitudinal sectional view of the application at the second electric push rod.

[0025] The reference signs in the drawings are: 1-platform bearing trolley, 2-support frame, 3-support bottom plate, 4-bearing seat one, 5-hinged shaft one, 6-fixing plate, 7-electric cylinder one, 8-hinge joint, 9-lower platform, 10-hinged support one, 11-hinged shaft two, 12-support top plate, 13-hinged seat, 14-hinged shaft three, 15-hinged support two, 16-mounting plate, 17-hooke hinge seat one, 18-hinged support three, 19-electric cylinder two, 20-hinged support four, 21-hooke hinge seat two, 22-upper platform, 23-horizontal moving slide module, 24-support platform, 25-photovoltaic panel cleaning walking frame, 26-photovoltaic panel cleaning vehicle, 27-vertical rod, 28-connection shaft one, 29-horizontal connecting rod, 30-connection shaft two, 31-vertical connecting rod, 32-connection head one, 33-connection shaft three, 34-electric push rod one, 35-connection head two, 36-connection shaft four, 37-embedded square tube, 38-pushing head, 39-pivot one, 40-connection head three, 41-electric push rod two, 42-connection head four, 43-pivot two. DETAILED DESCRIPTION

[0026] The application will be further described in detail below with reference to the drawings and examples.

[0027] Reference Figures 1-9 As shown in the drawings, a ten-degree-of-freedom solar photovoltaic panel cleaning mechanism includes a platform bearing trolley 1 and a support frame 2, the support frame 2 is fixedly installed at the top middle part of the platform bearing trolley 1, the top end of the support frame 2 is provided with a six-degree-of-freedom platform, a tilt angle adjusting assembly for adjusting the overall tilt angle of the six-degree-of-freedom platform is arranged between the six-degree-of-freedom platform and the support frame 2, the top end of the six-degree-of-freedom platform is provided with a horizontal moving slide module 23, the moving end top of the horizontal moving slide module 23 is fixedly installed with a support platform 24, the top end of the support platform 24 is fixedly installed with a rectangular photovoltaic panel cleaning walking frame 25, a photovoltaic panel cleaning vehicle 26 is placed on the photovoltaic panel cleaning walking frame 25, the photovoltaic panel cleaning vehicle 26 can walk along the front and back direction of the photovoltaic panel cleaning walking frame 25, and a limiting assembly for preventing the photovoltaic panel cleaning vehicle 26 from rolling off the photovoltaic panel cleaning walking frame 25 is further arranged on the photovoltaic panel cleaning walking frame 25.

[0028] The six-degree-of-freedom platform comprises a lower platform 9, a mounting plate 16, a hinged seat one 17, a hinged support three 18, an electric cylinder two 19, a hinged support four 20, a hinged seat two 21 and an upper platform 22, the lower platform 9 is provided with three circumferentially arranged sinking grooves at the top end, the mounting plate 16 is fixedly connected in the sinking grooves, the top end of each mounting plate 16 is fixedly provided with two symmetrically arranged hinged seat ones 17, the electric cylinder two 19 is provided with six, the bottom end fixed end and the top telescopic end of the electric cylinder two 19 are fixedly connected with the hinged support three 18 and the hinged support four 20 respectively, the upper platform 22 is fixedly provided with three circumferentially arranged groups of hinged seat twos 21 at the bottom end, each group is symmetrically provided with two, the six hinged support threes 18 are respectively hinged with the hinged shafts of the six hinged seat ones 17, the six hinged support fours 20 are respectively hinged with the hinged shafts of the six hinged seat twos 21, the six electric cylinder twos 19 work in cooperation, and the six-degree-of-freedom platform can realize lifting and multi-angle inclination adjustment.

[0029] The inclination angle adjusting assembly comprises a support bottom plate 3, a bearing seat one 4, a hinged shaft one 5, a fixed plate 6, an electric cylinder one 7, a hinged joint 8, a hinged support one 10, a hinged shaft two 11, a support top plate 12, a hinged seat 13, a hinged shaft three 14 and a hinged support two 15, the support frame 2 is provided with a sinking part at the left end, the orthographic projection of the support frame 2 is rectangular, the bottom end right side of the support frame 2 is fixedly provided with two support bottom plates 3 in a front-rear symmetry manner, the sinking part top end is fixedly provided with a support top plate 12, the electric cylinder one 7 is provided with two, the fixed end of the electric cylinder one 7 is fixedly connected with a fixed plate 6, the fixed plate 6 is fixedly connected with a longitudinally arranged hinged shaft one 5, the bearing seat one 4 is provided with two groups in a front-rear symmetry manner, the two groups of bearing seat ones 4 are respectively fixedly installed at the top end of the two support bottom plates 3, the two hinged shaft ones 5 are respectively hinged with the two groups of bearing seat ones 4, the telescopic end of the electric cylinder one 7 is fixedly connected with a hinged joint 8, the bottom end middle part of the lower platform 9 is fixedly provided with two hinged supports ones 10 in a front-rear symmetry manner, the two hinged supports ones 10 are respectively hinged with the two hinged joints 8 through two hinged shaft twos 11, the support top plate 12 is longitudinally and uniformly provided with a plurality of hinged seats 13 at the top end, the bottom end left side of the lower platform 9 is longitudinally and uniformly provided with a plurality of hinged supports twos 15, the plurality of hinged supports twos 15 are respectively hinged with the plurality of hinged seats 13 through a plurality of hinged shaft threes 14, in the initial state, the bottom end face of the lower platform 9 is flush with and contacts the top end of the support frame 2, the two electric cylinder ones 7 are synchronously telescoped, and the inclination angle adjustment of the whole six-degree-of-freedom platform can be realized.

[0030] The horizontal moving slide module 23 is transversely arranged at the top end of the upper platform 22, and the horizontal moving slide module 23 can drive the support platform 24 to transversely displace.

[0031] The photovoltaic panel cleaning walking frame 25 comprises two horizontal rectangular tubes, two vertical short square tubes, and three longitudinal short square tubes. The two horizontal rectangular tubes are fixedly connected to the front and back ends of the two vertical short square tubes, respectively, to form a rectangular main frame. The three longitudinal short square tubes are fixedly connected between the two horizontal rectangular tubes. The support platform 24 is fixedly installed at the bottom end of the two horizontal rectangular tubes and the two longitudinal short square tubes.

[0032] The photovoltaic panel cleaning vehicle 26 comprises a rectangular cleaning body, two side plates, four rollers one, and four rollers two. The distance between the left and right ends of the rectangular cleaning body is equal to the distance between the left and right ends of the main frame. The two side plates are fixedly connected to the left and right ends of the rectangular cleaning body. The four rollers two are symmetrically installed at the bottom end of the two side plates. The four rollers one are symmetrically installed on the opposite side of the two side plates. The four rollers one are rollingly connected to the top end of the two vertical short square tubes. The four rollers two are rollingly connected to the outer side end of the two vertical short square tubes.

[0033] The limiting assembly comprises: vertical rods 27, connecting shafts 28, horizontal connecting rods 29, connecting shafts 30, vertical connecting rods 31, connecting heads 32, connecting shafts 33, electric push rods 34, connecting heads 35, and connecting shafts 36. Two vertical rods 27, two vertical connecting rods 31, two connecting heads 32, two connecting shafts 33, two electric push rods 34, two connecting heads 35, and two connecting shafts 36 are provided. Four connecting shafts 28, four horizontal connecting rods 29, and four connecting shafts 30 are provided. Two vertical rods 27 are vertically symmetrically fixedly connected to the left and right sides of the front part of the photovoltaic panel cleaning walking frame 25. The middle parts of the two vertical rods 27 are respectively hingedly connected to one end of four horizontal connecting rods 29 through four connecting shafts 28. The other end of the four horizontal connecting rods 29 is respectively hingedly connected to the top end and the middle part of the two vertical connecting rods 31 through four connecting shafts 30. The top end rear side of the top two horizontal connecting rods 29 is fixedly connected to two connecting heads 32. The two connecting heads 32 are respectively hingedly connected to the telescopic ends of two electric push rods 34 through two connecting shafts 33. The fixed ends of the two electric push rods 34 are respectively fixedly connected to two connecting heads 35. The two connecting heads 35 are respectively hingedly connected to the upper ends of the two vertical rods 27 through two connecting shafts 36. When the vertical connecting rod 31 is completely lowered, the rectangular cleaning main body is located between the vertical rod 27 and the vertical connecting rod 31, and the distance between the bottom end of the vertical connecting rod 31 and the top end surface of the photovoltaic panel cleaning walking frame 25 is less than the distance between the top end surface of the rectangular cleaning main body and the top end surface of the photovoltaic panel cleaning walking frame 25. When the vertical connecting rod 31 is completely raised, the distance between the bottom end of the vertical connecting rod 31 and the top end surface of the photovoltaic panel cleaning walking frame 25 is greater than the distance between the top end surface of the rectangular cleaning main body and the top end surface of the photovoltaic panel cleaning walking frame 25. When the photovoltaic panel cleaning vehicle 26 is placed on the photovoltaic panel cleaning walking frame 25, the limiting assembly can prevent the photovoltaic panel cleaning vehicle 26 from rolling off.

[0034] Further comprising: embedded square tubes 37, push heads 38, pin shafts 39, connecting heads 40, electric push rods 41, connecting heads 42, and pin shafts 43. Two embedded square tubes 37, two push heads 38, two pin shafts 39, two connecting heads 40, two electric push rods 41, two connecting heads 42, and two pin shafts 43 are provided. The two embedded square tubes 37 are respectively longitudinally slidingly inserted into the rear ends of the two longitudinal short square tubes. The rear ends of the two embedded square tubes 37 are symmetrically fixedly connected to two push heads 38. The two push heads 38 are respectively connected to two connecting heads 40 through two pin shafts 39 in the inner cavities of the two embedded square tubes 37. The two connecting heads 40 are respectively fixedly installed on the telescopic ends of two electric push rods 41. The fixed ends of the two electric push rods 41 are respectively fixedly installed with two connecting heads 42. The two connecting heads 42 are respectively connected to the two longitudinal short square tubes through two pin shafts 43. Under the driving of the electric push rod 41, the embedded square tube 37 can be telescopic, thereby extending the track of the photovoltaic panel cleaning vehicle 26 to the position where the photovoltaic panel is connected.

[0035] Working principle: when the photovoltaic panel needs to be cleaned, first move the whole device to the vicinity of the photovoltaic panel through the platform bearing trolley 1, then adjust the height and inclination angle of the photovoltaic panel cleaning vehicle 26 according to the height and inclination angle of the photovoltaic panel, when adjusting, first drive two electric cylinders one 7 to extend synchronously, realize the inclination angle adjustment of the six-degree-of-freedom platform as a whole, then six electric cylinders two 19 work together, realize the lifting and multi-angle inclination adjustment of the photovoltaic panel cleaning walking frame 25, then adjust the butt joint position of the photovoltaic panel cleaning vehicle 26 through the horizontal moving slide table module, then drive the embedded square tube 37 to extend outward through the electric push rod two 41, thereby lengthening the track of the photovoltaic panel cleaning vehicle 26 to the position butt joint with the photovoltaic panel, then make the vertical connecting rod 31 completely lift up through two electric push rods one 34, finally drive the photovoltaic panel cleaning vehicle 26 to move to the photovoltaic panel along the photovoltaic panel cleaning walking frame 25 and two embedded square tubes 37, clean the photovoltaic panel.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0037] The above is only the preferred embodiment of the present application, and does not limit the present application in any form, any person skilled in the art, without departing from the technical solution of the present application, according to the technical essence of the present application, any simple modification, equivalent replacement and improvement of the above embodiment, etc., still belongs to the protection scope of the technical solution of the present application.

Claims

1. A ten-degree-of-freedom solar photovoltaic panel cleaning mechanism, characterized in that: include: The invention relates to a platform-carrying trolley (1) and a supporting frame (2), wherein the supporting frame (2) is fixedly mounted on the middle of the top of the platform-carrying trolley (1), a six-degree-of-freedom platform is arranged on the top of the supporting frame (2), an inclination adjustment component for adjusting the overall inclination angle of the six-degree-of-freedom platform is arranged between the six-degree-of-freedom platform and the supporting frame (2), a horizontal movable slide module (23) is arranged on the top of the movable end of the horizontal movable slide module (23), a supporting platform (24) is fixedly mounted on the top of the supporting platform (24), a rectangular photovoltaic panel cleaning walking frame (25) is fixedly mounted on the top of the photovoltaic panel cleaning walking frame (25), a photovoltaic panel cleaning vehicle (26) is placed on the photovoltaic panel cleaning walking frame (25), the photovoltaic panel cleaning vehicle (26) can walk along the photovoltaic panel cleaning walking frame (25) in the front and rear directions, and a limiting component is also arranged on the photovoltaic panel cleaning walking frame (25) for preventing the photovoltaic panel cleaning vehicle (26) from rolling off the photovoltaic panel cleaning walking frame (25).

2. A ten-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 1, characterized in that: The six-degree-of-freedom platform comprises: a lower platform (9), a mounting plate (16), a Hooke's hinge seat (17), a third articulated bracket (18), a second electric cylinder (19), a fourth articulated bracket (20), a second Hooke's hinge seat (21) and an upper platform (22), wherein the top of the lower platform (9) is provided with three sinking grooves distributed in a circular array, wherein the mounting plate (16) is fixedly connected in the sinking groove, and the top of each mounting plate (16) is fixedly provided with two symmetrically arranged Hooke's hinge seats (17), wherein the electric cylinder (19) is provided with a fourth articulated bracket (20), a second Hooke's hinge seat (21) and an upper platform (22), wherein the electric cylinder (1 ... a fourth articulated bracket (20), a second Hooke's hinge seat (21) and an upper platform (22), wherein the electric cylinder (19) is provided with three sinking grooves distributed in a circular array, wherein the electric cylinder (19) is provided with three sinking grooves distributed in a circular array, wherein the electric cylinder (19) is provided with three sinking grooves distributed in a circular array, wherein the electric cylinder (19) is provided with three sinking grooves distributed in a circular array, wherein the electric cylinder (19) is provided with three sinking grooves distributed in a circular array, wherein the electric cylinder (19) is provided with three sinking grooves distributed in a circular array, wherein the electric cylinder (19) is provided with three sinking grooves distributed in a circular array, wherein the electric cylinder (1 There are six electric cylinders 2 (19), and the bottom fixed end and the top telescopic end of the electric cylinder 2 (19) are fixedly connected to the hinge bracket 3 (18) and the hinge bracket 4 (20), respectively. The bottom end of the upper platform (22) is fixedly installed with three groups of Hooke's hinge seats 2 (21) distributed in a circular array, and each group is symmetrically provided with two; the six hinge brackets 3 (18) are respectively hinged to the hinge shafts of the six Hooke's hinge seats 1 (17), and the six hinge brackets 4 (20) are respectively hinged to the hinge shafts of the six Hooke's hinge seats 2 (21).

3. The ten-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 2, characterized in that: The tilt adjustment assembly comprises: a support base plate (3), a bearing seat (4), an articulated shaft (5), a fixed plate (6), an electric cylinder (7), an articulated head (8), an articulated bracket (10), an articulated shaft (11), a support top plate (12), an articulated seat (13), an articulated shaft (14) and an articulated bracket (15). The left end of the support frame (2) is provided with a sinking portion. The positive projection of the support frame (2) is rectangular. Two support base plates (3) are fixedly installed on the right side of the bottom end of the support frame (2) in a front-to-back symmetrical manner. A support top plate (12) is fixedly installed on the top of the sunken portion. Two electric cylinders (7) are provided. The fixed end of the electric cylinder (7) is fixedly connected to a fixed plate (6). A longitudinally arranged articulated shaft (5) is fixedly connected to the fixed plate (6). Two groups of bearing seats (4) are symmetrically provided in the front-to-back manner. Two groups of bearing seats (4) are fixedly mounted on the top of the two supporting bottom plates (3), two hinge shafts (5) are hinged to the two groups of bearing seats (4), the telescopic end of the electric cylinder (7) is fixedly mounted with a hinge joint (8), two hinge brackets (10) are symmetrically fixedly mounted on the front and rear sides of the middle of the bottom end of the lower platform (9), the two hinge brackets (10) are hinged to the two hinge joints (8) through two hinge shafts (11), the top of the supporting top plate (12) is evenly provided with a plurality of hinge seats (13) in the longitudinal direction, the left side of the bottom end of the lower platform (9) is evenly provided with a plurality of hinge brackets (15), the plurality of hinge brackets (15) are hinged to the plurality of hinge seats (13) through a plurality of hinge shafts (14), and in the initial state, the bottom end surface of the lower platform (9) is flush with and in contact with the top of the supporting frame (2).

4. The ten-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 2, characterized in that: The horizontally movable slide module (23) is arranged laterally on the top of the upper platform (22), and the horizontally movable slide module (23) can drive the supporting platform (24) to move laterally.

5. The ten-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 1, characterized in that: The photovoltaic panel cleaning walking frame (25) comprises: a horizontal rectangular tube 1, a horizontal rectangular tube 2, a longitudinal short square tube 1, a longitudinal short square tube 2 and a longitudinal short square tube 3. The horizontal rectangular tube 1 and the longitudinal short square tube 1 are both provided with two, and the left and right ends of the two horizontal rectangular tubes 1 are respectively fixedly connected to the front and rear ends of the two longitudinal short square tubes 1 on the opposite side to form a rectangular main frame; the longitudinal short square tubes 2 are provided in a plurality, and the plurality of longitudinal short square tubes 2 are longitudinally and evenly arranged in the main frame; the horizontal rectangular tubes 2 are provided with two, and the two horizontal rectangular tubes 2 are fixedly connected between the two longitudinal short square tubes 1 in a horizontal symmetrical manner, and the two horizontal rectangular tubes 2 and the plurality of longitudinal short square tubes 2 are respectively cross-arranged; the longitudinal short square tubes 3 are provided with two, and the two longitudinal short square tubes 3 are symmetrically fixedly connected between the two horizontal rectangular tubes 2; the support platform (24) is fixedly installed at the bottom ends of the two horizontal rectangular tubes 2 and the two longitudinal short square tubes 3.

6. The ten-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 5, characterized in that: The photovoltaic panel cleaning vehicle (26) comprises a rectangular cleaning body, side panels, roller one and roller two, wherein the distance between the left and right ends of the rectangular cleaning body is equal to the distance between the left and right ends of the main frame; two side panels are provided, and the two side panels are symmetrically fixedly connected to the left and right ends of the rectangular cleaning body, four roller twos are symmetrically installed on the bottom ends of the two side panels, and four roller ones are symmetrically installed on the opposite sides of the two side panels, the four roller ones are respectively connected to the top ends of the two longitudinal short square tubes one, and the four roller twos are respectively connected to the outer ends of the two longitudinal short square tubes one facing each other.

7. The ten-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 6, characterized in that: The position limiting assembly comprises: a vertical rod (27), a connecting shaft 1 (28), a horizontal connecting rod (29), a connecting shaft 2 (30), a vertical connecting rod (31), a connecting head 1 (32), a connecting shaft 3 (33), an electric push rod 1 (34), a connecting head 2 (35) and a connecting shaft 4 (36), wherein the vertical rod (27), the vertical connecting rod (31), the connecting head 1 (32), the connecting shaft 3 (33), the electric push rod 1 (34), the connecting head 2 (35) and the connecting shaft 4 (36) are each provided with two. The connecting shaft 1 (28), horizontal connecting rod (29) and connecting shaft 2 (30) are provided in four numbers; the two vertical poles (27) are vertically symmetrically fixedly connected to the left and right sides of the front part of the photovoltaic panel cleaning walking frame (25); the middle part of the two vertical poles (27) is respectively hinged to one end of the four horizontal connecting rods (29) through the four connecting shafts 1 (28); the other ends of the four horizontal connecting rods (29) are respectively hinged to the top and middle parts of the two vertical connecting rods (31) through the four connecting shafts 2 (30); the two horizontal connecting rods (29) above are respectively hinged to the top and middle parts of the two vertical connecting rods (31) through the four connecting shafts 2 (30); The top rear side of the connecting rod (29) is fixedly connected to two connecting heads (32), the two connecting heads (32) are respectively hinged to the telescopic ends of the two electric push rods (34) through two connecting shafts (33), the fixed ends of the two electric push rods (34) are respectively fixedly connected to two connecting heads (35), the two connecting heads (35) are respectively hinged to the upper ends of the two vertical poles (27) through two connecting shafts (36); when the vertical connecting rod (31) is fully lowered, the rectangular cleaning body is located on the vertical pole ( 27) and the vertical connecting rod (31), and the distance between the bottom end of the vertical connecting rod (31) and the top end surface of the photovoltaic panel cleaning walking frame (25) is smaller than the distance between the top end surface of the rectangular cleaning body and the top end surface of the photovoltaic panel cleaning walking frame (25); when the vertical connecting rod (31) is fully raised, the distance between the bottom end of the vertical connecting rod (31) and the top end surface of the photovoltaic panel cleaning walking frame (25) is larger than the distance between the top end surface of the rectangular cleaning body and the top end surface of the photovoltaic panel cleaning walking frame (25).

8. The ten-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 5, characterized in that: Also includes: The embedded square tube (37), the pushing head (38), the pin shaft one (39), the connecting head three (40), the electric push rod two (41), the connecting head four (42) and the pin shaft two (43) are each provided with two, and the two embedded square tubes (37) are respectively longitudinally slidably plugged into the rear ends of the two longitudinal short square tubes one ... The rear end of the push rod (38) is symmetrically fixedly connected to two push heads (38), and the two push heads (38) are connected to two connectors (40) in the inner cavity of the two embedded square tubes (37) through two pin shafts (39). The two connectors (40) are fixedly installed on the telescopic ends of the two electric push rods (41), and the fixed ends of the two electric push rods (41) are fixedly installed with two connectors (42). The two connectors (42) are connected to the two longitudinal short square tubes (1) through two pin shafts (43).

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