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

Abstract

The present application relates to photovoltaic panel cleaning technical field, especially to a kind of multi-degree-of-freedom solar photovoltaic panel cleaning mechanism, comprising: platform bearing trolley and support frame, support frame is fixedly installed in the top end middle part of platform bearing trolley, support frame top end is provided with six-degree-of-freedom platform, six-degree-of-freedom platform is provided with inclination angle adjusting assembly for adjusting the overall inclination angle of six-degree-of-freedom platform between support frame, the top end of six-degree-of-freedom platform is provided with horizontal movement sliding table module, the top of the moving end of horizontal movement sliding table module is fixedly installed with support platform, support platform top is fixedly installed with rectangular photovoltaic panel cleaning walking frame, photovoltaic panel cleaning walking frame is placed with photovoltaic panel cleaning vehicle, photovoltaic panel cleaning vehicle can walk along photovoltaic panel cleaning walking frame front and back direction, the present application provides a kind of cleaning mechanism capable of adapting to different height and different inclination angle photovoltaic panel.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, and in particular to a multi-degree-of-freedom solar photovoltaic panel cleaning mechanism. Background Technology

[0002] Photovoltaic panels require frequent cleaning during operation to remove dust and snow from their surfaces, ensuring the power generation efficiency of the photovoltaic power station. Some longer photovoltaic panels utilize cleaning vehicles that travel along the length of the panel to complete the cleaning work.

[0003] Currently, most photovoltaic panel cleaning vehicles use a rear-mounted docking method to connect with photovoltaic panels and then walk and clean along the length of the panels. However, since the tilt angle and height of photovoltaic panels vary in different areas, the cleaning vehicle needs to be adjusted to the appropriate height and tilt angle during docking. The current practice is for workers to manually adjust the cleaning vehicle to the appropriate height and tilt angle before docking it with the photovoltaic panels, which is time-consuming and labor-intensive. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-degree-of-freedom solar photovoltaic panel cleaning mechanism to solve the technical problems existing in the background art.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A multi-degree-of-freedom solar photovoltaic panel cleaning mechanism includes: a platform carrying trolley and a support frame. The support frame is fixedly installed at the top center of the platform carrying trolley. A six-degree-of-freedom platform is provided at the top of the support frame. An angle adjustment component for adjusting the overall tilt angle of the six-degree-of-freedom platform is provided between the six-degree-of-freedom platform and the support frame. A horizontal moving slide module is provided at the top of the six-degree-of-freedom platform. The support platform is fixedly installed at the top of the moving end of the horizontal moving slide module. A rectangular photovoltaic panel cleaning walking frame is fixedly installed at the top of the support platform. A photovoltaic panel cleaning vehicle is placed on the photovoltaic panel cleaning walking frame. The photovoltaic panel cleaning vehicle can move along the front and back direction of the photovoltaic panel cleaning walking frame. A limiting component for preventing the photovoltaic panel cleaning vehicle from rolling off the photovoltaic panel cleaning walking frame is also provided on the photovoltaic panel cleaning walking frame.

[0006] Furthermore, the six-degree-of-freedom platform includes: a lower platform, a mounting plate, a Hooke hinge seat 1, a hinge bracket 3, an electric cylinder 2, a hinge bracket 4, a Hooke hinge seat 2, and an upper platform. The lower platform has three recessed grooves arranged in a circular array at its top. A mounting plate is fixedly connected to each recessed groove. Two symmetrically arranged Hooke hinge seats 1 are fixedly installed at the top of each mounting plate. There are six electric cylinders 2. The bottom fixed end and the top telescopic end of each electric cylinder 2 are respectively fixedly connected to hinge brackets 3 and 4. The bottom of the upper platform has three sets of Hooke hinge seats 2 arranged in a circular array, with two symmetrically arranged in each set. The six hinge brackets 3 are respectively hinged to the hinge shafts of the six Hooke hinge seats 1, and the six hinge brackets 4 are respectively hinged to the hinge shafts of the six Hooke hinge seats 2.

[0007] Furthermore, the tilt adjustment assembly includes: a support base plate, a bearing seat 1, a hinge shaft 1, a fixed plate, an electric cylinder 1, a hinge joint, a hinge bracket 1, a hinge shaft 2, a support top plate, a hinge seat, a hinge shaft 3, and a hinge bracket 2. The left end of the support frame has a recessed portion, and the orthographic projection of the support frame is rectangular. Two support base plates are symmetrically fixedly installed on the right side of the bottom end of the support frame. A support top plate is fixedly installed at the top of the recessed portion. Two electric cylinders are provided, and a fixed plate is fixedly connected to the fixed end of each electric cylinder. A longitudinally arranged hinge shaft 1 is fixedly connected to the fixed plate. Two sets of bearing seats symmetrically arranged front and back are provided. Two sets of bearing seats are fixedly installed on the top of the two supporting base plates. Two hinge shafts are respectively hinged to the two sets of bearing seats. A hinge joint is fixedly installed at the telescopic end of the electric cylinder. Two hinge brackets are symmetrically fixedly installed on the front and rear sides of the bottom center of the lower platform. The two hinge brackets are respectively hinged to the two hinge joints through two hinge shafts. Several hinge seats are evenly arranged longitudinally at the top of the supporting top plate. Several hinge brackets are evenly arranged longitudinally on the left side of the bottom of the lower platform. Several hinge brackets are respectively hinged to several hinge seats through several hinge shafts. In the initial state, the bottom surface of the lower platform is flush with and in contact with the top of the supporting frame.

[0008] Furthermore, the horizontally moving slide module is arranged laterally at the top of the upper platform, and the horizontally moving slide module can drive the support platform to move laterally.

[0009] Furthermore, the photovoltaic panel cleaning and walking frame includes: a horizontal rectangular tube 1, a horizontal rectangular tube 2, a vertical short square tube 1, a vertical short square tube 2, and a vertical short square tube 3. Two horizontal rectangular tubes and two vertical short square tubes 1 are provided. 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 vertical short square tubes 1 on opposite sides, forming a rectangular main frame. Several vertical short square tubes 2 are provided, evenly arranged longitudinally within the main frame. Two horizontal rectangular tubes 2 are provided, symmetrically fixedly connected horizontally between the two vertical short square tubes 1, and arranged in a cross shape with the two horizontal rectangular tubes 2. Two vertical short square tubes 3 are provided, symmetrically fixedly connected between the two horizontal rectangular tubes 2. The support platform is fixedly installed at the bottom ends of the two horizontal rectangular tubes 2 and the two vertical short square tubes 3.

[0010] Furthermore, the photovoltaic panel sweeper includes a rectangular sweeping body, side plates, roller one, and roller two. The distance between the left and right ends of the rectangular sweeping body is equal to the distance between the left and right ends of the main frame. There are two side plates, which are symmetrically fixed to the left and right ends of the rectangular sweeping body. Four roller two are symmetrically installed at the bottom of the two side plates, and four roller one are symmetrically installed on the opposite side of the two side plates. The four roller one are respectively rolled and connected to the top ends of two longitudinal short square tubes one, and the four roller two are respectively rolled and connected to the opposite outer ends of the two longitudinal short square tubes one.

[0011] Furthermore, the limiting assembly includes: a vertical pole, a connecting shaft one, a horizontal connecting rod, a connecting shaft two, a vertical connecting rod, a connecting head one, a connecting shaft three, an electric actuator one, a connecting head two, and a connecting shaft four. Two of each of the vertical pole, vertical connecting rod, connecting head one, connecting shaft three, electric actuator one, connecting head two, and connecting shaft four are provided. Four of the connecting shaft one, horizontal connecting rod, and connecting shaft two are provided. Two vertical poles are vertically symmetrically fixedly connected to the left and right sides of the front part of the photovoltaic panel cleaning and walking frame. One end of each of the four horizontal connecting rods is hinged to the middle of the two vertical poles via the four connecting shafts one. The other ends of the four horizontal connecting rods are hinged to the top and middle of the two vertical connecting rods via the four connecting shafts two. Two connecting shafts are fixedly connected to the rear side of the top of the two upper horizontal connecting rods. Connector 1, two connectors 1 are respectively hinged to the telescopic ends of two electric push rods 1 via two connecting shafts 3. The fixed ends of the two electric push rods 1 are respectively fixedly connected to two connectors 2. The two connectors 2 are respectively hinged to the upper ends of two uprights via two connecting shafts 4. When the vertical connecting rod is fully lowered, the rectangular cleaning body is located between the uprights and the vertical connecting rod, and the distance between the bottom end of the vertical connecting rod and the top surface of the photovoltaic panel cleaning and walking frame is less than the distance between the top surface of the rectangular cleaning body and the top surface of the photovoltaic panel cleaning and walking frame. When the vertical connecting rod is fully raised, the distance between the bottom end of the vertical connecting rod and the top surface of the photovoltaic panel cleaning and walking frame is greater than the distance between the top surface of the rectangular cleaning body and the top surface of the photovoltaic panel cleaning and walking frame.

[0012] Furthermore, it also includes: an embedded square tube, a push head, a first pin, a third connector, a second electric actuator, a fourth connector, and a second pin. Each of the embedded square tube, push head, first pin, third connector, second electric actuator, fourth connector, and second pin is provided in duplicate. Two embedded square tubes are longitudinally slidably inserted into the rear ends of two longitudinal short square tubes. Two push heads are symmetrically fixedly connected to the rear ends of the two embedded square tubes. The two push heads are connected to two third connectors via two first pins within the inner cavities of the two embedded square tubes. The two third connectors are fixedly installed at the telescopic ends of two second electric actuators. Two fourth connectors are fixedly installed at the fixed ends of the two second electric actuators. The two fourth connectors are connected to the two longitudinal short square tubes via two second pins.

[0013] Compared with the prior art, the beneficial effects of the present invention are: The six-degree-of-freedom platform can raise the photovoltaic panel sweeper to a suitable docking height based on the height of the photovoltaic panel; the tilt adjustment component can coarsely adjust the tilt angle of the photovoltaic panel sweeper according to the tilt angle of the photovoltaic panel, while the six-degree-of-freedom platform can finely adjust the tilt angle of the photovoltaic panel sweeper; the horizontal moving slide module can adjust the docking position of the photovoltaic panel sweeper. Through the combined use of the six-degree-of-freedom platform, tilt adjustment component, and horizontal moving slide module, photovoltaic panels of different heights and tilt angles can be accurately docked. The entire process requires no manual operation, which can greatly improve work efficiency. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a structural schematic diagram of the support frame and its connecting components in this invention; Figure 3 This is a bottom view of the support frame and its connecting components in this invention; Figure 4 This is a schematic diagram of the structure after the lower platform is installed on the support frame in this invention; Figure 5 This is the front view of the present invention; Figure 6 This is a schematic diagram showing the connection between the upper platform and the second Hooke hinge seat in this invention; Figure 7 This is a schematic diagram showing the connection between the upper platform and the horizontally moving slide module in this invention; Figure 8 This is a structural view of the photovoltaic panel cleaning and walking frame and its mounting components in this invention; Figure 9 This is a longitudinal sectional view of the electric actuator at point two of the present invention.

[0015] The labels in the attached diagram are as follows: 1-Platform support trolley, 2-Support frame, 3-Support base plate, 4-Bearing seat one, 5-Hinge shaft one, 6-Fixing plate, 7-Electric cylinder one, 8-Hinge joint, 9-Lower platform, 10-Hinge bracket one, 11-Hinge shaft two, 12-Support top plate, 13-Hinge seat, 14-Hinge shaft three, 15-Hinge bracket two, 16-Mounting plate, 17-Hooke hinge seat one, 18-Hinge bracket three, 19-Electric cylinder two, 20-Hinge bracket four, 21-Hooke hinge seat two, 22-Upper platform 23-Horizontal moving slide module, 24-Support platform, 25-Photovoltaic panel cleaning and walking frame, 26-Photovoltaic panel cleaning vehicle, 27-Upright pole, 28-Connecting shaft one, 29-Horizontal connecting rod, 30-Connecting shaft two, 31-Vertical connecting rod, 32-Connector one, 33-Connecting shaft three, 34-Electric push rod one, 35-Connector two, 36-Connecting shaft four, 37-Embedded square tube, 38-Push head, 39-Pin shaft one, 40-Connector three, 41-Electric push rod two, 42-Connector four, 43-Pin shaft two. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0017] See Figures 1-9 As shown, a multi-degree-of-freedom solar photovoltaic panel cleaning mechanism includes: a platform carrying trolley 1 and a support frame 2. The support frame 2 is fixedly installed at the top center of the platform carrying trolley 1. A six-degree-of-freedom platform is provided at the top of the support frame 2. An angle adjustment component for adjusting the overall tilt angle of the six-degree-of-freedom platform is provided between the six-degree-of-freedom platform and the support frame 2. A horizontal moving slide module 23 is provided at the top of the six-degree-of-freedom platform. A support platform 24 is fixedly installed at the top of the moving end of the horizontal moving slide module 23. A rectangular photovoltaic panel cleaning walking frame 25 is fixedly installed at the top of the support platform 24. A photovoltaic panel cleaning vehicle 26 is placed on the photovoltaic panel cleaning walking frame 25. The photovoltaic panel cleaning vehicle 26 can move along the front and back direction of the photovoltaic panel cleaning walking frame 25. A limiting component for preventing the photovoltaic panel cleaning vehicle 26 from rolling off the photovoltaic panel cleaning walking frame 25 is also provided on the photovoltaic panel cleaning walking frame 25.

[0018] The six-degree-of-freedom platform includes: a lower platform 9, a mounting plate 16, a Hooke hinge seat 17, a hinge bracket 3 18, an electric cylinder 2 19, a hinge bracket 4 20, a Hooke hinge seat 21, and an upper platform 22. The lower platform 9 has three recessed slots arranged in a circular array at its top. Mounting plates 16 are fixedly connected to the recessed slots. Two symmetrically arranged Hooke hinge seats 17 are fixedly installed at the top of each mounting plate 16. Six electric cylinders 2 19 are provided. The bottom fixed end and top telescopic end of electric cylinders 2 19 are respectively fixedly connected to hinge brackets 3 18 and 4 20. The bottom of the upper platform 22 is fixedly installed with three sets of circumferentially arranged Hooke hinge seats 21, with two symmetrically arranged in each set. The six hinge brackets 3 18 are respectively hinged to the hinge shafts of the six Hooke hinge seats 17, and the six hinge brackets 4 20 are respectively hinged to the hinge shafts of the six Hooke hinge seats 21. The six electric cylinders 2 19 work together to achieve lifting and multi-angle tilt adjustment.

[0019] The tilt adjustment assembly includes: a support base plate 3, a bearing seat 4, a hinge shaft 5, a fixing plate 6, an electric cylinder 7, a hinge joint 8, a hinge bracket 10, a second hinge shaft 11, a support top plate 12, a hinge seat 13, a third hinge shaft 14, and a second hinge bracket 15. The left end of the support frame 2 has a recessed section, and the orthographic projection of the support frame 2 is rectangular. Two support base plates 3 are symmetrically fixedly installed on the right side of the bottom end of the support frame 2. A support top plate 12 is fixedly installed at the top of the recessed section. Two electric cylinders 7 are provided, and a fixing plate 6 is fixedly connected to the fixed end of each electric cylinder 7. A longitudinally arranged hinge shaft 5 is fixedly connected to the fixing plate 6. Two sets of bearing seats 4 are symmetrically arranged front and back, and the two sets of bearing seats 4 are respectively fixedly installed on the top of the two support base plates 3. At the end, two hinge shafts 5 are respectively hinged to two sets of bearing seats 4. The telescopic end of the electric cylinder 7 is fixedly installed with a hinge joint 8. Two hinge brackets 10 are symmetrically fixedly installed on the front and rear sides of the bottom middle of the lower platform 9. The two hinge brackets 10 are respectively hinged to the two hinge joints 8 through two hinge shafts 11. Several hinge seats 13 are evenly arranged longitudinally at the top of the support plate 12. Several hinge brackets 15 are evenly arranged longitudinally on the left side of the bottom of the lower platform 9. Several hinge brackets 15 are respectively hinged to several hinge seats 13 through several hinge shafts 14. In the initial state, the bottom surface of the lower platform 9 is flush with and in contact with the top of the support frame 2. The two electric cylinders 7 telescopically extend and retract, which can realize the overall tilt angle adjustment of the six-degree-of-freedom platform.

[0020] The horizontal moving slide module 23 is arranged laterally at the top of the upper platform 22, and the horizontal moving slide module 23 can drive the support platform 24 to move laterally.

[0021] The photovoltaic panel cleaning and walking frame 25 includes: a horizontal rectangular tube 1, a horizontal rectangular tube 2, a vertical short square tube 1, a vertical short square tube 2, and a vertical short square tube 3. There are two horizontal rectangular tubes 1 and two vertical short square tubes 1. The left and right ends of the two horizontal rectangular tubes 1 are fixedly connected to the front and rear ends of the two vertical short square tubes 1 on opposite sides, forming a rectangular main frame. There are several vertical short square tubes 2, which are evenly arranged longitudinally within the main frame. There are two horizontal rectangular tubes 2, which are symmetrically fixedly connected to the two vertical short square tubes 1. The two horizontal rectangular tubes 2 and the several vertical short square tubes 2 are arranged in a cross shape. There are two vertical short square tubes 3, which are symmetrically fixedly connected to the two horizontal rectangular tubes 2. The support platform 24 is fixedly installed at the bottom of the two horizontal rectangular tubes 2 and the two vertical short square tubes 3.

[0022] The photovoltaic panel sweeper 26 includes a rectangular sweeping body, side plates, roller 1 and roller 2. The distance between the left and right ends of the rectangular sweeping body is equal to the distance between the left and right ends of the main frame. There are two side plates, which are symmetrically fixed to the left and right ends of the rectangular sweeping body. Four roller 2 are symmetrically installed at the bottom of the two side plates. Four roller 1 are symmetrically installed on one side of the two side plates facing each other. The four roller 1 are respectively rolled and connected to the top of two longitudinal short square tubes 1. The four roller 2 are respectively rolled and connected to the outer ends of the two longitudinal short square tubes 1 facing away from each other.

[0023] The limiting assembly includes: uprights 27, connecting shaft 1 28, horizontal connecting rod 29, connecting shaft 2 30, vertical connecting rod 31, connector 1 32, connecting shaft 33, electric actuator 1 34, connector 2 35, and connecting shaft 4 36. Two uprights 27, two vertical connecting rods 31, two connectors 1 32, two connecting shafts 33, two electric actuators 1 34, two connectors 2 35, and two connecting shafts 4 36 are provided. Four connecting shafts 1 28, four horizontal connecting rods 29, and four connecting shafts 2 30 are provided. Two uprights 27 are vertically symmetrically fixed to the left and right sides of the front of the photovoltaic panel cleaning and walking frame 25. The middle of each upright 27 is hinged to one end of a horizontal connecting rod 29 via four connecting shafts 1 28. The other ends of the four horizontal connecting rods 29 are hinged to the top and middle of two vertical connecting rods 31 via four connecting shafts 2 30. Two connectors 1 32 are fixedly connected to the rear of the top of the two upper horizontal connecting rods 29. The two connectors 1 32 are... The telescopic ends of the two electric push rods 34 are hinged to the two connecting shafts 33. The fixed ends of the two electric push rods 34 are respectively fixedly connected to two connectors 35. The two connectors 35 are respectively hinged to the upper ends of the two uprights 27 through two connecting shafts 36. When the vertical connecting rod 31 is fully lowered, the rectangular cleaning body is located between the uprights 27 and the vertical connecting rod 31, and the distance between the bottom end of the vertical connecting rod 31 and the top surface of the photovoltaic panel cleaning and walking frame 25 is less than the distance between the top surface of the rectangular cleaning body and the top surface of the photovoltaic panel cleaning and 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 surface of the photovoltaic panel cleaning and walking frame 25 is greater than the distance between the top surface of the rectangular cleaning body and the top surface of the photovoltaic panel cleaning and walking frame 25. Through the setting of the limiting components, the photovoltaic panel cleaning vehicle 26 can be prevented from rolling off when it is placed on the photovoltaic panel cleaning and walking frame 25.

[0024] It also includes: an embedded square tube 37, a push head 38, a first pin 39, a third connector 40, a second electric actuator 41, a fourth connector 42, and a second pin 43. Two of each of the embedded square tubes 37, push heads 38, first pin 39, third connector 40, second electric actuator 41, fourth connector 42, and second pin 43 are provided. Two embedded square tubes 37 are longitudinally slidably inserted into the rear ends of two longitudinal short square tubes 1. Two push heads 38 are symmetrically and fixedly connected to the rear ends of the two embedded square tubes 37. The two push heads 38 are located within the two embedded square tubes. Inside the square tube 37, two connectors 40 are connected by two pins 39. The two connectors 40 are fixedly installed on the telescopic ends of two electric push rods 41. The fixed ends of the two electric push rods 41 are fixedly installed with two connectors 42. The two connectors 42 are connected to two longitudinal short square tubes 1 by two pins 43. Driven by the electric push rods 41, the embedded square tube 37 can extend and retract, thereby extending the track of the photovoltaic panel sweeper 26 to the position where it docks with the photovoltaic panel.

[0025] Working principle: When cleaning the photovoltaic panel, the entire device is first moved to the vicinity of the photovoltaic panel by the platform-carrying trolley 1. Then, the height and tilt angle of the photovoltaic panel cleaning vehicle 26 are adjusted according to the height and tilt angle of the photovoltaic panel. During adjustment, the two electric cylinders 1 and 7 are driven to extend and retract synchronously to achieve the overall tilt angle adjustment of the six-degree-of-freedom platform. Then, the six electric cylinders 2 and 19 work together to realize the lifting and lowering of the photovoltaic panel cleaning walking frame 25 and the multi-angle tilt adjustment. Next, the docking position of the photovoltaic panel cleaning vehicle 26 is adjusted by the set horizontal moving slide module. Then, the electric push rod 2 and 41 drive the embedded square tube 37 to extend outward, thereby extending the track of the photovoltaic panel cleaning vehicle 26 to the docking position with the photovoltaic panel. Then, the two electric push rods 1 and 34 retract, so that the vertical connecting rod 31 is fully raised. Finally, the photovoltaic panel cleaning vehicle 26 is driven to move along the photovoltaic panel cleaning walking frame 25 and the two embedded square tubes 37 to the photovoltaic panel to clean it.

[0026] In the description of this invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "top / bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0027] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent substitutions, and improvements made by those skilled in the art to the above embodiments without departing from the scope of the technical solution of the present invention, based on the technical essence of the present invention, shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A multi-degree-of-freedom solar photovoltaic panel cleaning mechanism, characterized in that, include: The platform carries a trolley (1) and a support frame (2). The support frame (2) is fixedly installed at the top center of the platform carrying trolley (1). A six-degree-of-freedom platform is provided at the top of the support frame (2). An angle adjustment component for adjusting the overall tilt angle of the six-degree-of-freedom platform is provided between the six-degree-of-freedom platform and the support frame (2). A horizontal moving slide module (23) is provided at the top of the six-degree-of-freedom platform. A support platform (24) is fixedly installed at the top of the moving end of the horizontal moving slide module (23). A rectangular photovoltaic panel cleaning and walking frame (25) is fixedly installed at the top of the support platform (24). A photovoltaic panel cleaning vehicle (26) is placed on the photovoltaic panel cleaning and walking frame (25). The photovoltaic panel cleaning vehicle (26) can move along the front and back direction of the photovoltaic panel cleaning and walking frame (25). A limiting component for preventing the photovoltaic panel cleaning vehicle (26) from rolling off the photovoltaic panel cleaning and walking frame (25) is also provided on the photovoltaic panel cleaning and walking frame (25). The six-degree-of-freedom platform includes: a lower platform (9), a mounting plate (16), a Hooke hinge seat one (17), a hinge bracket three (18), an electric cylinder two (19), a hinge bracket four (20), a Hooke hinge seat two (21), and an upper platform (22). The lower platform (9) has three recessed grooves arranged in a circular array at its top. The mounting plate (16) is fixedly connected in the recessed groove. Two symmetrically arranged Hooke hinge seats one (17) are fixedly installed at the top of each mounting plate (16). Six cylinders are provided. The bottom fixed end and the top telescopic end of the electric cylinder are respectively fixedly connected to the hinge bracket three (18) and the hinge bracket four (20). The bottom end of the upper platform (22) is fixedly installed with three sets of Hooke hinge seats two (21) arranged in a circular array, with two in each set symmetrically. The six hinge brackets three (18) are respectively hinged to the hinge shafts of the six Hooke hinge seats one (17), and the six hinge brackets four (20) are respectively hinged to the hinge shafts of the six Hooke hinge seats two (21).

2. The multi-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 1, characterized in that: The tilt adjustment assembly includes: a support base plate (3), a bearing seat (4), a hinge shaft (5), a fixing plate (6), an electric cylinder (7), a hinge joint (8), a hinge bracket (10), a hinge shaft (21), a support top plate (12), a hinge seat (13), a hinge shaft (34), and a hinge bracket (25). The left end of the support frame (2) has a recessed part. The orthographic projection of the support frame (2) is rectangular. Two support base plates (3) are symmetrically fixedly installed on the right side of the bottom end of the support frame (2). The top end of the recessed part is fixedly installed with a support top plate (12). There are two electric cylinders (7). The fixed end of the electric cylinder (7) is fixedly connected to a fixing plate (6). The hinge shaft (5) is fixedly connected to the fixing plate (6) in a longitudinal direction. Two sets of bearing seats (4) are symmetrically arranged in front and behind. Two sets of bearing seats (4) are fixedly installed on the top of the two support base plates (3). Two hinge shafts (5) are hinged to the two sets of bearing seats (4). The telescopic end of the electric cylinder (7) is fixedly installed with a hinge joint (8). Two hinge brackets (10) are symmetrically fixedly installed on the front and rear sides of the bottom middle of the lower platform (9). The two hinge brackets (10) are hinged to the two hinge joints (8) through two hinge shafts (11). Several hinge seats (13) are evenly arranged longitudinally on the top of the support plate (12). Several hinge brackets (15) are evenly arranged longitudinally on the left side of the bottom of the lower platform (9). Several hinge brackets (15) are hinged to several hinge seats (13) through several hinge shafts (14). In the initial state, the bottom surface of the lower platform (9) is flush with and in contact with the top of the support frame (2).

3. The multi-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 1, characterized in that: The horizontal moving slide module (23) is arranged laterally at the top of the upper platform (22), and the horizontal moving slide module (23) can drive the support platform (24) to move laterally.

4. The multi-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 1, characterized in that: The photovoltaic panel cleaning and walking frame (25) includes: a horizontal rectangular tube 1, a horizontal rectangular tube 2, a vertical short square tube 1, a vertical short square tube 2, and a vertical short square tube 3. There are two horizontal rectangular tubes 1 and two vertical short square tubes 1. 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 vertical short square tubes 1 facing each other, forming a rectangular main frame. There are several vertical short square tubes 2. Several vertical short square tubes 2 are evenly arranged in the main frame. There are two horizontal rectangular tubes 2. The two horizontal rectangular tubes 2 are symmetrically fixedly connected between the two vertical short square tubes 1. The two horizontal rectangular tubes 2 and several vertical short square tubes 2 are arranged in a cross shape. There are two vertical short square tubes 3. The two vertical 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 of the two horizontal rectangular tubes 2 and the two vertical short square tubes 3.

5. The multi-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 4, characterized in that: The photovoltaic panel cleaning vehicle (26) includes a rectangular cleaning body, side plates, roller 1 and roller 2. 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. There are two side plates, which are symmetrically fixed to the left and right ends of the rectangular cleaning body. Four roller 2 are symmetrically installed at the bottom of the two side plates. Four roller 1 are symmetrically installed on one side of the two side plates facing each other. The four roller 1 are respectively rolled and connected to the top of two longitudinal short square tubes 1. The four roller 2 are respectively rolled and connected to the outer ends of the two longitudinal short square tubes 1 facing away from each other.

6. The multi-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 5, characterized in that: The limiting assembly includes: a vertical rod (27), a connecting shaft one (28), a horizontal connecting rod (29), a connecting shaft two (30), a vertical connecting rod (31), a connecting head one (32), a connecting shaft three (33), an electric actuator one (34), a connecting head two (35), and a connecting shaft four (36). Each of the vertical rod (27), vertical connecting rod (31), connecting head one (32), connecting shaft three (33), electric actuator one (34), connecting head two (35), and connecting shaft four (36) is provided in duplicate. The first connecting shaft (28), the horizontal connecting rod (29), and the second connecting shaft (30) are provided with four; two uprights (27) are vertically symmetrically fixed to the left and right sides of the front part of the photovoltaic panel cleaning and walking frame (25). The middle of the two uprights (27) is hinged to one end of the four horizontal connecting rods (29) through the four connecting shafts (28). The other end of the four horizontal connecting rods (29) is hinged to the top and middle of the two vertical connecting rods (31) through the four connecting shafts (30). The two horizontal connecting rods above are connected to the top and middle of the two vertical connecting rods (31). Two connectors (32) are fixedly connected to the rear of the top of the connecting rod (29). The two connectors (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 connectors (35). The two connectors (35) are respectively hinged to the upper ends of the two uprights (27) through two connecting shafts (36). When the vertical connecting rod (31) is fully lowered, the rectangular cleaning body is located on the upright ( 27) and the vertical connecting rod (31), and the distance between the bottom end of the vertical connecting rod (31) and the top surface of the photovoltaic panel cleaning and walking frame (25) is less than the distance between the top surface of the rectangular cleaning body and the top surface of the photovoltaic panel cleaning and 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 surface of the photovoltaic panel cleaning and walking frame (25) is greater than the distance between the top surface of the rectangular cleaning body and the top surface of the photovoltaic panel cleaning and walking frame (25).

7. The multi-degree-of-freedom solar photovoltaic panel cleaning mechanism according to claim 4, characterized in that: Also includes: The device includes an embedded square tube (37), a push head (38), a first pin (39), a third connector (40), a second electric actuator (41), a fourth connector (42), and a second pin (43). Each of these components is provided in duplicate. Two embedded square tubes (37) are longitudinally slidably inserted into the rear ends of two short longitudinal square tubes (1). The rear end is symmetrically fixedly connected to two push heads (38). The two push heads (38) are connected to two connector heads (40) in the inner cavity of the two embedded square tubes (37) through two pins (39). The two connector heads (40) are fixedly installed on the telescopic ends of the two electric push rods (41). The fixed ends of the two electric push rods (41) are fixedly installed with two connector heads (42). The two connector heads (42) are connected to the two longitudinal short square tubes (1) through two pins (43).

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