Photovoltaic panel cleaning robot

Abstract

The invention discloses a photovoltaic panel cleaning robot, and relates to the technical field of photovoltaic equipment operation and maintenance. The robot comprises an XY-axis direction walking mechanism and a cleaning mechanism which are mutually independent, are detachably connected through a quick connecting mechanism and are respectively provided with an independent power supply module and an independent control module. Wherein the X-axis and Y-axis direction walking mechanism is composed of an adjustable frame, an X-axis hub motor driving assembly and a Y-axis worm and gear speed reducing motor synchronous belt transmission assembly, stable movement in the length direction and the width direction of a photovoltaic panel can be achieved, and the frame is matched with photovoltaic arrays of different sizes; the cleaning mechanism adopts a double-brush symmetrical layout, is directly driven by a planetary speed reduction brushless motor, and is matched with a water retaining cover and universal supporting wheels, so that the cleaning effect and photovoltaic panel protection are both considered. The photovoltaic panel cleaning device is simplified in structure, high in reliability, suitable for cleaning photovoltaic panels of different sizes and suitable for efficient operation and maintenance of a large-scale photovoltaic power station.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic device maintenance, in particular to a photovoltaic panel cleaning robot, which is especially suitable for efficient cleaning operation of photovoltaic arrays of different sizes in large-scale photovoltaic power stations. BACKGROUND

[0002] With the rapid development of the photovoltaic industry, dust and stains on the surface of photovoltaic panels can significantly reduce the photoelectric conversion efficiency, so regular cleaning has become a key link in the operation and maintenance of photovoltaic power stations. The existing photovoltaic panel cleaning robots have the following technical defects in actual application: 1. Low cleaning efficiency: The cleaning mechanism of the existing photovoltaic panel cleaning robot is usually a fixed structure, and the width is usually 820mm. The cleaning coverage is limited, and the area of photovoltaic panels that can be cleaned in a single operation is small, resulting in low overall cleaning efficiency, which is difficult to meet the rapid cleaning needs of large-scale photovoltaic power stations. 2. Poor reliability of the walking mechanism: The walking mechanism of the existing photovoltaic panel cleaning robot is complex in design, with a large number of components (more than 10 types). This not only increases the manufacturing cost and assembly difficulty, but also frequently causes faults due to high cooperation precision requirements of multiple components, resulting in high maintenance cost and affecting the continuity of operation. 3. Difficulty in installing the walking mechanism: Although some walking mechanisms attempt to simplify the structure, they still have problems such as poor component compatibility and complicated installation steps, which consume a lot of time in on-site assembly and require professional operators, reducing the efficiency of equipment deployment.

[0003] 4. Insufficient flexibility and applicability: The walking mechanism and cleaning mechanism of the existing photovoltaic panel cleaning robot need to be assembled on site as an inseparable whole, and cannot be disassembled after assembly. On the one hand, the whole is large in size and heavy in weight, which is limited by transportation space. On the other hand, the combination of the two cannot be flexibly adjusted according to the layout of photovoltaic panels and cleaning needs in the same work site, and can only be used as a single whole, which is limited in adaptability.

[0004] In view of the above shortcomings of the prior art, there is an urgent need for a photovoltaic panel cleaning robot with high cleaning efficiency, simple and reliable structure, and flexible installation and transportation to solve the problems in current photovoltaic power station cleaning operation. SUMMARY

[0005] In view of the above shortcomings of the prior art, the present application aims to provide a photovoltaic panel cleaning robot to solve the problems of fixed cleaning coverage, complex structure, complicated installation steps, and insufficient flexibility and applicability in the prior art.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: A photovoltaic panel cleaning robot, comprising an XY-axis direction walking mechanism and a cleaning mechanism which are independently connected through a quick connection mechanism, and through modular design, independent operation of walking and cleaning, quick assembly and flexible adaptation are realized, the two parts can be transported separately and quickly connected on site; and independent power supply modules and independent control modules are respectively configured, and the two parts are independently powered and controlled, and do not affect each other.

[0007] The XY-axis direction walking mechanism is used to drive the cleaning mechanism to move along the length direction (X-axis) and the width direction (Y-axis) of the photovoltaic panel to realize full-area coverage, and comprises a frame, an X-axis displacement assembly and a Y-axis displacement assembly. The X-axis displacement assembly is adjustably arranged at the outer end of the frame and is used to drive the whole robot to move in the X-axis direction; and the Y-axis displacement assembly is adjustably arranged on the frame and is used to drive the cleaning mechanism to move in the Y-axis direction. The quick connection mechanism is arranged on the cleaning mechanism and is used to realize detachable connection of the two; and the cleaning mechanism is detachably connected with the Y-axis displacement assembly.

[0008] Further, the frame is a bearing base of the walking mechanism, adopts lightweight and high-strength design, is assembled by a cross beam, two cross pipe clamps and two support rods, the cross beam and the support rods are aluminum alloy three-prong pipes of the same specification, the two support rods are adjustably arranged at the two ends of the cross beam through the two cross pipe clamps, and the support rods form a vertical structure with the cross beam through the cross pipe clamps. Wherein, to adapt to photovoltaic arrays of various sizes, the length of the Y-axis direction can be adjusted by loosening the locking screws of the cross pipe clamps, loosening the synchronous belt pressing block, then tightening the synchronous belt and locking again.

[0009] Further, the X-axis displacement assembly is used to drive the walking mechanism to move along the length direction (X-axis) of the photovoltaic panel, and comprises an end head, a hub motor mounting plate, a hub motor, a hanging wheel and an anti-falling plate, the end head is sleeved on the outer end of the support rod, the hub motor mounting plate is connected to the outer side of the end head, the hub motor is assembled in the hub motor mounting plate, the hanging wheel is horizontally rotatable on the outer side of the hub motor mounting plate, the wheel groove of the hanging wheel is matched with the frame of the photovoltaic panel, the hanging wheel rolls along the frame during walking, and plays a guiding role; the anti-falling plate is arranged at the bottom of the hanging wheel, the lower end of the anti-falling plate extends below the lower surface of the photovoltaic panel, if the equipment is inclined or stuck, the anti-falling plate can hook the frame of the photovoltaic panel to prevent the equipment from falling and improve safety.

[0010] Further, the Y-axis displacement assembly is used to drive the cleaning mechanism to move along the width direction (Y-axis) of the photovoltaic panel, and comprises a mounting bracket and a synchronous belt transmission unit, the mounting bracket is slidably sleeved on the cross beam, and the synchronous belt transmission unit driven by a worm gear reduction motor is arranged on the mounting bracket.

[0011] Further, the cleaning mechanism is used to remove the contaminants on the surface of the photovoltaic panel, including a driving assembly, a brush assembly and an aluminum profile. The aluminum profile is a bearing frame of the cleaning mechanism, and its length can be adapted according to the width of the photovoltaic panel and the cleaning requirement. The mounting bracket on the Y-axis displacement assembly is detachably connected to the aluminum profile through a screw. Each side of the aluminum profile is provided with a group of brush assemblies, and the middle part is connected to the XY-axis walking mechanism through a quick connection mechanism. The driving assembly includes a planetary reduction brushless motor and a driving shaft sleeve. The planetary reduction brushless motor directly drives the brush assembly to rotate through the driving shaft sleeve.

[0012] Further, the quick connection mechanism includes a hinge, a movable pulley mounting plate, an adjustable quick buckle, a fixed pulley mounting plate and a pulley. The fixed pulley mounting plate is fixed to one side of the aluminum profile. The movable pulley mounting plate is symmetrically hinged to the other side of the aluminum profile through the hinge. The movable pulley mounting plate can rotate 0-90° around the hinge. The movable pulley mounting plate and the fixed pulley mounting plate are both provided with a pulley inside. The adjustable quick buckle is arranged at the connection position of the two pulley mounting plates. The adjustable quick buckle includes an adjusting screw, which can adjust the gap between the pulley and the cross beam. The gap adjustment range is 0.1-0.5mm.

[0013] Further, the synchronous belt transmission unit includes two groups of idler wheels and a group of synchronous wheels, which are arranged in a triangular structure on the mounting bracket. The synchronous wheel is rotatably connected to the mounting bracket through a bearing. The idler wheel is rotatably connected to the mounting bracket through an idler shaft. The upper side of the mounting bracket is provided with a worm gear and worm reduction motor with self-locking function. The output end of the worm gear and worm reduction motor is connected to the idler shaft of one of the groups. The synchronous wheel is meshingly connected with a synchronous belt. The two ends of the synchronous belt are fixed to the cross pipe clamps on both sides through the synchronous belt pressing plate and the bending plate.

[0014] Further, the independent power supply module is a lithium battery, and the independent control module is a controller. One end of the cross beam is provided with a walking controller mounting plate, and the other end is provided with a walking lithium battery mounting plate. The mounting plates at both ends are fixedly connected to the cross pipe clamp through bolts. The walking controller mounting plate is provided with a walking controller. The walking lithium battery mounting plate is provided with a walking lithium battery. The aluminum profile is also provided with a drag bracket. The drag bracket is provided with a cleaning lithium battery and a cleaning controller.

[0015] Further, the brush assembly includes two groups of brushes arranged on both sides of the aluminum profile. The brushes are rotatably arranged in the brush bracket through a brush shaft. One end of the brush shaft is connected to the driving shaft sleeve of the driving assembly. The brush shaft is rotatably connected to the brush bracket through a bearing seat at both ends. The two ends of the two groups of brushes are connected through a bearing end connecting plate and fixedly connected to the aluminum profile.

[0016] Further, the bearing end web plate is internally provided with universal support wheels; The cleaning mechanism further comprises a water blocking cover made of transparent PVC, which is arranged on the upper side of the brush and connected with the brush support through bolts.

[0017] Compared with the prior art, the present application has the following beneficial effects: 1. The double-brush assembly design can adapt to the size of the photovoltaic panel in terms of coverage width, realize single cleaning covering the full width of the photovoltaic panel, and avoid repeated cleaning; the planetary reduction brushless motor directly drives the brush, the transmission efficiency is high, the brush rotation speed can be adjusted, and different stains can be quickly adapted.

[0018] 2. The number of core components of the XY-axis walking mechanism is only 7 (cross pipe clamp, end, wheel hub motor, worm gear reduction motor, synchronous belt), which is reduced by more than 50% compared with the existing equipment (more than 15), has stable performance, high cost performance, reduces the assembly difficulty, and greatly reduces the failure rate.

[0019] 3. The walking mechanism and the cleaning mechanism are detachably connected through a quick connection mechanism, the maximum size after disassembly is ≤1.4m, and conventional logistics boxes can be used for transportation, thereby reducing transportation costs; and it is convenient for equipment transfer in complex scenes such as mountains and roofs; at the same time, it can be combined and separated at any time, which is more convenient and flexible.

[0020] 4. The anti-falling plate can prevent the equipment from sliding off the edge of the photovoltaic panel, and is especially suitable for large-angle photovoltaic arrays; the universal support wheel assists in supporting, the pressure of the brush on the photovoltaic panel is controlled at 5N-10N, and the coating layer is prevented from being scratched.

[0021] 5. Four groups of high-power wheel hub motors are selected to drive the X-direction walking, which can be two-wheel drive or four-wheel drive.

[0022] Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present application.

[0025] Figure 2The schematic diagram of the quick connection of the walking mechanism and the cleaning mechanism in the application.

[0026] Figure 3 The schematic diagram of the three-dimensional structure of the walking mechanism in the application.

[0027] Figure 4 The schematic diagram of the cross-section structure of the crossbeam in the application.

[0028] Figure 5 The schematic diagram of the three-dimensional structure of the shifting mechanism in the application.

[0029] Figure 6 The schematic diagram of the three-dimensional structure of the cleaning mechanism in the application.

[0030] Figure 7 The schematic diagram of the bottom structure of the cleaning mechanism in the application.

[0031] Figure 8 The schematic diagram of the three-dimensional structure of the quick connection mechanism in the application.

[0032] Figure 9 The schematic diagram of the adjustable quick buckle in the application.

[0033] In the figure: 1, XY-axis direction walking mechanism; 11, cross pipe clamp; 12, crossbeam; 13, synchronous belt; 14, Y-axis shifting assembly; 141, mounting bracket; 142, worm gear deceleration motor; 143, bearing; 144, synchronous wheel; 145, idler shaft; 146, idler; 147, synchronous belt; 15, anti-falling plate; 16, hanging wheel; 17, wheel hub motor mounting plate; 18, wheel hub motor; 19, end; 110, support rod; 111, synchronous belt pressing plate; 112, bent plate; 113, walking controller mounting plate; 114, walking controller; 115, walking lithium battery mounting plate; 116, walking lithium battery; 2, cleaning mechanism; 21, brush shaft; 22, bearing seat; 23, bearing end connecting plate; 24, aluminum profile; 25, quick connection mechanism; 251, hinge; 252, movable pulley mounting plate; 253, adjustable quick buckle; 254, fixed pulley mounting plate; 255, pulley; 26, tow rack; 27, cleaning lithium battery; 28, cleaning controller; 29, water baffle; 210, planetary reduction brushless motor; 211, drive shaft sleeve; 212, brush; 213, universal support wheel; 3, photovoltaic array. DETAILED DESCRIPTION

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0035] Example: like Figures 1 to 9 As shown, a photovoltaic panel cleaning robot includes an independent XY axis walking mechanism 1 and a cleaning mechanism 2, which are detachably connected by a quick-connect mechanism 25. Through modular design, the walking and cleaning can be operated independently, quickly assembled and flexibly adapted. The two parts can be transported separately and quickly connected on site. They are also equipped with independent power supply modules and independent control modules, and the two parts are independently powered and controlled without affecting each other.

[0036] The XY axis traveling mechanism 1 is used to drive the cleaning mechanism 2 to move along the length direction X axis and the width direction Y axis of the photovoltaic panel to achieve full area coverage. It includes a frame, an X-axis shifting component and a Y-axis shifting component 14.

[0037] The frame serves as the load-bearing foundation for the walking mechanism. It features a lightweight and high-strength design, assembled from a crossbeam 12, two cross-shaped tube clamps 11, and two support rods 110. Both the crossbeam 12 and the support rods 110 utilize aluminum alloy three-pronged tubing of the same specifications. The crossbeam 12 is 1400mm long, with a tensile strength ≥260MPa and a density of only 2.7g / cm³, combining strength and lightweight advantages. The two support rods 110 are adjustable at both ends of the crossbeam 12 via the two cross-shaped tube clamps 11, forming a vertical structure with the crossbeam 12. The inner wall of the cross-shaped tube clamps 11 is equipped with anti-slip rubber pads, and the outer wall has fastening screws. To accommodate various sizes of photovoltaic arrays 3, the Y-axis length can be adjusted by loosening the locking screws of the cross-shaped tube clamps 11. Simultaneously, the synchronous belt 147 pressure block can be loosened, then tightened, and finally locked.

[0038] The X-axis shifting assembly is used to drive the walking mechanism to move along the length direction X-axis of the photovoltaic panel, comprising an end head 19, a wheel hub motor mounting plate 17, a wheel hub motor 18, a hanging wheel 16 and an anti-falling plate 15; the end head 19 is made of engineering plastic material, is sleeved on both ends of the support rod 110, and the inner wall is provided with a guide groove, the cooperation gap between the support rod 110 and the end head 19 is 0.2mm-0.3mm, which ensures smooth sliding and no shaking; the wheel hub motor mounting plate 17 is made of aluminum alloy material and is connected to the outside of the end head 19, and the wheel hub motor 18 is assembled in the wheel hub motor mounting plate 17; the motor adopts IP67 protection level, can prevent sand and rainwater from entering, and is suitable for outdoor environment; the hanging wheel 16 is connected to the outside of the wheel hub motor mounting plate 17 through a pin shaft and rotates horizontally, the wheel groove of the hanging wheel 16 is matched with the frame of the photovoltaic panel, and the hanging wheel 16 rolls along the frame during walking, which plays a guiding role; the anti-falling plate 15 is arranged at the bottom of the hanging wheel 16, the lower end of the anti-falling plate 15 extends below the lower surface of the photovoltaic panel, and if the equipment is inclined or stuck, the anti-falling plate 15 can hook the frame of the photovoltaic panel to prevent the equipment from falling and improve safety.

[0039] The Y-axis shifting assembly is used to drive the cleaning mechanism 2 to move along the width direction Y-axis of the photovoltaic panel, comprising a mounting bracket 141 and a synchronous belt transmission unit; the mounting bracket 141 is an aluminum alloy stamping part, is provided with a through groove matched with the cross beam 12, is slidably sleeved on the cross beam 12, and the inner wall of the clamping groove is provided with a PTFE wear-resistant coating to reduce the sliding friction coefficient; the mounting bracket 141 is detachably connected with the aluminum profile 24 through screws.

[0040] The synchronous belt transmission unit is arranged on the mounting bracket 141 and is driven by a worm gear reduction motor 142, comprising two groups of idler wheels 146, a group of synchronous wheels 144 and a synchronous belt 147. The two groups of idler wheels 146 and the synchronous wheels 144 are arranged in a triangular shape, the synchronous wheels 144 are rotatably connected with the mounting bracket 141 through bearings 143, and the idler wheels 146 are rotatably connected with the mounting bracket 141 through idler shafts 145, so as to ensure stable transmission; The mounting bracket 141 is provided with a worm gear reduction motor 142 with self-locking function on the upper side, the output end of the worm gear reduction motor 142 is connected with one of the idler shafts 145 through a shaft coupling; the worm gear structure has a reverse self-locking characteristic, which can prevent the mounting bracket 141 from sliding along the cross beam 12 after power failure, avoiding the displacement of the cleaning mechanism 2; The synchronous wheels 144 are meshed and connected with the polyurethane synchronous belt 147, the two ends of the synchronous belt 147 pass through the two groups of idler wheels 146, and are fixed on the cross pipe clamps 11 on both sides through the synchronous belt pressing plate 111 and the bending plate 112; when the worm gear reduction motor 142 drives the idler wheels 146 to rotate, the synchronous belt 147 drives the mounting bracket 141 to slide along the cross beam 12, realizing the movement in the Y-axis direction, and the movement speed can be adjusted by controlling the motor speed.

[0041] The cleaning mechanism 2 is used to remove the contaminants on the surface of the photovoltaic panel, which comprises a driving assembly, a brush assembly and an aluminum profile 24; the aluminum profile 24 is a bearing frame of the cleaning mechanism 2, the length of which can be adapted according to the width of the photovoltaic panel and the cleaning requirement, one group of brush assemblies is arranged on each side of the aluminum profile 24, the middle part is connected with the XY axis walking mechanism through a quick connecting mechanism 25, and the aluminum profile 24 has the advantages of light weight and bearing capacity; the driving assembly comprises a planetary reduction brushless motor 210 and a driving shaft sleeve 211, and the planetary reduction brushless motor 210 directly drives the brush assembly to rotate through the driving shaft sleeve 211.

[0042] The planetary reduction brushless motor 210 is fixed to one end of the aluminum profile 24 through a motor support, and the output shaft of the planetary reduction brushless motor 210 is connected with the driving shaft sleeve 211 through a flat key; the other end of the driving shaft sleeve 211 is connected with the brush shaft 21 of the brush assembly through a locking screw, so that the motor power is directly transmitted to the brush 212; compared with the belt transmission of the existing equipment, the direct driving mode reduces the transmission loss and has no belt wear problem, thereby reducing the failure rate.

[0043] The brush assembly is used to directly contact the surface of the photovoltaic panel and remove the contaminants, which comprises two groups of brushes 212, a brush shaft 21, a brush support, a bearing seat 22 and a bearing end connecting plate 23; the two groups of brushes 212 are symmetrically arranged on the two sides of the aluminum profile 24, the brush 212 is made of nylon wire + PET wire mixed material, which has sufficient hardness to remove stubborn stains and flexibility to avoid scratching the coating layer of the photovoltaic panel; The brush 212 is rotatably arranged in the brush support through the brush shaft 21, and the two ends of the brush shaft 21 are rotatably connected with the brush support through the bearing seat 22, so as to reduce the rotating friction; The two ends of the two groups of brushes 212 are connected through the bearing end connecting plate 23, the two ends of the bearing end connecting plate 23 are fixed on the aluminum profile 24 through bolts, so as to ensure the coaxiality of the two groups of brushes 212 and avoid shaking during rotation.

[0044] The inner side of the bearing end connecting plate 23 is connected with a universal support wheel 213 through a pin shaft, the bottom of the universal support wheel 213 is flush with the bottom of the brush 212, the universal support wheel 213 contacts the surface of the photovoltaic panel during walking, thereby providing auxiliary support for the cleaning mechanism 2, controlling the pressure of the brush 212 on the photovoltaic panel within the range of 5N-10N, and adjusting the height of the support wheel for fine adjustment, so as to avoid damaging the photovoltaic panel due to excessive pressure.

[0045] The cleaning mechanism 2 further comprises a water shield 29, the water shield 29 is made of transparent PVC material, the shield is arranged on the upper side of the brush 212 and connected with the brush support through bolts, the length of the shield is consistent with that of the brush 212, and the width of the shield is adapted to the diameter of the brush 212; during the cleaning operation, if the water spraying device is matched, the water shield 29 can prevent the cleaning water from splashing to the non-cleaning area of the photovoltaic panel or the electrical components of the XY axis walking mechanism, thereby avoiding short circuit or water stain.

[0046] The bracket 26 is made of aluminum alloy, which is fixed to the middle of the aluminum profile 24 by bolts, and is used to install the independent power supply module and the independent control module of the cleaning mechanism 2.

[0047] The quick connection mechanism 25 is used to realize the detachable connection of the XY-axis direction walking mechanism 1 and the cleaning mechanism 2, which is convenient for transportation and assembly, and includes a hinge 251, a movable pulley mounting plate 252, an adjustable quick buckle 253, a fixed pulley mounting plate 254, and a pulley 255. The fixed pulley mounting plate 254 is made of aluminum alloy, which is fixed to one side of the aluminum profile 24 by bolts, and the pulley 255 is connected inside by a pin shaft. The groove of the pulley 255 is matched with the cross beam 12 of the XY-axis walking mechanism. The movable pulley mounting plate 252 is symmetrical with the fixed pulley mounting plate 254, which is hinged on the other side of the aluminum profile 24 through the hinge 251. The rotation angle range of the hinge 251 is 0°-90°. When it is opened at 90°, the cross beam 12 can be put into the groove of the pulley 255. When it is closed at 0°, it cooperates with the fixed pulley mounting plate 254 to clamp the cross beam 12. The adjustable quick buckle 253 is arranged at the connection between the movable pulley mounting plate 252 and the fixed pulley mounting plate 254, which includes a buckle body and an adjusting screw. The buckle body is made of stainless steel, which is used to buckle the two mounting plates. The adjusting screw can be rotated to adjust the distance between the two pulleys 255, so as to realize the fine adjustment of the gap between the pulley 255 and the cross beam 12. The adjustment range is 0.1mm-0.5mm, which can ensure that the walking mechanism does not shake when driving the cleaning mechanism 2 to move, and can also avoid the jam caused by too small gap. When the XY-axis direction walking mechanism 1 and the cleaning mechanism 2 need to be connected, the movable pulley mounting plate 252 is rotated to 90° around the hinge 251, and the cross beam 12 is put into the pulley 255 groove of the fixed pulley mounting plate 254. The movable pulley mounting plate 252 is rotated to 0°, and the adjustable quick buckle 253 is buckled. The gap between the pulley 255 and the cross beam 12 is adjusted to 0.2mm-0.3mm by rotating the adjusting screw, and the cross beam 12 is clamped by the pulley 255. When disassembling, only the buckle needs to be loosened, which is convenient to operate.

[0048] In order to realize the independent operation of the XY-axis walking mechanism and the cleaning mechanism 2, independent power supply modules and control modules are configured respectively. The independent power supply modules are all lithium ion battery packs, which have the advantages of lightweight, high capacity, and long cycle life. The independent control modules all use STM32 series single-chip microcomputers as core controllers, which have the advantages of small size, low power consumption, and strong anti-interference ability. The power supply module of the walking mechanism comprises a walking lithium battery 116 and a walking lithium battery mounting plate 115. The walking lithium battery mounting plate 115 is made of aluminum alloy and is fixed to the outer side of the cross pipe clamp 11 by bolts. The walking lithium battery 116 is fixed to the mounting plate and supplies power to the hub motor 18 and the worm gear reducer motor 142. The power supply module of the cleaning mechanism 2 comprises a cleaning lithium battery 27 and a mop bracket 26. The cleaning lithium battery 27 is fixed to the mop bracket 26 and supplies power to the planetary reduction brushless motor 210. The control module of the walking mechanism comprises a walking controller 114 and a walking controller mounting plate 113. The walking controller mounting plate 113 is fixed to the other end of the cross beam 12 by bolts and is symmetrical to the walking lithium battery mounting plate 115. The walking controller 114 is fixed to the mounting plate and is internally provided with a wireless communication module. The wireless communication module can receive remote control instructions such as X-axis / Y-axis moving direction and speed and drive the hub motor 18 and the worm gear reducer motor 142 to work. The control module of the cleaning mechanism 2 comprises a cleaning controller 28 and the mop bracket 26. The cleaning controller 28 is fixed to the mop bracket 26 and is also internally provided with a wireless communication module. The wireless communication module can receive remote control instructions such as brush 212 rotation start-stop and rotation speed and drive the planetary reduction brushless motor 210 to work.

[0049] Embodiment 2 This embodiment takes the cleaning of a photovoltaic panel with a length and width of 1200 mm as an example to provide the specific operation process of the photovoltaic panel cleaning robot as follows: In actual use, first, the XY-axis direction walking mechanism 1 and the cleaning mechanism 2 are assembled. The movable pulley mounting plate 252 on the cleaning mechanism 2 is opened. The cross beam 12 of the XY-axis walking mechanism is put into the pulley groove of the pulley 255 of the fixed pulley mounting plate 254. The movable pulley mounting plate 252 is closed. The adjustable quick buckle 253 is buckled. The cross beam 12 is clamped and connected by the pulley 255. The connection is realized. At the same time, the mounting bracket 141 is connected with the aluminum profile 24 by screws. The assembled robot is placed at the starting end of the photovoltaic array 3. It is ensured that the hanging wheel 16 is attached to the photovoltaic panel frame and the anti-falling panel 15 is located on the lower side of the photovoltaic panel. The universal support wheel 213 is in contact with the surface of the photovoltaic panel. Parameter setting: The walking controller 114 and the cleaning controller 28 are connected by a mobile phone APP. The parameters are set as follows: X-axis moving speed 15 m / min, Y-axis moving speed 5 m / min, brush 212 rotation speed 200 rpm, and cleaning path "moving along the X-axis for 1200 mm photovoltaic panel length→ moving along the Y-axis for 1200 mm photovoltaic panel width, starting cleaning at the same time→ moving along the X-axis in the opposite direction for 1200 mm→ moving along the Y-axis for 1200 mm→ repeating until the photovoltaic panel is covered". Cleaning operation: ① The walking controller 114 is started. The hub motor 18 drives the equipment to move along the X-axis to one end of the photovoltaic panel. The motor stops. 2. Start the cleaning controller 28, the planetary reduction brushless motor 210 drives the brush 212 to rotate, at the same time the worm gear reduction motor 142 drives the mounting bracket 141 to move along the Y axis, the brush 212 cleans the surface of the photovoltaic panel, the water shield 29 prevents the cleaning water from splashing, if the water spraying device is matched, the water can be sprayed synchronously; 3. After the Y axis moves to the other end of the photovoltaic panel, the cleaning motor stops, the wheel hub motor 18 drives the equipment to move reversely along the X axis to the starting end; 4. Repeat steps 2-3 until the cleaning of all photovoltaic panels in the area is completed; Job completion: after the cleaning is completed, the controller is turned off, the quick connection mechanism 25 is loosened, the walking mechanism and the cleaning mechanism 2 are separated, and are transported to the next area or stored in the equipment room.

[0050] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, on the basis of the above description, other different forms of changes or variations can be made, and it is impossible to enumerate all the embodiments here. Any obvious changes or variations derived from the technical solutions of the present application are still within the protection scope of the present application.

Claims

1. A photovoltaic panel cleaning robot, characterized in that, Including the XY axis direction walking mechanism (1) and the cleaning mechanism (2) that are independent of each other, both are detachable connection through quick connecting mechanism (25), and are respectively configured independent power module and independent control module; The XY axis direction walking mechanism (1) includes frame, X axis displacement assembly and Y axis displacement assembly (14), the X axis displacement assembly is adjustably arranged at the outer end of the frame, for driving the robot as a whole to move in the X axis direction;The Y axis displacement assembly (14) is adjustably arranged on the frame, for driving the cleaning mechanism (2) to move in the Y axis direction; The quick connecting mechanism (25) is arranged on the cleaning mechanism (2), for realizing detachable connection of the two;The cleaning mechanism (2) is detachably connected with the Y axis displacement assembly (14).

2. Photovoltaic panel cleaning robot according to claim 1, characterized in that: The frame is assembled by cross beam (12), two cross pipe clamps (11) and two support rods (110), the cross beam (12) and the support rod (110) are all aluminum alloy three-prong pipes of the same specification, and the two support rods (110) are adjustably arranged at the two ends of the cross beam (12) through the two cross pipe clamps (11).

3. Photovoltaic panel cleaning robot according to claim 2, characterized in that: The X axis displacement assembly is arranged at the outer end of the support rod (110), the X axis displacement assembly includes end head (19) sleeved on both ends of the support rod (110), the end head (19) is connected with hub motor mounting plate (17) outside, the hub motor mounting plate (17) is internally assembled with hub motor (18), and the hub motor mounting plate (17) is further provided with horizontally rotating hanger wheel (16) outside, and the hanger wheel (16) is provided with anti-falling plate (15) at the bottom.

4. Photovoltaic panel cleaning robot according to claim 3, characterized in that: The Y axis displacement assembly (14) includes mounting bracket (141), the mounting bracket (141) is slidably sleeved on the cross beam (12), and a synchronous belt transmission unit driven by worm gear reducer motor (142) is arranged on the mounting bracket (141).

5. Photovoltaic panel cleaning robot according to claim 4, characterized in that: The cleaning mechanism (2) includes driving assembly, brush assembly and aluminum profile (24), the mounting bracket (141) on the Y axis displacement assembly (14) is detachably connected with the aluminum profile (24) through screws, one set of brush assembly is arranged on each side of the aluminum profile (24), the driving assembly includes planetary reduction brushless motor (210) and driving shaft sleeve (211), and the planetary reduction brushless motor (210) directly drives the brush assembly to rotate through the driving shaft sleeve (211).

6. Photovoltaic panel cleaning robot according to claim 5, characterized in that: The quick connection mechanism (25) comprises a hinge (251), a movable pulley mounting plate (252), an adjustable quick buckle (253), a fixed pulley mounting plate (254) and a pulley (255), the fixed pulley mounting plate (254) is fixed on one side of the aluminum profile (24), the movable pulley mounting plate (252) is symmetrically hinged on the other side of the aluminum profile (24) through the hinge (251), the movable pulley mounting plate (252) can rotate 0-90° around the hinge (251), the movable pulley mounting plate (252) and the fixed pulley mounting plate (254) are internally provided with the pulley (255), the two pulley (255) mounting plates are provided with the adjustable quick buckle (253) at the connecting position, the adjustable quick buckle (253) comprises an adjusting screw, the gap between the pulley and the cross beam (12) can be adjusted, and the gap adjustment range is 0.1-0.5mm.

7. The photovoltaic panel cleaning robot according to claim 4, characterized in that: The synchronous belt transmission unit comprises two groups of idler wheels (146) and a group of synchronous wheels (144), which are arranged in a triangular structure on the mounting bracket (141), the synchronous wheel (144) is rotatably connected with the mounting bracket (141) through a bearing (143), the idler wheel (146) is rotatably connected with the mounting bracket (141) through an idler wheel shaft (145), the mounting bracket (141) is provided with a worm and gear reduction motor (142) with self-locking function on the upper side, the output end of the worm and gear reduction motor (142) is connected with one of the idler wheel shafts (145), the synchronous wheel (144) is meshingly connected with a synchronous belt (147), and the two ends of the synchronous belt (147) pass through the two groups of idler wheels (146) and are fixed on the cross pipe clamps (11) on the two sides through the synchronous belt pressing plate (111) and the bending plate (112).

8. Photovoltaic panel cleaning robot according to claim 6, characterized in that: The independent power supply module is a lithium battery, and the independent control module is a controller; One end of the cross beam (12) is provided with a walking controller mounting plate (113), and the other end is provided with a walking lithium battery mounting plate (115), the mounting plates at the two ends are fixedly connected to the cross pipe clamp (11) through bolts, the walking controller mounting plate (113) is provided with a walking controller (114), and the walking lithium battery mounting plate (115) is provided with a walking lithium battery (116). The aluminum profile (24) is also provided with a drag bracket (26), and the drag bracket (26) is provided with a cleaning lithium battery (27) and a cleaning controller (28).

9. The photovoltaic panel cleaning robot according to claim 5, characterized in that: The brush (212) assembly comprises two groups of brushes (212) arranged on the two sides of the aluminum profile (24), the brush (212) is rotatably arranged in the brush support through a brush shaft (21), one end of the brush shaft (21) is connected to the driving shaft sleeve (211) of the driving assembly, the brush shaft (21) is rotatably connected with the brush support through bearings (143) at both ends, and the two ends of the two groups of brushes (212) are connected through a bearing end connecting plate (23) and fixedly connected to the aluminum profile (24).

10. Photovoltaic panel cleaning robot according to claim 9, characterized in that: The inner side of the bearing end connecting plate (23) is provided with a universal support wheel (213). The cleaning mechanism (2) further comprises a water baffle (29) which is arranged on the upper side of the brush (212) and connected to the brush support by bolts.

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