Array type photovoltaic equipment intelligent cleaning robot

Abstract

The invention relates to the field of photovoltaic panel cleaning, in particular to an array type photovoltaic equipment intelligent cleaning robot which comprises a robot body, a walking mechanism and a cleaning mechanism, the walking mechanism is arranged at the bottom of the robot body, and the walking mechanism is used for driving equipment to move on the surface of an array type photovoltaic panel. The cleaning mechanism comprises a cleaning execution assembly and an adjusting mechanism. The adjusting mechanism is used for connecting the robot body with the cleaning execution assembly, and the adjusting mechanism can dynamically adjust the attaching state of the cleaning execution assembly and the surface of the photovoltaic panel according to the inclination angle of the photovoltaic panel; and the cleaning execution assembly is used for cleaning the surface of the photovoltaic panel and can clean stubborn substances. According to the photovoltaic panel cleaning device, stubborn stains on the surface of a photovoltaic panel can be cleaned, dust mixed in cleaning liquid can be reduced, the cleaning workload can be effectively reduced, the stains attached to the main cleaning rolling brush can be effectively reduced, and the cleaning effect of the main cleaning rolling brush can be effectively guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of photovoltaic panel cleaning, and particularly relates to an array type photovoltaic device intelligent cleaning robot. BACKGROUND

[0002] Array type photovoltaic is a direct current power generation unit composed of multiple photovoltaic components through electrical connection and mechanical fixation, is a core energy conversion module of a photovoltaic power generation system, can efficiently convert solar radiation energy into direct current power, is widely used in large power stations, building integration and composite projects, and is also called photovoltaic array or solar cell array, is a core power generation unit of a photovoltaic power generation system. It is composed of multiple photovoltaic components in series to increase voltage and in parallel to increase current, and is fixed on a support structure to form a whole.

[0003] Through retrieval, the prior art discloses a self-judgment intelligent photovoltaic cleaning robot in the background art, which belongs to the technical field of photovoltaic panel cleaning and comprises a cleaning shell provided with a solar panel on the top, a positioning mechanism arranged on the cleaning shell and used for controlling the overall length of the device. The self-judgment intelligent photovoltaic cleaning robot can adjust the overall length of the device when encountering photovoltaic panels of different lengths, improve the adaptability and flexibility of the device during use, enhance the practicality of the device, and conveniently clean photovoltaic panels of different sizes. The self-judgment intelligent photovoltaic cleaning robot can clean itself after cleaning the photovoltaic panel, ensure the cleanliness of the internal cleaning rod, improve the cleaning effect of the photovoltaic panel, and can be connected with a water pipe to ensure that the device is clean after use and does not affect subsequent use.

[0004] However, the device still has the following defects: the existing intelligent cleaning robot is used in cooperation with the cleaning liquid all the time, and the surface of the roller brush will adhere to stains, which will reduce the cleaning effect of the photovoltaic panel after long-term use. In addition, in the cleaning process, the floating dust on the surface of the photovoltaic panel is cleaned by directly cleaning, which increases the workload during cleaning, and the waste liquid generated during cleaning contains a large amount of dust, which needs to be repeatedly cleaned to achieve the required cleaning quality.

[0005] Therefore, the array type photovoltaic device intelligent cleaning robot is proposed to solve the above problems. SUMMARY

[0006] In view of the above problems, the application provides an array type photovoltaic device intelligent cleaning robot, which comprises a robot body, a walking mechanism and a cleaning mechanism, the walking mechanism is arranged at the bottom of the robot body, the walking mechanism is used for driving the device to move on the surface of the array type photovoltaic panel, and the cleaning mechanism comprises a cleaning execution assembly and an adjusting mechanism. The adjusting mechanism is used for connecting the robot body and the cleaning execution assembly, and the adjusting mechanism can dynamically adjust the fitting state of the cleaning execution assembly and the surface of the photovoltaic panel according to the inclination angle of the photovoltaic panel. The cleaning execution assembly is used for cleaning the surface of the photovoltaic panel, and the cleaning execution assembly can clean stubborn substances.

[0007] Further, the adjusting mechanism comprises a telescopic rod and a pre-tightening spring, one end of the telescopic rod is arranged on the robot body, the other end of the telescopic rod is hinged with the cleaning execution assembly, the pre-tightening spring is sleeved outside the telescopic rod, and the two ends of the pre-tightening spring are respectively abutted on the two ends of the telescopic rod.

[0008] Further, the adjusting mechanism further comprises a limiting column, the top end of the limiting column is arranged on the side of the robot body, the bottom end of the limiting column is located above the cleaning execution assembly, a horizontally arranged limiting block is fixed at the bottom end of the limiting column, and an elastic buffer pad is attached to the surface of the limiting block.

[0009] Further, the cleaning execution assembly comprises a main cleaning roller brush, an auxiliary cleaning scraper and a cleaning frame, the cleaning frame is arranged as an installation carrier of the main cleaning roller brush and the auxiliary cleaning scraper, the top of the cleaning frame is hinged with the end of the telescopic rod, a spraying nozzle is arranged in the cleaning frame, and the spraying nozzle is located behind the main cleaning roller brush. The main cleaning roller brush is arranged in a hollow cylindrical structure, the main cleaning roller brush is rotatably arranged in the cleaning frame, and a first driving motor for driving the main cleaning roller brush is fixedly arranged on the side of the cleaning frame. The auxiliary cleaning scraper is arranged on the cleaning frame through a scraper support, and the scraper support is located behind the main cleaning roller brush, and the scraper support can adjust the angle of the auxiliary cleaning scraper.

[0010] Further, the scraper support comprises a connecting rod and a mounting plate, the top end of the connecting rod is hinged with the cleaning frame, the bottom end of the connecting rod is fixedly connected with the mounting plate, the auxiliary cleaning scraper is detachably arranged at the bottom of the mounting plate, a tension spring is arranged at the hinge position of the connecting rod and the cleaning frame, one end of the tension spring is fixedly connected with the cleaning frame, the other end of the tension spring is abutted with the connecting rod, the tension spring is used for applying a pre-tightening force to the connecting rod, so that the scraping edge of the auxiliary cleaning scraper is tightly attached to the surface of the photovoltaic panel, and the scraping surface of the auxiliary cleaning scraper is provided with an elastic gasket.

[0011] Further, the main cleaning roller brush is internally provided with an air flow channel, the surface of the main cleaning roller brush is provided with a plurality of micro-holes, and the roller shaft of the main cleaning roller brush is communicated with a dust collection assembly through a rotary joint. When the roller brush rotates to clean, the micro-holes can spray air flow to the surface of the photovoltaic panel.

[0012] Further, the dust collection assembly is installed on the robot body through an adjusting mechanism. The dust collection assembly comprises a shell, a secondary cleaning roller brush, a suction fan and a first dust collection nozzle, the first dust collection nozzle is communicated with the suction fan, the first dust collection nozzle is communicated with the inside of the shell, the shell is hinged with the adjusting mechanism, the secondary cleaning roller brush is rotationally installed in the shell, a second driving motor for driving the secondary cleaning roller brush to rotate is fixedly installed on the side of the shell, and the suction fan is arranged on the robot body.

[0013] Further, a second dust collection nozzle is fixedly installed on the side of the shell, the second dust collection nozzle is communicated with the suction fan, and the second dust collection nozzle is used for sucking and removing floating dust on the surface of the photovoltaic panel.

[0014] Further, the suction fan is communicated with a collection piece through an air guide pipe, the collection piece comprises a collection box, an exhaust pipe and a filter screen, the collection box is arranged on the robot body, the filter screen is detachably installed at the air outlet of the collection box, the exhaust pipe is communicated with the collection box, and one end of the exhaust pipe is communicated with the main cleaning roller brush through a rotary joint.

[0015] Further, the dust collection assembly and the adjusting mechanism used by the cleaning execution assembly have the same structure, and a limiting column is arranged above the shell and has the same structure as the limiting column above the cleaning frame.

[0016] The present application has the following advantages: 1. When the photovoltaic panel surface is cleaned, the walking mechanism drives the robot body and the cleaning execution assembly to move on the photovoltaic panel, the first driving motor works to drive the main cleaning roller brush to rotate, and the spray nozzle is used to clean the surface of the photovoltaic panel, and the cleaning scraper can scrape and wash the surface of the photovoltaic panel during the movement, so that the dust mixed in the cleaning liquid is prevented from adhering to the surface of the photovoltaic panel again, and the cleaning effect is effectively improved.

[0017] 2. During the cleaning process, if the inclination angle of the photovoltaic panel surface changes, the cleaning execution assembly can be adjusted in angle through the pushing force of the pre-tightening spring and the hinged installation of the telescopic rod, the adjusting mechanism can be used to dynamically adjust the adhesion state of the cleaning execution assembly and the surface of the photovoltaic panel according to the inclination angle of the photovoltaic panel, the cleaning effect is good on photovoltaic panels with different inclination angles, and the problem of reduced cleaning quality caused by the inclination of the photovoltaic panel is avoided.

[0018] 3. The auxiliary cleaning scraper is designed with a dual structure, which uses a tension spring to pre-tighten the scraper and an elastic pad to compensate for the elasticity. This design ensures that the scraping edge is always in contact with the photovoltaic panel surface from two dimensions: active pressure and passive adaptation. The tension spring provides continuous tension to prevent the auxiliary cleaning scraper from lifting due to tilting or vibration of the cleaning actuator. The elastic pad adapts to the slight unevenness of the photovoltaic panel surface to avoid the formation of local gaps, which can effectively guarantee the scraping effect of the auxiliary cleaning scraper.

[0019] 4. When cleaning photovoltaic panels, place the dust collection component in front of the traveling mechanism. The exhaust fan will generate suction from the first and second suction nozzles to remove dust adhering to the surface of the photovoltaic panels. At the same time, the second drive motor will rotate the auxiliary cleaning roller brush to dry brush the dust adhering to the surface of the photovoltaic panels, causing the dust to be lifted and sucked away by the first suction nozzle. This can remove easily cleaned dust from the surface of the photovoltaic panels. Then, the main cleaning roller brush and spray nozzles will work together to wet brush the surface of the photovoltaic panels to clean stubborn stains. This can reduce the amount of dust mixed in the cleaning solution and effectively reduce the amount of cleaning work.

[0020] 5. After the dust enters the collection box, air is introduced into the main cleaning roller brush through the exhaust pipe and sprayed onto the photovoltaic panel surface through the micropores on the surface of the main cleaning roller brush. This combination of brushing and air jetting can further loosen stubborn stains, and the airflow can effectively reduce the adhesion of stains to the main cleaning roller brush, thus effectively ensuring the cleaning effect of the main cleaning roller brush.

[0021] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the structure according to an embodiment of the present invention is shown.

[0024] Figure 2 An isometric schematic diagram of a cleaning frame according to an embodiment of the present invention is shown.

[0025] Figure 3 shows the schematic diagram of the main cleaning roller brush according to the embodiment of the present application. Figure 2 shows the enlarged schematic diagram of the B part structure.

[0026] Figure 4 shows the schematic diagram of the main cleaning roller brush according to the embodiment of the present application.

[0027] Figure 5 shows the enlarged schematic diagram of the connecting rod according to the embodiment of the present application.

[0028] Figure 6 shows the enlarged schematic diagram of the exhaust pipe according to the embodiment of the present application.

[0029] Figure 7 shows the exploded schematic diagram of the exhaust pipe and the collecting box according to the embodiment of the present application.

[0030] In the figure: 1, robot body; 2, walking mechanism; 3, cleaning execution assembly; 4, adjusting mechanism; 41, telescopic rod; 42, pre-tightening spring; 5, main cleaning roller brush; 6, auxiliary cleaning scraper; 7, cleaning frame; 8, spraying nozzle; 9, first driving motor; 10, scraper support; 101, connecting rod; 102, mounting plate; 103, tension spring; 11, limiting column; 12, limiting block; 13, elastic gasket; 14, dust suction assembly; 15, shell; 16, auxiliary cleaning roller brush; 17, air extractor; 18, first dust suction nozzle; 19, second driving motor; 20, second dust suction nozzle; 21, collecting piece; 22, collecting box; 23, exhaust pipe; 24, filter screen; 25, micropore; 26, rotary joint. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] The embodiment of the present application provides an array type photovoltaic device intelligent cleaning robot, please refer to Figures 1-5 , including a robot body 1, a walking mechanism 2 and a cleaning mechanism, the walking mechanism 2 is arranged at the bottom of the robot body 1, the walking mechanism 2 is used for driving the device to move on the surface of the array type photovoltaic panel, the cleaning mechanism includes a cleaning execution assembly 3 and an adjusting mechanism 4; The adjusting mechanism 4 is used for connecting the robot body 1 and the cleaning execution assembly 3, the adjusting mechanism 4 can dynamically adjust the fitting state of the cleaning execution assembly 3 and the surface of the photovoltaic panel according to the inclination angle of the photovoltaic panel. The cleaning execution assembly 3 is used for cleaning the surface of the photovoltaic panel, and can clean stubborn substances; The cleaning execution assembly 3 comprises a main cleaning roller brush 5, an auxiliary cleaning scraper 6, and a cleaning frame 7, the cleaning frame 7 is arranged as an installation carrier of the main cleaning roller brush 5 and the auxiliary cleaning scraper 6, the top of the cleaning frame 7 is hingedly connected with the end of the telescopic rod 41, and a spraying nozzle 8 is arranged in the cleaning frame 7 and located behind the main cleaning roller brush 5. The main cleaning roller brush 5 is arranged in a hollow cylindrical structure, is rotatably arranged in the cleaning frame 7, and the side of the cleaning frame 7 is fixedly arranged with a first driving motor 9 for driving the main cleaning roller brush 5. The auxiliary cleaning scraper 6 is arranged on the cleaning frame 7 through a scraper support 10, the scraper support 10 is located behind the main cleaning roller brush 5, and the scraper support 10 can adjust the angle of the auxiliary cleaning scraper 6.

[0033] It should be noted that the outer wall of the main cleaning roller brush 5 is spirally arranged with flexible bristles in the axial direction, the bristles are made of nylon, and the bristles are uniformly arranged along the circumference of the main cleaning roller brush 5. The spraying nozzle 8 is provided with cleaning liquid through an external liquid supply pipe.

[0034] According to the above scheme, when the surface of the photovoltaic panel is cleaned, the walking mechanism 2 drives the robot body 1 and the cleaning execution assembly 3 to move on the photovoltaic panel, the first driving motor 9 works to drive the main cleaning roller brush 5 to rotate, and the spraying nozzle 8 cooperates with the main cleaning roller brush 5 to clean the surface of the photovoltaic panel, and in the moving process, the cleaning scraper can scrape and wash the surface of the photovoltaic panel, so as to reduce the dust mixed in the cleaning liquid from adhering to the surface of the photovoltaic panel again, and the cleaning effect can be effectively improved.

[0035] Specifically, referring to Figure 2 and Figure 3 The adjusting mechanism 4 comprises a telescopic rod 41 and a pre-tightening spring 42, one end of the telescopic rod 41 is arranged on the robot body 1, the other end of the telescopic rod 41 is hingedly connected with the cleaning execution assembly 3, the pre-tightening spring 42 is sleeved outside the telescopic rod 41, and the two ends of the pre-tightening spring 42 abut against the two ends of the telescopic rod 41 respectively.

[0036] It should be noted that in the embodiment, the telescopic rod 41 comprises a movable rod and a fixed tube, the movable rod is hingedly connected with the cleaning frame 7, the fixed tube is fixedly connected with the robot body 1, the movable rod is slidably arranged in the fixed tube, and the pre-tightening spring 42 is sleeved on the movable rod and the fixed tube.

[0037] With the above scheme, in the cleaning process, if the inclination angle of the photovoltaic panel surface changes, the cleaning execution assembly 3 can be adjusted in angle through the pushing force of the pre-tightening spring 42 and the hinged installation of the telescopic rod 41. Through the use of the adjusting mechanism 4, the cleaning execution assembly 3 can dynamically adjust the fitting state of the cleaning execution assembly 3 and the photovoltaic panel surface according to the inclination angle of the photovoltaic panel. Good cleaning effect can be ensured on photovoltaic panels with different inclination angles, and the problem of reduced cleaning quality caused by the inclination of the photovoltaic panel is avoided.

[0038] Specifically, referring to Figure 1 and Figure 2 , the adjusting mechanism 4 further comprises a limiting column 11, the top end of the limiting column 11 is arranged on the side of the robot body 1, the bottom end of the limiting column 11 is located above the cleaning execution assembly 3, and a limiting block 12 horizontally arranged is fixed at the bottom end of the limiting column 11, and an elastic buffer pad is attached to the surface of the limiting block 12.

[0039] It should be noted that when the inclination angle of the photovoltaic panel exceeds the preset threshold, the cleaning execution assembly 3 tilts and moves with the change in inclination angle until the top of the cleaning frame 7 contacts the elastic buffer pad of the limiting block 12. The maximum extension of the telescopic rod 41 is limited by the rigid blocking, and at the same time the elastic buffer pad is used to absorb the contact impact, thereby preventing the cleaning execution assembly 3 from being separated from the surface of the photovoltaic panel or causing rigid collision damage due to excessive inclination.

[0040] For example, referring to Figure 2 and Figure 5 , the scraper support 10 comprises a connecting rod 101 and a mounting plate 102, the top end of the connecting rod 101 is hinged to the cleaning frame 7, the bottom end of the connecting rod 101 is fixedly connected to the mounting plate 102, and the auxiliary cleaning scraper 6 is detachably mounted to the bottom of the mounting plate 102, a tension spring 103 is arranged at the hinge between the connecting rod 101 and the cleaning frame 7, one end of the tension spring 103 is fixedly connected to the cleaning frame 7, and the other end of the tension spring 103 abuts against the connecting rod 101, the tension spring 103 is used to apply a pre-tightening force to the connecting rod 101 to drive the scraping edge of the auxiliary cleaning scraper 6 to tightly abut against the surface of the photovoltaic panel, and the scraping surface of the auxiliary cleaning scraper 6 is provided with an elastic gasket 13.

[0041] It should be noted that in this embodiment, the elastic gasket 13 is made of rubber material and can deform with the slight protrusions on the surface of the photovoltaic panel, so that the auxiliary cleaning scraper 6 can still be fitted to the surface of the photovoltaic panel even when there are slight irregularities on the surface of the photovoltaic panel, thereby avoiding the problem of missing dead angles; In order to prevent the auxiliary cleaning scraper 6 from being pulled out of the scraping position by the tension spring 103, a limiting block is arranged in the cleaning frame 7, and the limiting block is located on the side of the auxiliary cleaning scraper 6 adjacent to the main cleaning roller brush 5, thereby preventing the auxiliary cleaning scraper 6 from being flipped to the position of the main cleaning roller brush.

[0042] With the above scheme, through the double structure design of the tension spring 103 pre-tensioning the auxiliary cleaning blade 6 and the elastic gasket 13 elastic compensation, from the two dimensions of active pressure and passive adaptation, it is ensured that the scraping edge is always in contact with the surface of the photovoltaic panel. The tension spring 103 provides continuous tension to prevent the auxiliary cleaning blade 6 from being raised due to the inclination and vibration of the cleaning execution assembly 3. The elastic gasket 13 adapts to the slight unevenness of the photovoltaic panel surface to avoid the generation of local gaps, which can effectively guarantee the scraping effect of the auxiliary cleaning blade 6.

[0043] For example, referring to Figure 1 , Figure 4 , Figure 6 and Figure 7 , the dust collection assembly 14 is installed on the robot body 1 through the adjusting mechanism 4; The dust collection assembly 14 includes a housing 15, a secondary cleaning roller brush 16, a suction fan 17, and a first dust collection nozzle 18. The first dust collection nozzle 18 is in communication with the suction fan 17. The first dust collection nozzle 18 is in communication with the inside of the housing 15. The housing 15 is hingedly connected to the adjusting mechanism 4. The secondary cleaning roller brush 16 is rotatably installed in the housing 15. A second driving motor 19 for driving the secondary cleaning roller brush 16 to rotate is fixedly installed on the side of the housing 15. The suction fan 17 is arranged on the robot body 1. A second dust collection nozzle 20 is fixedly installed on the side of the housing 15. The second dust collection nozzle 20 is in communication with the suction fan 17. The second dust collection nozzle 20 is used to suck and remove floating dust on the surface of the photovoltaic panel.

[0044] The suction fan 17 is in communication with a collection piece 21 through a gas guide pipe. The collection piece 21 includes a collection box 22, an exhaust pipe 23, and a filter screen 24. The collection box 22 is arranged on the robot body 1. The filter screen 24 is detachably installed at the air outlet of the collection box 22. The exhaust pipe 23 is in communication with the collection box 22. One end of the exhaust pipe 23 is in communication with the main cleaning roller brush 5 through a rotary joint 26. The main cleaning roller brush 5 is internally provided with an airflow channel. A plurality of micro-holes 25 are formed on the surface of the main cleaning roller brush 5. The roller shaft of the main cleaning roller brush 5 is in communication with the dust collection assembly 14 through the rotary joint 26. When the roller brush rotates for cleaning, the micro-holes 25 can spray airflow to the surface of the photovoltaic panel.

[0045] It should be noted that the dust collection assembly 14 and the adjusting mechanism 4 used by the cleaning execution assembly 3 have the same structure. The top of the housing 15 is provided with the same limiting column 11 as the top of the cleaning frame 7.

[0046] With the above scheme, when the photovoltaic panel is cleaned, the dust suction assembly 14 is placed in front of the walking mechanism 2 in the direction of travel, and the first dust suction nozzle 18 and the second dust suction nozzle 20 can generate suction force through the operation of the air extractor 17, so that the dust attached to the surface of the photovoltaic panel can be sucked and removed, and at the same time, the second driving motor 19 operates to drive the auxiliary cleaning brush 16 to rotate, so that the dust adhered to the surface of the photovoltaic panel can be dry brushed to make the dust fly up and be sucked by the first dust suction nozzle 18, and the dust that is easy to clean on the surface of the photovoltaic panel can be sucked and removed, and then the main cleaning brush 5 cooperates with the spray nozzle 8 to wet brush the surface of the photovoltaic panel, so that the stubborn stains on the surface of the photovoltaic panel can be cleaned, the dust mixed in the cleaning liquid can be reduced, and the cleaning workload can be effectively reduced. And after the dust enters the collection box 22, the air is introduced into the main cleaning brush 5 through the exhaust pipe 23, and is sprayed on the surface of the photovoltaic panel through the micro-holes 25 on the surface of the main cleaning brush 5, forming a combination of washing and air spraying, which can further loosen the stubborn stains, and the air flow sprayed can effectively reduce the stains adhered to the main cleaning brush 5, and can effectively ensure the cleaning effect of the main cleaning brush 5.

[0047] The working principle of the array type photovoltaic device intelligent cleaning robot provided in the embodiment of the application is as follows: When the surface of the photovoltaic panel is cleaned, the walking mechanism 2 drives the robot body 1 and the cleaning execution assembly 3 to move on the photovoltaic panel, the first driving motor 9 operates to drive the main cleaning brush 5 to rotate, and cooperates with the spray nozzle 8 to clean the stains on the surface of the photovoltaic panel, and in the moving process, the cleaning scraper can scrape and clean the surface of the photovoltaic panel, so that the dust mixed in the cleaning liquid is prevented from adhering to the surface of the photovoltaic panel again, and the cleaning effect can be effectively improved. In the cleaning process, if the inclination angle of the surface of the photovoltaic panel changes, the cleaning execution assembly 3 can be adjusted in angle through the pushing force of the pre-tightening spring 42 and the hinged installation of the telescopic rod 41, and through the use of the adjusting mechanism 4, the cleaning execution assembly 3 can dynamically adjust the adhesion state of the cleaning execution assembly 3 to the surface of the photovoltaic panel according to the inclination angle of the photovoltaic panel, so that good cleaning effect can be ensured on photovoltaic panels with different inclination angles, and the problem of reduced cleaning quality caused by the inclination of the photovoltaic panel is avoided. The double-structure design of the pre-tightening tension of the auxiliary cleaning scraper 6 by the tension spring 103 and the elastic compensation of the elastic gasket 13 ensures that the scraping edge is always in adhesion with the surface of the photovoltaic panel from two dimensions of active pressure and passive adaptation, the tension spring 103 provides continuous tension to prevent the auxiliary cleaning scraper 6 from being raised due to the inclination and vibration of the cleaning execution assembly 3, and the elastic gasket 13 adapts to the slight unevenness of the surface of the photovoltaic panel to avoid the generation of local gaps, so that the scraping effect of the auxiliary cleaning scraper 6 can be effectively ensured. When the photovoltaic panel is cleaned, the dust suction assembly 14 is placed in front of the walking mechanism 2 in the direction of travel, and the first dust suction nozzle 18 and the second dust suction nozzle 20 can generate suction force by the operation of the air suction machine 17, so that the dust adhered to the surface of the photovoltaic panel can be sucked and removed. At the same time, the second driving motor 19 is operated to drive the auxiliary cleaning brush 16 to rotate, so that the dust adhered to the surface of the photovoltaic panel can be dry brushed to make the dust fly up and be sucked by the first dust suction nozzle 18. The dust that is easy to clean on the surface of the photovoltaic panel can be sucked and removed, and then the main cleaning brush 5 and the spray nozzle 8 are combined to wet brush the surface of the photovoltaic panel, so that the stubborn stains on the surface of the photovoltaic panel can be cleaned, the dust mixed in the cleaning liquid can be reduced, and the cleaning workload can be effectively reduced. After the dust enters the collection box 22, the air is introduced into the main cleaning brush 5 by the exhaust pipe 23, and is sprayed on the surface of the photovoltaic panel by the micropores 25 on the surface of the main cleaning brush 5, so that the washing and brushing are combined with the air spraying, the stubborn stains can be further loosened, the sprayed air flow can effectively reduce the stains adhered to the main cleaning brush 5, and the cleaning effect of the main cleaning brush 5 can be effectively guaranteed.

[0048] Although the present application is described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A smart cleaning robot for arrayed photovoltaic equipment, comprising a robot body, a walking mechanism, and a cleaning mechanism, wherein the walking mechanism is disposed at the bottom of the robot body and is used to drive the equipment to move on the surface of the arrayed photovoltaic panels, characterized in that, The cleaning mechanism includes a cleaning execution component and an adjustment mechanism; The adjustment mechanism is used to connect the robot body to the cleaning execution component. The adjustment mechanism can dynamically adjust the contact state between the cleaning execution component and the surface of the photovoltaic panel according to the tilt angle of the photovoltaic panel. The cleaning execution component is used to clean the surface of the photovoltaic panel, and it is capable of removing stubborn substances.

2. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 1, characterized in that, The adjustment mechanism includes a telescopic rod and a pre-tension spring. One end of the telescopic rod is mounted on the robot body, and the other end of the telescopic rod is hinged to the cleaning execution component. The pre-tension spring is sleeved on the outside of the telescopic rod, and the two ends of the pre-tension spring abut against the two ends of the telescopic rod, respectively.

3. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 2, characterized in that, The adjustment mechanism also includes a limiting post, the top of which is located on the side of the robot body, the bottom of which is located above the cleaning execution component, and a horizontally set limiting block is fixed at the bottom of the limiting post. An elastic buffer pad is attached to the surface of the limiting block.

4. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 3, characterized in that, The cleaning execution component includes a main cleaning roller brush, an auxiliary cleaning scraper, and a cleaning frame. The cleaning frame is set as a mounting carrier for the main cleaning roller brush and the auxiliary cleaning scraper, and the top of the cleaning frame is hinged to the end of the telescopic rod. A spray nozzle is provided inside the cleaning frame, and the spray nozzle is located behind the main cleaning roller brush. The main cleaning roller brush is configured as a hollow cylindrical structure. The main cleaning roller brush is rotatably installed inside the cleaning frame. A first drive motor for driving the main cleaning roller brush is fixedly installed on the side of the cleaning frame. The auxiliary cleaning scraper is mounted on the cleaning frame via a scraper bracket, which is located behind the main cleaning roller brush. The scraper bracket allows for angle adjustment of the auxiliary cleaning scraper.

5. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 4, characterized in that, The scraper bracket includes a connecting rod and a mounting plate. The top end of the connecting rod is hinged to the cleaning frame, and the bottom end of the connecting rod is fixedly connected to the mounting plate. An auxiliary cleaning scraper is detachably installed on the bottom of the mounting plate. A tension spring is provided at the hinge point between the connecting rod and the cleaning frame. One end of the tension spring is fixedly connected to the cleaning frame, and the other end of the tension spring abuts against the connecting rod. The tension spring is used to apply a preload to the connecting rod, causing the scraping edge of the auxiliary cleaning scraper to be in close contact with the surface of the photovoltaic panel. An elastic pad is provided on the scraping surface of the auxiliary cleaning scraper.

6. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 5, characterized in that, The main cleaning roller brush has an airflow channel inside and several micro-holes on its surface. The roller of the main cleaning roller brush is connected to a dust collection component through a rotary joint. When the roller brush rotates to clean, the micro-holes can spray airflow onto the surface of the photovoltaic panel.

7. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 6, characterized in that, The vacuuming component is mounted on the robot body via an adjustment mechanism; The vacuuming assembly includes a housing, a secondary cleaning roller brush, an exhaust fan, and a first vacuum nozzle. The first vacuum nozzle is connected to the exhaust fan and is also connected to the interior of the housing. The housing is hinged to the adjustment mechanism. The secondary cleaning roller brush is rotatably mounted inside the housing. A second drive motor for driving the secondary cleaning roller brush to rotate is fixedly mounted on the side of the housing. The exhaust fan is mounted on the robot body.

8. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 7, characterized in that, A second dust suction nozzle is fixedly installed on the side of the housing. The second dust suction nozzle is connected to the exhaust fan and is used to remove floating dust from the surface of the photovoltaic panel.

9. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 8, characterized in that, The exhaust fan is connected to a collection component via an air duct. The collection component includes a collection box, an exhaust pipe, and a filter. The collection box is mounted on the robot body. The filter is detachably installed at the air outlet of the collection box. The exhaust pipe is connected to the collection box, and one end of the exhaust pipe is connected to the main cleaning roller brush via a rotary joint.

10. The intelligent cleaning robot for array-type photovoltaic equipment according to claim 9, characterized in that, The dust collection component and the cleaning execution component use the same adjustment mechanism structure, and the upper part of the housing is provided with the same limiting post as the upper part of the cleaning frame; the limiting post on the upper part of the housing is used to limit the flip angle of the housing.

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