Photovoltaic panel automatic cleaning unmanned aerial vehicle

Abstract

The invention belongs to the technical field of intelligent equipment, and particularly relates to a photovoltaic panel automatic cleaning unmanned aerial vehicle which comprises a robot body, and a cleaning cover used for completing cleaning work is fixedly assembled on the front section of the robot body; the snow removing assembly is assembled on the front section of the cleaning cover in a storable mode, the snow removing assembly is composed of a cavity cylinder and storage assemblies at the two ends, the cavity cylinder makes contact with accumulated snow preferentially when the equipment moves forwards, heat exchange is conducted between hot water flowing through the cavity cylinder and the accumulated snow, and snow melting work is completed; and the anti-falling tail shell is fixedly assembled at the tail end of the cleaning cover, two suction cups are arranged in the anti-falling tail shell, the photovoltaic panel is alternately adsorbed through the two suction cups, and the anti-falling tail shell is used as a safety belt when the device advances. According to the invention, the snow removal assembly is used for snow removal operation, the cavity cylinder can be stored when not in use, the storage and release are convenient, and the two suckers which are alternately used can keep the connection state between the equipment and the photovoltaic panel all the time.

Description

Technical Field

[0001] This invention belongs to the field of intelligent device technology, and specifically relates to an automatic photovoltaic panel cleaning drone. Background Technology

[0002] A photovoltaic panel cleaning machine is an intelligent device specifically designed to automatically remove dust, snow, bird droppings, and other contaminants from the surface of photovoltaic modules. It aims to improve power generation efficiency and reduce manual maintenance costs. It uses a roller brush and high-pressure spray system to remove stains through physical friction, achieving a cleaning efficiency of over 95%. This significantly improves the light transmittance of photovoltaic panels. The equipment relies on sensor navigation and preset programs to achieve automatic path planning, obstacle avoidance, and fall prevention functions.

[0003] Problems with existing technology: Existing photovoltaic panel cleaning drones suffer from insufficient environmental adaptability, and may be unable to work in extreme weather. Although some models claim to be resistant to low temperatures, their cleaning effect is greatly reduced in snow or ice conditions. They also lack sufficient safety redundancy, posing a risk of falling in strong winds. Some models do not have comprehensive protective designs, and while others have fall protection designs, most of them rely on a suction cup to temporarily fix the photovoltaic panel. If the suction cup is not activated in time, the robot is still at risk of falling. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic photovoltaic panel cleaning drone that is capable of...

[0005] The specific technical solution adopted by this invention is as follows: An automatic photovoltaic panel cleaning drone includes a robot body, with a cleaning cover fixedly assembled at the front of the robot body for performing cleaning work. The snow removal component can be retracted and assembled at the front of the cleaning hood. The snow removal component consists of a cavity and retractable components at both ends. When the equipment moves, the cavity first comes into contact with the snow. The hot water flowing through the cavity exchanges heat with the snow to complete the snow melting work. The fall-prevention tail cover is fixedly assembled at the tail end of the cleaning hood. The fall-prevention tail cover has two built-in suction cups, which alternately attach to the photovoltaic panels, serving as a "safety belt" for the equipment during movement.

[0006] Both sides of the robot body are equipped with track drive mechanisms, and a water pipe 1 and a water pipe 2 are installed at the center of the top of the robot body. A scraper 1 is fixedly assembled at the tail of the robot body.

[0007] The cleaning hood has a rotating assembly of a cylindrical brush inside, and two ends of the cleaning hood surface are equipped with dual-axis servo motors for driving the cylindrical brush to rotate. The inner wall of the cleaning hood is fixedly installed with an array of nozzles, and a water inlet is set in the middle of the cleaning hood surface. The water inlet is connected to all the nozzles through a water pipe. A scraper is fixedly installed on the inner wall of the cleaning hood near the robot body.

[0008] The cavity is configured as a hollow tube, and liquid cavities are arranged in a ring array on the inner side of the cavity. All liquid cavities are connected end to end. One end of one of the liquid cavities has a through-hole, and the other end of one of the liquid cavities has a through-hole. The two liquid cavities with the inlet and outlet are adjacent but not directly connected. Flange covers are fixedly installed at both ends of the cavity. A through-tube is rotatably assembled through the central axis of the cavity, and a sealed bearing is provided between the through-tube and the cavity. One end of the through-tube is integrally provided with a water inlet perforated tube and a water outlet perforated tube, and the water inlet perforated tube and the water outlet perforated tube are not connected. The position of the water inlet perforated tube corresponds to the position of the water inlet, and the position of the water outlet perforated tube corresponds to the position of the water outlet. A partition is integrally provided on the inner wall of the cavity at the gap between the water inlet perforated tube and the water outlet perforated tube.

[0009] The storage assembly includes connecting rod 2 and connecting rod 3, and an operating rod, which are rotatably mounted on both ends of the surface of the cleaning cover. The ends of connecting rod 2 are rotatably connected to connecting rod 1. The two ends of the through tube are respectively connected to the ends of the two connecting rod 1. The end of connecting rod 3 is connected to the middle of connecting rod 1, and a hanging shell is integrally provided on the outer side of the end of connecting rod 3. A strap is integrally connected to one side of the end of the operating rod, and the strap is used to contact the hanging shell and drive connecting rod 3 to rotate when the operating rod rotates. A grip is integrally connected to one side of the middle of the operating rod, and a toothed rod is fixedly connected to the end of the grip. Hooks for temporarily fixing the grip are provided at both ends of the surface of the cleaning cover. The connecting rod is rotatably assembled with a transmission tube on the side opposite to the junction point with the connecting rod. The transmission tube is connected to the flange cover at the same end by a synchronous belt. Both ends of the surface of the cleaning cover are fixedly installed with curved frames for the transmission tube to pass through. One end of the transmission tube is fixedly installed with an internal toothed tube.

[0010] Supports are fixedly installed at both ends of the surface of the cleaning cover. A drive shaft is movably assembled on the top of the support. An end gear is fixedly installed at one end of the drive shaft, and the end gear and the internal gear tube form a separable meshing. A sleeve is rotatably sleeved on the other end of the drive shaft. A sleeve wheel is rotatably assembled in the middle of the top of the support. The sleeve wheel is slidably sleeved on the middle of the drive shaft, and the sleeve wheel and the drive shaft are slidably assembled with a convex-groove type fit relationship. The sleeve wheel is connected to the other end of the output end of the dual-axis servo motor at the same end through a sleeved synchronous belt. The sleeve is slidably assembled on the top of the support frame, and a protrusion is integrally provided on the outer wall of one end of the sleeve. A toothed tube is rotatably assembled on the top of the support frame away from the end gear. The sleeve movably passes through the toothed tube, and a spiral guide groove is opened on the inner wall of the toothed tube for the protrusion to be inserted and slid.

[0011] A servo motor is fixedly installed at one end inside the fall arrestor tail shell. Bevel gear one and bevel gear two are fixedly installed at both ends of the output shaft of the servo motor. Reducers are fixedly installed inside the fall arrestor tail shell on both sides of the output shaft of the servo motor. Gear two that meshes with bevel gear one is assembled at the input end of each of the two reducers, and cams are assembled at the output end of each of the two reducers. An eccentric rod is fixedly installed on the outer wall of the cam on the side opposite to the protruding end.

[0012] The fall arrestor tail shell has horizontal slot frames mounted on both sides inside in a lifting manner, and an eccentric rod moves through the horizontal slot frames. Air injectors are fixedly mounted on both sides inside the fall arrestor tail shell. An air plug is fixedly connected to one end of the horizontal slot frame, and the air plug and the corresponding air injector form a telescopic assembly. An air inlet pipe and an air injection pipe are respectively connected to the two ends of the bottom of the air injector, and a one-way valve is installed at the end of the air inlet pipe and the air injection pipe near the inside of the air injector. A pressure plate fork for pressing down the suction cup is fixedly connected to the other end of the horizontal slot frame.

[0013] The anti-fall tail shell has a retractable shaft internally mounted at the end furthest from the servo motor. Both ends of the retractable shaft are rotatably fitted with gear three, which mesh with bevel gear two. Both gear three have bevel gears fixedly mounted on their inner sides. The retractable shaft has an inner bevel gear slidably mounted in the middle, and a shift fork is mounted on the outer surface of the inner bevel gear. Both ends of the retractable shaft are fixedly mounted with a winding wheel, and an air line is wound around the outer surface of the winding wheel. The end of the air injection pipe is connected to the air line located opposite it. The two suction cups are respectively connected to the ends of the two air lines. The bottom of the anti-fall tail shell has storage holes on both sides for temporarily retrieving the suction cups.

[0014] The top of the fall arrestor tail shell is rotatably connected to a shift lever, and one end of the shift lever is connected to a shift fork. A top straight rail is fixedly installed on the top of the fall arrestor tail shell, and vertical rails are fixedly installed on both ends of the top straight rail. The two vertical rails are internally assembled with lifting blocks, which are in contact with corresponding cams and one end of the blocks is connected to a connecting arm. Both ends of the top straight rail are slidably assembled with levers for moving the shift lever, and the end of the connecting arm is connected to the corresponding lever.

[0015] The technical effects achieved by this invention are as follows: (1) The present invention can use snow removal components to carry out snow removal operations. Hot water flows in different directions in the interconnected liquid chambers, which can ensure that the hot water can fully exchange heat with the snow. The chamber is placed at the front end of the equipment and contacts the snow first, giving the drone snow removal function. Snow removal and cleaning work can be carried out simultaneously. In addition, the cooled water is finally sprayed onto the photovoltaic panel through the nozzle for cleaning work.

[0016] (2) When not in use, the cavity can be stored on the upper surface of the cleaning cover. When in use, the cavity can be powered directly by a dual-axis servo motor. The rolling cavity will not increase the resistance of the equipment movement while ensuring snow removal.

[0017] (3) During the operation of the handle to retract and extend the cavity, the drive shaft can automatically connect or disconnect from the drive tube, increasing the convenience of retracting and extending the cavity.

[0018] (4) The anti-fall tail shell has two built-in suction cups. When one suction cup is attached to the photovoltaic panel and released, the other suction cup is released and retracted. This alternation ensures that the device is always connected to the photovoltaic panel when it moves forward, effectively preventing the drone from falling accidentally. Attached Figure Description

[0019] Figure 1 This is a top view structural diagram of the UAV provided in an embodiment of the present invention; Figure 2 This is a bottom-view structural diagram of the UAV provided in an embodiment of the present invention; Figure 3 These are comparison images of the cavity before and after storage provided in the embodiments of the present invention; Figure 4 This is a cross-sectional view of the cavity and a schematic diagram of hot water flow provided in an embodiment of the present invention; Figure 5 This is a schematic diagram showing the disassembly of the cavity and the through-pipe, and the flow of hot water, provided in an embodiment of the present invention. Figure 6 This is a schematic diagram showing the disassembly of the cavity and the through-pipe, and the outflow of hot water, provided in an embodiment of the present invention. Figure 7 This is a partial structural diagram of the cleaning cover and the cavity at the same end provided in an embodiment of the present invention; Figure 8 This is an assembly disassembly diagram of the connecting rod, support frame, transmission shaft, and operating lever provided in an embodiment of the present invention; Figure 9 This is an internal structural diagram of the anti-fall tail shell provided in an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating the alternating adsorption of two suction cups provided in an embodiment of the present invention; Figure 11This is a schematic diagram of the combination of two sets of transverse slot frames provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the combination of two take-up reels provided in an embodiment of the present invention; Figure 13 This is an integrated schematic diagram of the gear shift lever provided in an embodiment of the present invention.

[0020] The attached diagram lists the components represented by each number as follows: 1. Robot body; 101. Track drive mechanism; 102. Water pipe one; 103. Water pipe two; 104. Scraper one; 2. Cleaning hood; 201. Dual-axis servo motor; 202. Drum brush; 203. Spray nozzle; 204. Water inlet; 205. Scraper II; 3. Snow removal assembly; 301. Cavity; 302. Liquid chamber; 303. Inlet; 304. Outlet; 305. Flange cover; 306. Through pipe; 307. Inlet perforated pipe; 308. Outlet perforated pipe; 309. Sealed bearing; 310. Partition plate; 311. Connecting rod one; 312. Connecting rod two; 313. Connecting rod three; 314. Hanging shell; 315. Transmission pipe; 316. Synchronous belt one; 317. Crank frame; 318. Internal gear tube; 319. Support frame; 320. Drive shaft; 321. End gear; 322. Pulley; 323. Sleeve; 324. Protrusion; 325. Gear tube; 326. Synchronous belt two; 327. Operating lever; 328. Belt rod; 329. Handle rod; 330. Bending tooth rod; 331. Hook rod; 4. Anti-fall tail shell; 401. Servo motor; 402. Bevel gear one; 403. Reducer; 404. Gear two; 405. Cam; 406. Eccentric rod; 407. Horizontal slot frame; 408. Air injector; 409. Air plug; 410. Pressure plate fork; 411. Air injection pipe; 412. Bevel gear two; 413. Take-up and release shaft; 414. Gear three; 415. Bevel gear; 416. Internal bevel gear; 417. Shift fork; 418. Take-up reel; 419. Air line; 420. Suction cup; 421. Shift lever; 422. Top straight rail; 423. Vertical rail; 424. Support block; 425. Connecting arm; 426. Lever; 427. Take-up hole. Detailed Implementation

[0021] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0022] like Figures 1-13As shown, an automatic photovoltaic panel cleaning drone includes a robot body 1. A cleaning cover 2 for cleaning is fixedly assembled at the front of the robot body 1. Track drive mechanisms 101 are provided on both sides of the robot body 1. A water pipe 102 and a water pipe 103 are provided at the center of the top of the robot body 1. A scraper 104 is fixedly assembled at the tail of the robot body 1. A cylindrical brush 202 is rotatably assembled inside the cleaning cover 2. Dual-axis servo motors 201 for driving the cylindrical brush 202 to rotate are installed at both ends of the surface of the cleaning cover 2. Spray nozzles 203 are fixedly installed in an array on the inner wall of the cleaning cover 2. A water inlet 204 is provided in the middle of the surface of the cleaning cover 2. The water inlet 204 is connected to all the spray nozzles 203 through water pipes. A scraper 205 is fixedly installed on the inner wall of the cleaning cover 2 near the robot body 1.

[0023] According to the above structure, when using the drone to clean the photovoltaic panel, after the robot body 1 is placed on the surface of the photovoltaic panel, it moves forward through the track drive mechanism 101. Water pipe 102 is connected to an external water pipe, and the other end of water pipe 102 is connected to the water inlet 204 through the water pipe. Water can then be sprayed onto the photovoltaic panel through each nozzle 203. In addition, the dual-axis servo motor 201 simultaneously drives the cylindrical brush 202 to rotate, which works in conjunction with the water flow to complete the cleaning of the photovoltaic panel. Scraper 104 and scraper 205 can scrape off the residual water on the surface of the photovoltaic panel as the drone moves forward. This process is all existing technology and will not be described in detail here.

[0024] See attached document Figure 3 Snow removal component 3, which can be retracted and assembled at the front of cleaning cover 2, consists of cavity 301 and storage components at both ends; See attached document Figures 4-6 The cavity 301 is configured as a hollow tube, and liquid cavities 302 are arranged in a ring array on the inner side of the cavity 301. All liquid cavities 302 are connected end to end. One end of one liquid cavity 302 is provided with a water inlet 303, and one end of another liquid cavity 302 is provided with a water outlet 304. The two liquid cavities 302 with water inlet 303 and water outlet 304 are adjacent but not directly connected. Flange covers 305 are fixedly installed at both ends of the cavity 301. See attached document Figures 4-6A through-tube 306 is rotatably assembled through the central axis of the cavity 301, and a sealed bearing 309 is provided between the through-tube 306 and the cavity 301. One end of the through-tube 306 is integrally provided with an inlet hollow tube 307 and an outlet hollow tube 308, and the inlet hollow tube 307 and the outlet hollow tube 308 are not connected. The position of the inlet hollow tube 307 corresponds to the position of the inlet 303, and the position of the outlet hollow tube 308 corresponds to the position of the outlet 304. A partition 310 is integrally provided on the inner wall of the cavity 301 at the gap between the inlet hollow tube 307 and the outlet hollow tube 308.

[0025] According to the above structure, when using the snow removal component 3 for snow removal operations, the cavity 301 is placed at the front end of the equipment, and a hot water pipe is connected to the external water pipe 103. Simultaneously, the other end of the water pipe 103 is connected to one end of the perforated pipe 306 containing the water inlet perforated pipe 307 via a water pipe. The other end of the perforated pipe 306 is then connected to the water inlet 204 via a water pipe. At this time, hot water will enter the liquid cavity 302 through the water inlet perforated pipe 307 and the water inlet 303, as shown in the attached diagram. Figure 5 and attached Figure 6 As shown, the hot water flows in different directions within the interconnected liquid chamber 302, ensuring that the hot water can fully exchange heat with the snow. The cooled water eventually flows back through the outlet 304 and the water outlet perforated pipe 308 to the through pipe 306, and then is sprayed onto the photovoltaic panel through the nozzle 203.

[0026] See attached document Figures 7-8 The storage assembly includes connecting rod 2 312, connecting rod 313, and operating rod 327, which are rotatably mounted on both ends of the surface of the cleaning cover 2. The ends of connecting rod 2 312 are rotatably connected to connecting rod 1 311. The two ends of the through tube 306 are respectively connected to the ends of the two connecting rod 1 311. The end of connecting rod 313 is connected to the middle of connecting rod 1 311. The outer side of the end of connecting rod 313 is integrally provided with a hanging shell 314. One side of the end of the operating rod 327 is integrally connected with a strap 328. The strap 328 is used to contact the hanging shell 314 and drive the connecting rod 313 to rotate when the operating rod 327 rotates. One side of the middle of the operating rod 327 is integrally connected with a grip 329. The end of the grip 329 is fixedly connected with a toothed rod 330. The two ends of the surface of the cleaning cover 2 are provided with hooks 331 for temporarily fixing the grip 329. See attached document Figures 7-8 A transmission tube 315 is rotatably assembled on the side of the connecting rod 311 away from the junction point with the connecting rod 312. The transmission tube 315 is connected to the flange cover 305 at the same end by a synchronous belt 316. The two ends of the surface of the cleaning cover 2 are fixedly installed with a crank frame 317 through which the transmission tube 315 passes. One end of the transmission tube 315 is fixedly installed with an internal toothed tube 318.

[0027] According to the above structure, when recovering the cavity 301, grip the handle 329 and rotate the operating rod 327. The handle 329 is eventually fixed by the hook rod 331. When the operating rod 327 rotates, the belt rod 328 contacts the hanging shell 314 and drives the connecting rod 313 to rotate. The transmission tube 315 moves along the curve of the crank frame 317, as shown in the attached figure. Figure 3 As shown, connecting rod 311 and connecting rod 312 will rotate and fold, and the cavity 301 will finally be stored on the upper oblique surface of the cleaning cover 2.

[0028] See attached document Figures 7-8 The cleaning cover 2 has support frames 319 fixedly installed at both ends. The top of the support frame 319 is movably assembled with a drive shaft 320. One end of the drive shaft 320 is fixedly installed with an end gear 321, and the end gear 321 and the internal gear tube 318 form a separable meshing. The other end of the drive shaft 320 is rotatably fitted with a sleeve 323. The middle of the top of the support frame 319 is rotatably assembled with a sleeve wheel 322. The sleeve wheel 322 is slidably fitted in the middle of the drive shaft 320, and the sleeve wheel 322 and the drive shaft 320 are slidably assembled with a protrusion and groove type fit relationship. The sleeve wheel 322 and the other end of the dual-axis servo motor 201 at the same end are connected by a synchronous belt 326. See attached document Figures 7-8 The sleeve 323 is slidably assembled on the top of the support 319, and a protrusion 324 is integrally provided on the outer wall of one end of the sleeve 323. A toothed tube 325 is rotatably assembled on the top of the support 319 away from the end gear 321. The sleeve 323 movably passes through the toothed tube 325, and a spiral guide groove is provided on the inner wall of the toothed tube 325 for the protrusion 324 to be inserted and slid.

[0029] According to the above structure, before the operating lever 327 rotates and the drive rod 328 contacts the housing 314, the bent toothed rod 330 meshes with the toothed tube 325 for transmission. When the toothed tube 325 rotates, the sleeve 323 moves the axis linearly through the cooperation between the protrusion 324 and the spiral guide groove. The transmission shaft 320 moves synchronously and the end gear 321 separates from the inner toothed tube 318. After the end gear 321 and the inner toothed tube 318 are completely separated, the drive rod 328 contacts the housing 314 and drives the connecting rod 313 to rotate. Furthermore, conversely, when the handle 329 is released and the cavity 301 is lowered, after the cavity 301 is lowered to the bottom and the handle 328 is separated from the housing 314, the toothed rod 330 engages with the toothed tube 325, the drive shaft 320 moves and the end gear 321 engages with the internal toothed tube 318. At this time, the dual-axis servo motor 201 drives the sleeve 322 and the drive shaft 320 to rotate through the second synchronous belt 326, and the drive shaft 320 and the drive tube 315 rotate synchronously. Finally, the drive tube 315 drives the cavity 301 to rotate through the first synchronous belt 316. The rolling cavity 301 does not increase the resistance of the equipment movement while ensuring snow removal. During the operation of the handle 329 to raise and lower the cavity 301, the drive shaft 320 can automatically connect or disconnect with the drive tube 315.

[0030] The working principle of this invention is as follows: After the grip 329 is released and the cavity 301 is lowered, the rod 328 is separated from the hanging shell 314, and the toothed rod 330 engages with the toothed tube 325. The transmission shaft 320 then moves linearly axially and the end gear 321 engages with the inner toothed tube 318. At this time, the dual-axis servo motor 201 drives the sleeve 322 and the transmission shaft 320 to rotate through the second synchronous belt 326. The transmission shaft 320 and the transmission tube 315 rotate synchronously. Finally, the transmission tube 315 drives the cavity 301 to rotate through the first synchronous belt 316. During snow removal operations, a hot water pipe is connected to water pipe 2 103. Simultaneously, the other end of water pipe 2 103 is connected via a water pipe to one end of the perforated pipe 306 containing the water inlet perforated pipe 307. The other end of the perforated pipe 306 is connected via a water pipe to the water inlet 204. Hot water is injected into the perforated pipe 306, then flows through the water inlet perforated pipe 307 and through the water inlet 303 into the liquid chamber 302, as shown in the attached diagram. Figure 5 and attached Figure 6 As shown, the hot water flows in different directions within the interconnected liquid chamber 302, ensuring that the hot water can fully exchange heat with the snow. The cooled water eventually flows back through the outlet 304 and the water outlet perforated pipe 308 to the through pipe 306, and then is sprayed onto the photovoltaic panel through the nozzle 203.

[0031] See attached document Figure 9 and Figure 11 The fall-proof tail shell 4 is fixedly assembled at the tail end of the cleaning cover 2. The fall-proof tail shell 4 has two suction cups 420 inside. A servo motor 401 is fixedly installed at one end inside the fall-proof tail shell 4. A bevel gear 402 and a bevel gear 412 are fixedly installed at both ends of the output shaft of the servo motor 401. A reducer 403 is fixedly installed inside the fall-proof tail shell 4 on both sides of the output shaft of the servo motor 401. A gear 404 that meshes with the bevel gear 402 is assembled at the input end of the two reducers 403. A cam 405 is assembled at the output end of the two reducers 403. An eccentric rod 406 is fixedly installed on the outer wall of the cam 405 on the side opposite to the protruding end. See attached document Figure 9 and Figure 11 The fall arrestor tail shell 4 has a horizontal slot frame 407 mounted on both sides inside in a lifting manner, and an eccentric rod 406 moves through the horizontal slot frame 407. An air injector 408 is fixedly mounted on both sides inside the fall arrestor tail shell 4. An air plug 409 is fixedly connected to one end of the horizontal slot frame 407, and the air plug 409 and the corresponding air injector 408 form a telescopic assembly. An air inlet pipe and an air injection pipe 411 are respectively connected to the two ends of the bottom of the air injector 408. A one-way valve is installed at the end of the air inlet pipe and the end of the air injection pipe 411 near the inside of the air injector 408. A pressure plate fork 410 for pressing down the suction cup 420 is fixedly connected to the other end of the horizontal slot frame 407.

[0032] According to the above structure, when the servo motor 401 is working, it controls the rotation of the two cams 405 synchronously through the meshing of the bevel gear 402 and the two gears 404 and the speed regulation transmission of the reducer 403. Since the eccentric rod 406 on the outer wall of the cam 405 passes through the transverse slot frame 407, the transverse slot frames 407 on both sides move up and down repeatedly. When the transverse slot frame 407 moves down, the air plug 409 penetrates into the air injector 408 and forces the gas inside into the air injection pipe 411. The pressure plate fork 410 moves down synchronously and presses down the suction cup 420 to adsorb the photovoltaic panel. The two cams 405 are symmetrically arranged to ensure that the two suction cups 420 press down alternately, and the air injectors 408 on both sides inject gas alternately.

[0033] See attached document Figure 2 , Figure 11 and Figure 12 The anti-fall tail shell 4 has a retractable shaft 413 rotatably assembled inside the end away from the servo motor 401. Both ends of the middle of the retractable shaft 413 are rotatably fitted with gear three 414. Both gear three 414 mesh with bevel gear two 412, and bevel gear 415 is fixedly assembled on the inner side of both gear three 414. The middle of the retractable shaft 413 is slidably fitted with an inner bevel gear 416, and a shift fork 417 is assembled on the outer surface of the middle of the inner bevel gear 416. Both ends of the retractable shaft 413 are fixedly installed with a winding wheel 418. The outer surface of the winding wheel 418 is wound with an air line 419. The end of the air injection pipe 411 is connected to the air line 419 located opposite it. Two suction cups 420 are respectively connected to the ends of the two air lines 419. The bottom of the anti-fall tail shell 4 has a collection hole 427 on both sides for temporarily retrieving the suction cups 420.

[0034] See attached document Figure 12 and Figure 13The top of the fall arrestor tail shell 4 is rotatably connected to a shift lever 421, and one end of the shift lever 421 is connected to a shift fork 417. The top of the fall arrestor tail shell 4 is fixedly installed with a top straight rail 422, and vertical rails 423 are fixedly installed at both ends of the top of the fall arrestor tail shell 4 and at both ends of the top straight rail 422. The two vertical rails 423 are internally assembled with lifting blocks 424. The blocks 424 are in contact with the corresponding cams 405, and one end of the blocks 424 is connected to a connecting arm 425. Both ends of the top straight rail 422 are slidably assembled with levers 426 for moving the shift lever 421, and the end of the connecting arm 425 is connected to the corresponding lever 426.

[0035] According to the above structure, since the eccentric rod 406 is located on the side opposite to the protruding end of the cam 405, when the corresponding transverse slot frame 407 moves down, the bearing block 424 on the same side moves up in advance. The lever 426, which is connected to the bearing block 424 through the connecting arm 425, moves linearly in sync with the lever 426 and rotates the shift lever 421. The shift lever 421 then drives the inner bevel gear 416 to mesh with the bevel gear 415 on one side. Since both gears 414 mesh with the bevel gear 412, when the servo motor 401 is working, it will drive the bevel gear 415 to rotate through the meshing of the bevel gear 412 and the gear 414, and the rotation directions of the bevel gears 415 on both sides are opposite. After the inner bevel gear 416 meshes with the bevel gear 415 on one side, the take-up and release shaft 413 rotates clockwise. The take-up wheel 418 on the same side as the suction cup 420 being pressed down begins to release the air line 419, while the other take-up wheel 418 takes up the air line 419. The gas expelled by the gas injector 408 on the same side as the suction cup 420 enters the air line 419 in the pre-wound state on the other side and is finally injected into the suction cup 420 that has already been adsorbed onto the photovoltaic panel, contacting the adsorption state of the suction cup 420. The opposite is also true. Finally, when one suction cup 420 adsorbs the photovoltaic panel and is released, the other suction cup 420 is just released from its adsorption state and recycled.

[0036] The working principle of this invention is as follows: When the servo motor 401 is working, it synchronously controls the rotation of two cams 405. The two transverse slot frames 407 move up and down repeatedly. When the transverse slot frame 407 moves down, the air plug 409 penetrates into the air injector 408 and forces the gas inside into the air injection pipe 411. The pressure plate fork 410 moves down synchronously and presses down on the suction cup 420 to adsorb the photovoltaic panel. When the transverse slot frame 407 moves down, the support block 424 on the same side moves up in advance. The corresponding lever 426 moves linearly synchronously and moves the shift lever 421 to rotate. The shift lever 421 drives the inner bevel gear 416 to mesh with the bevel gear 415 on one side. Assuming that the take-up and release shaft 413 rotates forward at this time, it rotates with the suction cup 420 being pressed down. One take-up reel 418 begins to release the air line 419, while the other take-up reel 418 retracts the air line 419. Meanwhile, the gas injected by the air injector 408 on the same side as the pressure suction cup 420 enters the pre-retracted air line 419 on the other side and is finally injected into the suction cup 420 that has already been adsorbed onto the photovoltaic panel, contacting the adsorption state of the suction cup 420. The retraction shaft 413 reverses in a similar manner, so that when one suction cup 420 adsorbs onto the photovoltaic panel and is released, the other suction cup 420 is just released from its adsorption state and retracted. This alternation ensures that the device maintains a connection with the photovoltaic panel as it moves forward, effectively preventing the drone from accidentally falling.

[0037] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. An automatic photovoltaic panel cleaning drone, comprising a robot body (1), wherein a cleaning cover (2) for performing cleaning work is fixedly assembled at the front end of the robot body (1), characterized in that: Snow removal component (3) can be retracted and assembled at the front of the cleaning cover (2). The snow removal component (3) consists of a cavity (301) and storage components at both ends. The cavity (301) comes into contact with the snow first when the equipment is moving. The hot water flowing through the cavity (301) exchanges heat with the snow to complete the snow melting work. The fall protection tail shell (4) is fixedly assembled at the tail end of the cleaning cover (2). The fall protection tail shell (4) has two suction cups (420) built in it. The two suction cups (420) alternately adsorb the photovoltaic panel and are used as a "safety belt" for the equipment when it is moving.

2. The photovoltaic panel automatic cleaning drone according to claim 1, characterized in that: The cleaning cover (2) is equipped with a rotating cylindrical brush (202) inside, and a dual-axis servo motor (201) for driving the cylindrical brush (202) to rotate is installed at both ends of the surface of the cleaning cover (2).

3. The photovoltaic panel automatic cleaning drone according to claim 2, characterized in that: The cavity (301) is configured as a hollow tube, and the inner side of the cavity (301) is provided with a ring array of liquid cavities (302), and all the liquid cavities (302) are connected end to end; One of the liquid chambers (302) has a through-hole (303) at one end, and the other of the liquid chambers (302) has a through-hole (304) at one end. The hot water flows in different directions within the interconnected liquid chamber (302).

4. The photovoltaic panel automatic cleaning drone according to claim 3, characterized in that: The cavity (301) is rotatably assembled with a through tube (306) at its central axis. The storage assembly includes a second (312), a third (313), and an operating rod (327) rotatably mounted on both ends of the surface of the cleaning cover (2). The two ends of the tube (306) are respectively connected to the ends of the two first (311) links. When the cavity (301) is recovered, the operating lever (327) is rotated, and the connecting rod one (311) and the connecting rod two (312) are rotated and folded, and the cavity (301) is stored on the oblique upper surface of the cleaning cover (2).

5. The photovoltaic panel automatic cleaning drone according to claim 4, characterized in that: Flange covers (305) are fixedly installed at both ends of the cavity (301). A transmission pipe (315) is rotatably assembled on the side of the connecting rod one (311) away from the junction point with the connecting rod two (312). The transmission pipe (315) and the flange cover (305) at the same end are connected by a timing belt one (316).

6. The photovoltaic panel automatic cleaning drone according to claim 5, characterized in that: The cleaning cover (2) has a support frame (319) fixedly installed at both ends of its surface, and a drive shaft (320) is movably assembled on the top of the support frame (319). During the operation of the lever (329) to retract or extend the cavity (301), the drive shaft (320) automatically connects to or disconnects from the drive tube (315).

7. The photovoltaic panel automatic cleaning drone according to claim 1, characterized in that: A servo motor (401) is fixedly installed at one end inside the fall arrest tail shell (4). A horizontal slot frame (407) is assembled in a lifting manner on both sides inside the fall arrest tail shell (4). An air injector (408) is fixedly assembled on both sides inside the fall arrest tail shell (4). An air plug (409) is fixedly connected to one end of the horizontal slot frame (407), and the air plug (409) and the corresponding air injector (408) form a telescopic assembly. An air inlet pipe and an air injection pipe (411) are respectively connected to the two ends of the bottom of the air injector (408). When the servo motor (401) is working, the transverse slot frame (407) moves up and down repeatedly. When the transverse slot frame (407) moves down, the air plug (409) goes into the air injector (408) and forces the gas inside into the air injection pipe (411).

8. The automatic photovoltaic panel cleaning drone according to claim 7, characterized in that: The other end of the transverse slot frame (407) is fixedly connected to a pressure plate fork (410) for pressing down the suction cup (420). When the transverse groove frame (407) moves down, the pressure plate fork (410) moves down synchronously and presses down the suction cup (420) to adsorb the photovoltaic panel.

9. The photovoltaic panel automatic cleaning drone according to claim 8, characterized in that: The anti-fall tail shell (4) has a take-up shaft (413) internally mounted on the end away from the servo motor (401). Both ends of the take-up shaft (413) are fixedly mounted with take-up wheels (418). The outer surface of the take-up wheels (418) is wound with air lines (419). The two suction cups (420) are respectively connected to the ends of the two air lines (419). The end of the gas injection pipe (411) is connected to the gas line (419) located opposite it.

10. The photovoltaic panel automatic cleaning drone according to claim 9, characterized in that: The top of the anti-fall tail shell (4) is rotatably connected to a shift lever (421). When one suction cup (420) adsorbs the photovoltaic panel and is released, the other suction cup (420) just releases the adsorption state and is recycled.

Images