Multifunctional photovoltaic module walking type intelligent cleaning and spraying device

Abstract

This invention discloses a multifunctional mobile intelligent cleaning and spraying device for photovoltaic modules, belonging to the technical field of cleaning and spraying devices. It includes a vehicle frame that spans the two side frames of the photovoltaic module along its length. Through the coordinated design of the vehicle frame, a single Y-axis drive mechanism, a dual X-axis drive mechanism, and four sets of work execution units, this invention achieves integrated and efficient operation of photovoltaic module cleaning and protection: the single Y-axis drive mechanism drives the vehicle frame to move smoothly through tensioned tracks, easily traversing obstacles of varying heights; the dual X-axis drive mechanism drives the work units to precisely displace along the module height direction; the module mounting frame flexibly selects four sets of work execution units, and each work execution unit sequentially advances the cleaning, spraying, squeegeeing, and uniform coating processes without the need for multiple disassemblies and reassemblies. This reduces manual intervention and maintenance costs, avoids the risks of high-altitude operations, and improves the photoelectric conversion efficiency and lifespan of the photovoltaic modules, adapting to the maintenance needs of various inclined photovoltaic arrays with varying heights.

Description

Technical Field

[0001] This invention relates to the field of cleaning and spraying equipment technology, and in particular to a multifunctional mobile intelligent cleaning and spraying device for photovoltaic modules. Background Technology

[0002] Against the backdrop of the global energy structure transitioning towards clean and low-carbon energy, photovoltaic (PV) power generation, as a core pillar of the renewable energy sector, has seen its installed capacity grow rapidly due to its pollution-free and sustainable advantages, and is now widely used in various scenarios such as centralized PV power plants and distributed PV systems. As the core power generation unit of a PV system, the surface cleanliness of PV modules directly affects light absorption efficiency and photoelectric conversion performance. Long-term exposure to the outdoor environment easily leads to the accumulation of dust, sand, oil, bird droppings, and other pollutants on the surface of PV modules, forming a stubborn layer of dirt. This not only reduces light transmittance and significantly decreases power generation efficiency, but may also accelerate module aging due to localized hot spot effects, shortening their lifespan and causing significant losses to PV projects. Therefore, regular cleaning and functional protection of PV modules have become crucial operation and maintenance aspects to ensure the stable and efficient operation of PV power generation systems.

[0003] There are many prominent problems in the current cleaning and protection of photovoltaic modules: for example:

[0004] Firstly, traditional operation methods are inefficient, costly, and unsafe. Manual cleaning requires workers to climb to heights, which is not only extremely labor-intensive and inefficient, but also poses safety hazards such as falls and electric shocks. Existing simple mechanical cleaning equipment has limited functionality, only capable of single cleaning or single spraying operations. After cleaning the photovoltaic modules, additional specialized spraying equipment is required for anti-fouling protection. This "step-by-step operation" mode not only increases the cost of equipment purchase and maintenance, but also extends the overall operation cycle. Furthermore, the surface of the modules is prone to re-accumulation of dirt between two operations, affecting the final protective effect.

[0005] Secondly, existing equipment has poor adaptability to complex photovoltaic array environments and a low degree of automation. In photovoltaic power plants, photovoltaic modules are often arranged at a certain tilt angle. In some scenarios, the installation tilt angle of photovoltaic modules exceeds 30 degrees, and there may be a slight left-right height difference between adjacent modules. However, existing mechanical cleaning equipment is mostly limited by structural design and is difficult to adapt to the high tilt angle cleaning of photovoltaic modules. At the same time, it does not have the corresponding obstacle crossing ability and cannot operate stably in complex array environments. In addition, such equipment lacks a complete automated control mechanism, and manual operation is required throughout the operation, which further restricts the efficiency of operation and makes it difficult to guarantee the operation and maintenance needs of large-scale photovoltaic power plants.

[0006] To address these issues, this invention proposes a multifunctional mobile intelligent cleaning and spraying device for photovoltaic modules. Summary of the Invention

[0007] In view of the problems existing in the prior art, the present invention is proposed.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multifunctional photovoltaic module mobile intelligent cleaning and spraying device, comprising a photovoltaic module array installed at a preset angle, wherein adjacent photovoltaic modules form a splicing structure with a preset height difference, and further comprising:

[0009] The vehicle frame body spans the two side frames of the photovoltaic module along the length of the photovoltaic module. Track wheel mounting brackets are symmetrically fixed at both ends of the vehicle frame body. The four ends of the vehicle frame body are equipped with first rolling transmission components. The four first rolling transmission components span the two side frames of the photovoltaic module, and their outer peripheral surfaces form a close rolling fit with the outer peripheral side of the photovoltaic module.

[0010] The walking mechanism includes a single Y-axis drive mechanism and a dual X-axis drive mechanism. The single Y-axis drive mechanism includes a Y-axis drive unit and a second rolling transmission component mounted on a track wheel mounting frame. The second rolling transmission component is connected to the output end of the Y-axis drive unit, and its outer peripheral surface forms a close rolling fit with the upper surface of the photovoltaic module frame, used to drive the vehicle frame body to move along the direction of the photovoltaic module array. The dual X-axis drive mechanism includes a walking track mechanism arranged along the height direction of the photovoltaic module, a guide rail snapped onto the vehicle frame body, and a support truss mounted on the top of the guide rail. The support truss is connected to the walking track mechanism and moves perpendicular to the extension direction of the photovoltaic module array as the walking track mechanism rotates. The support truss is provided with two tooling mounting positions, and a module mounting frame is quickly mounted at the tooling mounting positions. The module mounting frame is equipped with a work execution unit.

[0011] As a preferred embodiment of the multifunctional photovoltaic module mobile intelligent cleaning and spraying device of the present invention, the number of the operation execution units is four groups, and the four groups of operation execution units are a cleaning operation unit, a spraying operation unit, a squeegee operation unit and a uniform coating operation unit. Each group of operation execution units includes a functional bracket bolted to the module mounting frame and a functional fixture mounted on the functional bracket.

[0012] As a preferred embodiment of the multifunctional photovoltaic module walking intelligent cleaning and spraying device of the present invention, the second rolling transmission component includes two track wheel mounting shafts flexibly connected to the track wheel mounting frame, a drive track wheel connected to the track wheel mounting shaft by a bearing, and a tension track sleeved on the surface of the two drive track wheels. The drive track wheel and the track wheel mounting shaft together tension and support the tension track, and the outer peripheral surface of the tension track forms a close rolling contact with the upper surface of the frame of the photovoltaic module.

[0013] The track wheel mounting frame is also equipped with a motor mounting plate for mounting the Y-axis drive unit. The output end of the Y-axis drive unit is flexibly connected to one of the track wheel mounting shafts via a coupling.

[0014] As a preferred embodiment of the multifunctional photovoltaic module walking intelligent cleaning and spraying device of the present invention, wherein: a reference limiting shaft is installed in the middle of the track wheel mounting frame, a reference plate is fixed at one end of the reference limiting shaft away from the track wheel mounting frame, two track mounting plates are rotatably connected to both sides of the track wheel mounting frame, and the track mounting plates are locked to one end of the track wheel mounting shaft that passes through the drive track wheel.

[0015] As a preferred embodiment of the multifunctional photovoltaic module walking intelligent cleaning and spraying device of the present invention, the track wheel mounting frame is further provided with a clamping bearing mounting shaft, part of the shaft of the clamping bearing mounting shaft is an elastic telescopic shaft, the shaft of the clamping bearing mounting shaft is rotatably engaged with an angular contact bearing, and the angular contact bearing abuts against the outer peripheral surface of the tensioned track.

[0016] As a preferred embodiment of the multifunctional photovoltaic module walking intelligent cleaning and spraying device of the present invention, the first rolling transmission component includes a roller bracket fixed to the end of the frame body, a roller shaft passing through the roller bracket, a rolling bearing mounted on the surface of the roller shaft and arranged in a gap, an independent roller mounted on the rolling bearing, and an adjusting locking bolt mounted between the roller bracket and the roller shaft for adjusting and locking the installation position of the roller shaft.

[0017] The rolling bearings are spaced apart along the axial direction of the roller shaft. Each group of rolling bearings is equipped with an independent roller on its outer periphery to form a split multi-segment roller structure. The length of the sleeve section of the roller shaft used to assemble the rolling bearings and independent rollers is greater than the total axial length of all independent rollers, rolling bearings and the preset gap between adjacent rolling bearings.

[0018] As a preferred embodiment of the multifunctional photovoltaic module walking intelligent cleaning and spraying device of the present invention, the supporting truss includes a main frame and a plurality of locking blocks installed at the bottom of the middle part of the main frame. The locking blocks are detachably locked to the walking track mechanism. The number of guide rails is four sets. The four sets of guide rails are respectively assembled at the four corners of the main frame, and the vehicle body is engaged in the guide rail slots opened at the bottom of the guide rails.

[0019] The main frame has multiple bolt holes, which correspond one-to-one with the mounting holes of the module mounting bracket, and the bolt holes are evenly distributed along the length of the main frame.

[0020] As a preferred embodiment of the multifunctional photovoltaic module walking intelligent cleaning and spraying device of the present invention, the walking track mechanism includes an annular track body, a drive wheel set, two support seats and a track drive motor.

[0021] The annular track body is detachably connected to the locking block, and its inner side meshes with the drive wheel assembly for transmission.

[0022] The drive wheel assembly includes an active drive wheel and a driven tension wheel, and the axles of the active drive wheel and the driven tension wheel are respectively rotatably mounted on two support seats on both sides of the frame body;

[0023] The track drive motor is fixedly mounted on the support base, and its output end is connected to the drive wheel.

[0024] The support base is equipped with a deep groove ball bearing, which is mounted on the axle of the support base and the drive wheel and the driven tension wheel.

[0025] As a preferred embodiment of the multifunctional photovoltaic module mobile intelligent cleaning and spraying device of the present invention, the vehicle frame body includes a transverse main frame that is attached to the upper surface of the photovoltaic module and a guide bracket that extends along the length direction of both sides of the transverse main frame. The transverse main frame is arranged parallel to the length direction of the photovoltaic module and both ends extend outward toward the edge of the photovoltaic module. The guide rail is engaged in the guide rail slot of the guide bracket.

[0026] As a preferred embodiment of the multifunctional photovoltaic module mobile intelligent cleaning and spraying device of the present invention, the module mounting frame is configured as an L-shaped frame base, the horizontal plate of the L-shaped frame base is provided with a first fixing through hole corresponding to the bolt hole of the supporting truss, and the vertical plate of the L-shaped frame base is provided with a second fixing through hole at the assembly station.

[0027] The beneficial effects of this invention are as follows: Through the collaborative design of the vehicle frame, single Y-axis drive mechanism, dual X-axis drive mechanism, and four sets of work execution units, this invention achieves integrated and efficient operation of photovoltaic module cleaning and protection: The vehicle frame spans the two side frames of the photovoltaic module, and the split multi-segment structure of the first rolling transmission component adapts to the inclined posture and adjacent height difference, ensuring stable limit guidance; the single Y-axis drive mechanism drives the vehicle frame to move smoothly through the tensioned track, easily crossing height difference obstacles; the dual X-axis drive mechanism drives the work units to accurately displace along the height direction of the module, and the module mounting bracket is quickly installed on the support truss through quick-locking screws. Four sets of work execution units can be flexibly selected, and each work execution unit continuously advances the cleaning, spraying, squeegeeing, and uniform coating processes without the need for multiple disassembly and assembly of equipment. This reduces manual intervention and maintenance costs, avoids the risks of high-altitude operations, and improves the photoelectric conversion efficiency and service life of photovoltaic modules, adapting to the maintenance needs of various inclined height difference photovoltaic arrays. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of a multifunctional mobile intelligent cleaning and spraying device for photovoltaic modules;

[0030] Figure 2 This is a top-view schematic diagram of the mobile intelligent cleaning and spraying structure of the multifunctional photovoltaic module in this invention.

[0031] Figure 3 This is a schematic diagram of the left-side plan view of the multifunctional photovoltaic module mobile intelligent cleaning and spraying structure in this invention.

[0032] Figure 4 This is a schematic diagram of the structure of the grinding operation function support in this invention;

[0033] Figure 5 This is a schematic diagram of the structure of the spraying operation function bracket in this invention;

[0034] Figure 6 This is a schematic diagram of the structure of the wiper function bracket in this invention;

[0035] Figure 7 This is a schematic diagram of the structure of the applicator support in this invention;

[0036] Figure 8 This is a structural schematic diagram of the frame body in this invention;

[0037] Figure 9 For the present invention Figure 8 Enlarged view of the A-section structure;

[0038] Figure 10 For the present invention Figure 8 Enlarged view of the structure of section B;

[0039] Figure 11 For the present invention Figure 8 Enlarged view of the C-section structure;

[0040] Figure 12 This is a schematic diagram of the single Y-axis drive mechanism in this invention.

[0041] Explanation of reference numerals in the attached drawings: 101. Transverse main frame; 102. Guide bracket; 103. Track wheel mounting bracket; 200. First rolling transmission component; 201. Roller bracket; 202. Roller shaft; 203. Rolling bearing; 204. Independent roller; 205. Adjusting locking bolt; 300. Single Y-axis drive mechanism; 311. Motor mounting plate; 312. Servo motor; 313. Reducer; 314. Coupling; 321. Track wheel mounting shaft; 322. Drive track wheel; 323. Tensioned track; 324. Reference limit shaft; 325. Reference plate; 326. Track mounting plate; 327. Pressure shaft Mounting shaft; 328, angular contact bearing; 400, dual X-axis drive mechanism; 410, walking track mechanism; 411, annular track body; 412, support base; 413, drive wheel; 414, driven tension wheel; 415, track drive motor; 416, deep groove ball bearing; 420, guide rail; 430, support truss; 431, main frame; 432, locking block; 500, module mounting bracket; 501, L-shaped frame base; 502, quick-locking screw; 610, grinding operation function bracket; 611, grinding guide rail support; 612, grinding strip guide rail plate; 613, grinding clamp. 614. Mounting plate; 615. Grinding cylinder; 616. Grinding floating joint; 617. Circular baffle; 618. Spring mounting shaft; 619. Shock-absorbing spring; 620. Motor locking seat; 621. Grinding workpiece; 622. Grinding wheel drive motor; 623. Circular grinding wheel; 624. Water spray bracket; 715. Water spray nozzle; 716. Spraying operation functional bracket; 717. Cylinder connecting tailstock; 718. Spraying cylinder; 719. Flexible connecting seat; 720. Spraying frame; 710. Rotary shaft; 711. L-shaped clamp bracket; 712. Nozzle mounting seat; 720. Spraying workpiece; 721. Grinding workpiece; 721. Grinding wheel drive motor; 622. Circular grinding wheel; 623. Water spray bracket; 624. Water spray nozzle; 715. L-shaped clamp bracket; 716. Nozzle mounting seat; 720. Spraying workpiece; 721. Grinding wheel drive motor; 622. Circular grinding wheel; 721. Grinding wheel drive motor; 622. Circular grinding wheel; 723. Grinding wheel mounting shaft; 617. Spring mounting shaft; 718. Spring mounting shaft; 719. L-shaped clamp bracket; 710. Nozzle mounting seat; 721. Grinding workpiece; 721. Grinding wheel drive motor ... 1. Spray nozzle; 722. Jet nozzle; 810. Wipering function bracket; 811. Wiper cylinder; 812. Guide rail mounting base; 813. Wiper linear guide rail; 814. Wiper mounting plate; 815. Wiper floating joint; 820. Wipering workpiece; 821. Wiper bar; 822. Wiper blade; 910. Coating function bracket; 911. Coating cylinder; 912. Coating floating joint; 913. Coating connecting plate; 914. Tool mounting base; 915. Linear guide rail; 916. Guide rail center seat; 920. Coating workpiece; 921. Roller mounting bracket; 922. Spraying roller. Detailed Implementation

[0042] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0043] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0044] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0045] Reference Figures 1-12 As shown, this embodiment provides a multifunctional photovoltaic module mobile intelligent cleaning and spraying device, including a photovoltaic module array installed at a preset angle, a splicing structure with a preset height difference between adjacent photovoltaic modules, and a vehicle frame body and a walking mechanism that span across the two side frames of the photovoltaic modules along the length direction of the photovoltaic modules.

[0046] The vehicle frame body includes a transverse main frame 101 that is attached to the upper surface of the photovoltaic module and guide brackets 102 that extend along the length direction of both sides of the transverse main frame 101. The transverse main frame 101 is arranged parallel to the length direction of the photovoltaic module and both ends extend outward toward the edge of the photovoltaic module. Track wheel mounting brackets 103 are symmetrically fixed at both ends of the transverse main frame 101 of the vehicle frame body.

[0047] Furthermore, the photovoltaic module array consists of multiple photovoltaic modules arranged linearly along the width direction of the transverse main frame 101.

[0048] In one embodiment, the four ends of the transverse main frame 101 of the vehicle frame body are each equipped with a first rolling transmission member 200, and the outer peripheral surface of the first rolling transmission member 200 forms a close rolling fit with the outer peripheral side of the photovoltaic module, and rolls synchronously with the movement of the vehicle frame body, thereby limiting and guiding the movement of the vehicle frame body.

[0049] Specifically, the first rolling transmission component 200 includes a roller bracket 201 fixed to the end of the transverse main frame 101 of the vehicle frame body, a roller shaft 202 passing through the roller bracket 201, a rolling bearing 203 mounted on the surface of the roller shaft 202 and arranged in a gap, an independent roller 204 mounted on the rolling bearing 203, and an adjusting locking bolt 205 mounted between the roller bracket 201 and the roller shaft 202 for adjusting and locking the installation position of the roller shaft 202.

[0050] The rolling bearings 203 are spaced apart along the axial direction of the roller shaft 202. A preset gap is reserved between adjacent rolling bearings 203 to avoid interference. Each set of rolling bearings 203 is equipped with an independent roller 204 on its outer periphery to form a split multi-segment roller structure. The length of the sleeve section of the roller shaft 202 used to assemble the rolling bearings 203 and the independent rollers 204 is greater than the total axial length of all independent rollers 204, rolling bearings 203 and the preset gap between adjacent rolling bearings 203, so as to reserve space for small axial displacement and angular deflection of the independent rollers 204.

[0051] The independent rollers 204 can rotate flexibly relative to the roller shaft 202 via the rolling bearing 203. Each section of the independent rollers 204 can independently adapt to the posture of the photovoltaic module frame. The adjusting locking bolts 205 are threaded through the roller bracket 201 and abut against the roller shaft 202. The position of the roller shaft 202 can be changed by driving the roller shaft 202 to be slightly adjusted up and down relative to the roller bracket 201. Then, the roller shaft 202 and the roller bracket 201 can be locked by turning the adjusting locking bolts 205. This adjusts the relative position of the independent rollers 204 and the outer peripheral side of the photovoltaic module to adjust the initial fit between the independent rollers 204 and the outer peripheral side of the photovoltaic module. After the adjustment is completed, the fixed position of the roller shaft 202 can be changed by adjusting the threads of the locking bolts 205.

[0052] This structure allows the split, multi-segment independent rollers 204 to independently rotate and finely adjust their axial direction when bridging photovoltaic module frames of different heights. This is achieved by utilizing the gap arrangement of the rolling bearings 203, the independent movement characteristics of each segment of the independent rollers 204, and the reserved movement space of the roller shafts 202. This ensures that the rollers 204 always fit the outer periphery of the photovoltaic module and avoids movement interference between adjacent independent rollers 204. It provides a stable limiting and guiding function for the frame body and smoothly crosses the preset height difference between adjacent modules, avoiding jamming, displacement, or component wear.

[0053] Reference Figure 1 and Figure 2 As shown, the Y-axis of this invention refers to the axis extending along the width of the photovoltaic module itself, that is, the linear extension direction of the photovoltaic module array, which is the direction in which the single Y-axis drive mechanism drives the frame body to travel. This direction is perpendicular to the long side of the inclined photovoltaic module.

[0054] The X-axis refers to the axis extending along the length of the photovoltaic module itself. Since the photovoltaic module is arranged at an angle, the X-axis in this invention is the direction of extension along the height of the inclined surface of the photovoltaic module.

[0055] In one embodiment, the walking mechanism includes a single Y-axis drive mechanism 300 and a dual X-axis drive mechanism 400. The single Y-axis drive mechanism 300 includes a Y-axis drive unit and a second rolling transmission member mounted on a track wheel mounting frame 103. The second rolling transmission member is connected to the output end of the Y-axis drive unit. The rolling direction of the second rolling transmission member is adapted to the extension direction of the photovoltaic module array, and its outer peripheral surface forms a close rolling fit with the upper surface of the photovoltaic module frame, which is used to drive the vehicle frame body to move along the direction of the photovoltaic module array.

[0056] Specifically, the second rolling transmission component includes two track wheel mounting shafts 321 flexibly connected to the track wheel mounting frame 103, drive track wheels 322 connected to the track wheel mounting shafts 321 by bearings, and a tension track 323 sleeved on the surface of the two drive track wheels 322. The drive track wheels 322 and the track wheel mounting shafts 321 together tension and support the tension track 323, and the outer peripheral surface of the tension track 323 forms a close rolling contact with the upper surface of the frame of the photovoltaic module.

[0057] The track wheel mounting bracket 103 is also equipped with a motor mounting plate 311 for mounting the Y-axis drive unit. The output end of the Y-axis drive unit is flexibly connected to one of the track wheel mounting shafts 321 via a coupling 314 to provide power for driving the track wheels 322. Furthermore, the Y-axis drive unit is configured as an integrated drive assembly of a servo motor 312, a reducer 313, and a coupling 314. All three are integrated and mounted on the motor mounting plate 311. The output end of the servo motor 312 is connected to the input end of the reducer 313, and the output end of the reducer 313 is flexibly connected to the track wheel mounting shaft 321 via the coupling 314.

[0058] In one embodiment, a reference limiting shaft 324 is installed in the middle of the track wheel mounting frame 103. A reference plate 325 is fixed to one end of the reference limiting shaft 324 away from the track wheel mounting frame 103. Two track mounting plates 326 are rotatably connected to both sides of the track wheel mounting frame 103. The track mounting plates 326 are locked to one end of the track wheel mounting shaft 321 that extends out of the drive track wheel 322.

[0059] Specifically, one end of the track wheel mounting shaft 321 is flexibly connected to the track wheel mounting frame 103, and the other end is locked by the track mounting plate 326. The track mounting plate 326 is rotatably connected to the reference plate 325. This structural design allows the track wheel mounting shaft 321 to rotate slightly around the reference plate 325 with the track mounting plate 326. Combined with its flexible connection with the track wheel mounting frame 103, the installation angle and support posture of the tensioned track 323 can be adaptively adjusted. When the multifunctional photovoltaic module walking intelligent cleaning and spraying device crosses the preset height difference obstacle between adjacent photovoltaic modules, the tensioned track 323 can adjust the contact angle in real time according to the height change of the photovoltaic module frame, always maintaining effective rolling contact with the upper surface of the photovoltaic module frame, avoiding track jamming, warping, or detachment from the frame, ensuring the stability of power transmission and smoothness of the second rolling transmission component during obstacle crossing, adapting to the height difference splicing structure and inclined installation conditions of the photovoltaic module array, and achieving smooth obstacle crossing.

[0060] Furthermore, the track wheel mounting bracket 103 is also provided with a clamping bearing mounting shaft 327. Part of the shaft of the clamping bearing mounting shaft 327 is an elastic telescopic shaft. The shaft of the clamping bearing mounting shaft 327 is rotatably engaged with an angular contact bearing 328. The angular contact bearing 328 abuts against the outer peripheral surface of the tensioned track 323. The elastic preload of the elastic telescopic shaft of the clamping bearing mounting shaft 327 ensures that the angular contact bearing 328 always forms an elastic clamping effect on the tensioned track 323, thereby ensuring that the tensioned track 323 always maintains close rolling contact with the upper surface of the photovoltaic module frame.

[0061] The angular contact bearing 328 has bidirectional load-bearing capacity. It can withstand radial elastic clamping pressure to ensure a tight fit with the tensioned track 323, and can also adapt to the angular deviation and positional fine adjustment of the tensioned track 323 when crossing obstacles, reducing the rolling friction resistance of the track and preventing wear and deviation of the track due to uneven force. The clamping bearing mounting shaft 327, in conjunction with the adaptive rotation characteristics of the track mounting plate 326 around the reference plate 325, can perform elastic compensation synchronously with the posture changes of the tensioned track 323, always applying a uniform elastic clamping force to the track. This ensures that the tensioned track 323 remains in close contact with the upper surface of the frame without loosening or detachment when the device is placed on the surface of the inclined photovoltaic module and when crossing height differences. This further improves the walking stability and power transmission efficiency of the second rolling transmission component, while extending the service life of the track and bearing.

[0062] In one embodiment, the dual X-axis drive mechanism 400 includes a walking track mechanism 410 arranged along the height direction of the photovoltaic module, a guide rail 420 engaged with the frame body, and a support truss 430 mounted on the top of the guide rail 420. There are two sets of walking track mechanisms 410, which are arranged along the length direction of the transverse main frame 101. The guide rail 420 has guide rail slots. The guide brackets 102 on both sides of the transverse main frame 101 are engaged in the guide rail slots of the guide rail 420. The support truss 430 is connected to the walking track mechanism 410 and moves perpendicular to the extension direction of the photovoltaic module array as the walking track mechanism 410 operates. The support truss 430 is provided with two tooling mounting positions, and a module mounting frame 500 is quickly mounted at the tooling mounting position. The module mounting frame 500 is equipped with a work execution unit.

[0063] Furthermore, there are four sets of operation execution units, each with a different function. They are quickly installed on the guide rail 420 via the module mounting bracket 500. The four sets of operation execution units are a cleaning operation unit, a spraying operation unit, a squeegee operation unit, and a uniform coating operation unit. They can be flexibly selected, disassembled, and replaced according to the actual operation requirements of photovoltaic module cleaning and protection, realizing integrated operation of multiple processes such as cleaning, spraying, squeegeeing, and coating.

[0064] The first rolling transmission component 200, which is connected to the two side frames of the photovoltaic module and rolls in close contact with the outer periphery, provides a stable limit for the vehicle body in the inclined position and ensures the guiding accuracy during movement. Combined with the second rolling transmission component, it drives the vehicle body to move along the photovoltaic module array direction. The two work together to cross the preset height difference between adjacent modules. At the same time, the dual X-axis drive mechanism 400 drives the guide rail 420 and the module mounting bracket 500 to accurately move along the height direction of the photovoltaic module. This effectively solves the problems of traditional photovoltaic module maintenance equipment, such as single function, cumbersome process due to the need for multiple disassembly and replacement of working parts, inability to stably adapt to photovoltaic modules with preset angles, easy jamming and deviation when crossing the preset height difference between adjacent modules, low accuracy of working position adjustment and difficulty in accurately adhering to the module surface, separation of cleaning and protection processes, poor work continuity, low overall work efficiency and uneven quality of protective coating construction.

[0065] The cleaning unit is used to clean dust, mud, bird droppings and other deposits on the surface of the photovoltaic modules.

[0066] The spraying unit is used to uniformly spray a protective coating onto the surface of the photovoltaic module to form a weather-resistant and stain-resistant protective film.

[0067] The squeegee unit is used to remove cleaning water stains, spray residue and excess coating from the surface of the photovoltaic module, keeping the module surface dry and clean.

[0068] The uniform coating unit is used to perform roller coating and compaction operations on the sprayed protective coating to make the coating thickness uniform and the adhesion firm.

[0069] All four sets of operation execution units can be detachably and quickly installed on the tooling installation position of the guide rail 420 via the module mounting bracket 500. They can be flexibly selected, disassembled and replaced according to the actual operation requirements of photovoltaic module cleaning and protection. At least one set of operation execution units can be assembled at a time to realize the integrated and continuous operation of multiple processes such as cleaning, spraying, squeegeeing and uniform coating.

[0070] In one embodiment, the support truss 430 includes a main frame 431 and a plurality of locking blocks 432 installed at the bottom middle of the main frame 431. The locking blocks 432 are detachably locked to the walking track mechanism 410 of the dual X-axis drive mechanism 400, so as to realize the synchronous movement of the support truss 430 and the walking track mechanism 410. There are four sets of guide rails 420. The four sets of guide rails 420 are respectively assembled at the four corners of the main frame 431, and the guide bracket 102 is engaged in the guide rail slot opened at the bottom of the guide rail 420. The guide bracket 102 and the guide rail 420 form a sliding fit structure to ensure that the guide rail 420 moves smoothly along the height direction of the photovoltaic module.

[0071] Furthermore, the main frame 431 is provided with multiple bolt holes, which correspond one-to-one with the mounting holes of the module mounting bracket 500. The bolts pass through the bolt holes to achieve quick and easy detachment and fixation to the module mounting bracket 500. The bolt holes are evenly distributed along the length of the main frame 431, and the fixing position of the module mounting bracket 500 can be finely adjusted according to the installation requirements of the work execution unit.

[0072] In one embodiment, the walking track mechanism 410 includes an annular track body 411, a drive wheel set, two support seats 412, and a track drive motor 415.

[0073] The annular track body 411 is detachably connected to the locking block 432, and its inner side meshes with the drive wheel set for transmission, so as to drive the guide rail 420 to reciprocate in the direction of the photovoltaic module array extension.

[0074] The drive wheel assembly includes an active drive wheel 413 and a driven tension wheel 414. The axles of the active drive wheel 413 and the driven tension wheel 414 are respectively rotatably mounted on two support seats 412 on both sides of the frame body. The support seats 412 are fixed to the frame body to provide installation support for the drive wheel assembly.

[0075] The track drive motor 415 is fixed to the support base 412, and its output end is connected to the active drive wheel 413 for transmission, driving the active drive wheel 413 to rotate, thereby driving the annular track body 411 to reciprocate along the height direction of the photovoltaic module, so as to drive the guide rail 420 and the module mounting frame 500 to move synchronously.

[0076] The support base 412 is provided with a deep groove ball bearing 416, which is assembled at the axle of the support base 412 and the drive wheel 413 and the driven tension wheel 414. The deep groove ball bearing 416 is used to limit the installation position of the axle of the drive wheel 413 and the driven tension wheel 414, to ensure the coaxiality and stability of the track drive, and to adapt to the working conditions of the inclined photovoltaic module.

[0077] In one embodiment, the module mounting bracket 500 includes an L-shaped frame base 501. The horizontal plate of the L-shaped frame base 501 has a first fixing through hole corresponding to the bolt hole of the support truss 430. The vertical plate of the L-shaped frame base 501 has a second fixing through hole at the assembly station. The support truss 430 and the L-shaped frame base 501 can be quickly disassembled by configuring a quick-locking screw 502 in the first fixing through hole.

[0078] Each set of operation execution units includes a functional bracket bolted to the module mounting bracket 500 and a functional fixture mounted on the functional bracket. According to function and structure, the four sets of operation execution units are divided into a grinding operation functional bracket 610, a spraying operation functional bracket 710, a squeegee operation functional bracket 810, and a coating operation functional bracket 910. The functional fixtures corresponding to the grinding operation functional bracket 610, the spraying operation functional bracket 710, the squeegee operation functional bracket 810, and the coating operation functional bracket 910 are the grinding operation workpiece 620, the spraying operation workpiece 720, the squeegee operation workpiece 820, and the coating workpiece 920, respectively.

[0079] The grinding operation function bracket 610 includes a grinding guide rail support 611 mounted on an L-shaped frame base 501, a grinding strip guide rail plate 612 engaged in the grinding guide rail support 611, a grinding fixture mounting plate 613 installed at the bottom of the grinding strip guide rail plate 612, a motor locking seat 619 mounted on it, a grinding cylinder 614 configured on the L-shaped frame base 501 in at least one set, a grinding floating joint 615 connected to the output end of the grinding cylinder 614, and a circular baffle 616 mounted on the grinding strip guide rail plate 612. The grinding floating joint 615 is connected to the grinding strip guide rail plate 612 and the grinding floating joint 616 respectively.

[0080] A spring mounting shaft 617 is mounted on the circular baffle 616. A spring pressure block fixed to the L-shaped frame base 501 is sleeved on the surface of the circular baffle 616. A shock-absorbing spring 618 is sleeved on the surface of the spring mounting shaft 617. The two ends of the shock-absorbing spring 618 abut against the spring pressure block and the circular baffle 616, respectively.

[0081] The workpiece 620 for grinding includes a grinding wheel drive motor 621, a circular grinding wheel 622, a water spray bracket 623, and a water spray nozzle 624. The grinding wheel drive motor 621 is mounted in the motor locking seat 619 of the grinding operation functional bracket 610, and its output end is coaxially connected to the circular grinding wheel 622, providing rotational power to the circular grinding wheel 622 to achieve grinding and cleaning of dust and stubborn stains on the surface of the photovoltaic module. The water spray bracket 623 is fixed above the circular grinding wheel 622, and the water spray nozzle 624 is installed on the water spray bracket 623 and faces the working surface of the circular grinding wheel 622. During grinding, cleaning water can be sprayed simultaneously, which not only helps to wash away grinding debris, but also cools the grinding wheel. At the same time, the circular grinding wheel 622 adapts to the tilted posture and surface flatness differences of the photovoltaic module through an elastic fitting structure, ensuring that the grinding and cleaning operation is efficient and non-destructive.

[0082] The spraying operation function bracket 710 includes a cylinder connection tail seat 711 mounted on the top of the L-shaped frame base 501, a spraying cylinder 712 mounted on the cylinder connection tail, and a flexible connection seat 713 mounted on the output end of the spraying cylinder 712.

[0083] A spraying frame 714 is disposed on the L-shaped frame base 501. A rotating shaft 715 is rotatably connected inside the spraying frame 714. An L-shaped clamp bracket 716 is provided at one end of the rotating shaft 715 away from the spraying frame 714. The top end of the L-shaped clamp bracket 716 is connected to the spraying cylinder 712 through a flexible connecting seat 713, so that the L-shaped clamp bracket 716 can swing left and right by the extension and retraction of the spraying cylinder 712.

[0084] The surface of the L-shaped clamp bracket 716 is arranged with multiple sets of nozzle mounting seats 717, and the interior of the multiple sets of nozzle mounting seats 717 forms mounting holes for locking the workpiece 720 to be sprayed.

[0085] The workpiece 720 for spraying is configured as a spray pipe 721 locked by a mounting hole and a jet nozzle 722 assembled at the water outlet end of the spray pipe 721.

[0086] The wiper operation function bracket 810 includes a wiper cylinder 811 detachably fixed to an L-shaped frame base 501, a guide rail mounting seat 812 mounted on the L-shaped frame base 501, a wiper linear guide rail 813 slidably engaged with the guide rail mounting seat 812, and a wiper mounting plate 814 mounted on the guide rail mounting seat 812. The wiper mounting plate 814 has a locking hole.

[0087] The output end of the wiper cylinder 811 is connected to the wiper floating connector 815, and the other end of the wiper floating connector 815 is fixedly connected to the wiper mounting plate 814.

[0088] The wiping workpiece 820 is configured as a wiping rod 821 locked by a locking hole and a wiping blade 822 fixed to the bottom end of the wiping rod 821;

[0089] The coating operation function bracket 910 includes a coating cylinder 911 installed on an L-shaped frame base 501, a coating floating connector 912 connected to the output end of the coating cylinder 911, and a coating connecting plate 913 fixedly connected to the coating floating connector 912. The coating connecting plate 913 is equipped with a tool mounting seat 914 for locking the coating workpiece 920. The tool mounting seat 914 forms a locking hole for locking the coating workpiece 920.

[0090] A linear guide rail 915 is fixed to one end of the coating connecting plate 913 away from the tool mounting base 914. A guide rail center seat 916 is engaged on the surface of the linear guide rail 915. The linear guide rail 915 moves linearly along the output end of the coating cylinder 911 within the guide rail center seat 916.

[0091] The uniform coating workpiece 920 includes a roller mounting bracket 921 locked by a locking hole and a spraying roller 922 rotating on the roller mounting bracket 921. The roller mounting bracket 921 adopts a single-rod rigid support structure, and its upper rod passes through the locking hole of the tool mounting seat 914.

[0092] Working principle: The frame body spans the two side frames of the photovoltaic module, which is inclined at a preset angle and the adjacent components form a preset height difference. The first rolling transmission component 200 at the four ends of the transverse main frame 101 rolls in close contact with the outer periphery of the photovoltaic module, which not only achieves precise positioning and guidance when the frame body moves, but also adapts to the posture of the component frame and avoids interference through the independent deflection and axial fine adjustment capability of the split multi-segment independent rollers 204.

[0093] The second rolling transmission component of the single Y-axis drive mechanism 300 rolls against the upper surface of the photovoltaic module frame through the tensioned track 323. Combined with the adaptive rotation of the track mounting plate 326 around the reference plate 325 and the elastic preload of the pressing bearing mounting shaft 327, it drives the frame body to move smoothly along the photovoltaic module array direction, easily crossing the preset height difference between adjacent modules and eliminating jamming and disengagement problems.

[0094] Driven by the track drive motor 415, the walking track mechanism 410 of the dual X-axis drive mechanism 400 drives the guide rail 420 and the support truss 430 to precisely displace along the height direction of the photovoltaic module. Combined with the sliding cooperation between the guide bracket 102 and the guide rail 420, the accuracy of the working position adjustment is further improved.

[0095] The module mounting bracket 500 is detachably and quickly mounted to the support truss 430 via the L-shaped frame base 501. The quick-locking screw 502 passes through the bolt holes of the L-shaped frame base 501 and the support truss 430 to achieve detachable locking between the L-shaped frame base 501 and the support truss 430. The functional brackets of each operation execution unit are assembled to the second fixing through hole on the vertical plate of the L-shaped frame base 501 via bolts.

[0096] During operation, the grinding function support 610 and the grinding workpiece 620 work together. The grinding cylinder 614 extends and retracts to drive the grinding strip guide plate 612 to slide smoothly along the grinding guide support 611. The shock-absorbing spring 618 provides elastic preload, which, together with the compensation effect of the grinding floating joint 615, ensures that the circular grinding wheel 622 always elastically fits the surface of the photovoltaic module. The grinding wheel drive motor 621 drives the circular grinding wheel 622 to rotate, grinding and cleaning the dust and stubborn stains on the surface of the photovoltaic module. At the same time, the water spray nozzle 624 sprays cleaning water to help wash away debris and cool the grinding wheel, achieving efficient and non-destructive cleaning and solving the problem of traditional cleaning methods that are difficult to remove stubborn dirt.

[0097] The spraying operation support 710 and the spraying operation workpiece 720 work together. The spraying cylinder 712 extends and retracts to drive the L-shaped clamp support 716 to swing around the rotating shaft 715, adjusting the relative angle between the spray nozzle 721 and the surface of the photovoltaic module. The protective coating medium is transported to the spray nozzle 721 through the pipeline and evenly sprayed onto the surface of the module through the jet nozzle 722, realizing full coverage and precise spraying of the protective coating, avoiding the problem of uneven thickness in traditional spraying.

[0098] The squeegee support 810 and the squeegee workpiece 820 work together. The squeegee cylinder 811 extends and retracts to drive the squeegee mounting plate 814 to rise and fall smoothly along the squeegee linear guide rail 813. The squeegee floating joint 815 compensates for minor deviations during the operation, ensuring that the squeegee blade 822 is always in close contact with the surface of the photovoltaic module. During the movement of the squeegee workpiece 820, the squeegee blade 822 efficiently removes cleaning water stains, spray residue, and excess coating from the module surface, keeping the module surface dry and clean, and providing a flat base for subsequent uniform coating operations.

[0099] The coating operation bracket 910 and the uniform coating operation workpiece 920 work together. The coating cylinder 911 extends and retracts to drive the coating connecting plate 913 to move. The linear guide rail 915 slides smoothly along the guide rail center seat 916. The spraying roller 922 rolls along the surface of the photovoltaic module with the displacement of the vehicle frame body, and performs roller coating uniformity and compaction on the sprayed protective coating to eliminate coating bubbles and thickness differences, enhance the adhesion between the coating and the module surface, and finally form a weather-resistant and anti-fouling stable protective film layer.

[0100] The four sets of operation execution units can be flexibly selected according to actual needs. The four sets of operation execution units, together with the single Y-axis drive mechanism 300, drive the frame body to move along the direction of the photovoltaic module array, and the dual X-axis drive mechanism 400 drive the operation unit to move along the height direction of the photovoltaic module. This avoids the cumbersome process of multiple disassemblies and reassemblies of traditional equipment, and solves the pain points of jamming and low operation accuracy when operating across height differences, thus greatly improving the efficiency and quality of photovoltaic module maintenance.

[0101] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0102] Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other.

[0103] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multifunctional mobile intelligent cleaning and spraying device for photovoltaic modules, comprising a photovoltaic module array installed at a preset angle, wherein adjacent photovoltaic modules form a splicing structure with a preset height difference, characterized in that, Also includes: The frame body spans the two side frames of the photovoltaic module along the length of the photovoltaic module. Track wheel mounting brackets (103) are symmetrically fixed at both ends of the frame body. The four ends of the frame body are equipped with first rolling transmission components (200). The four first rolling transmission components (200) span the two side frames of the photovoltaic module, and their outer peripheral surfaces form a close rolling fit with the outer peripheral side of the photovoltaic module. The walking mechanism includes a single Y-axis drive mechanism (300) and a dual X-axis drive mechanism (400). The single Y-axis drive mechanism (300) includes a Y-axis drive unit and a second rolling transmission component mounted on a track wheel mounting bracket (103). The second rolling transmission component is connected to the output end of the Y-axis drive unit, and its outer peripheral surface forms a close rolling fit with the upper surface of the photovoltaic module frame, for driving the vehicle frame body to move along the photovoltaic module array direction. The dual X-axis drive mechanism (400) includes walking tracks arranged along the height direction of the photovoltaic module. The system includes a belt mechanism (410), a guide rail (420) snapped onto the chassis body, and a support truss (430) mounted on the top of the guide rail (420). The support truss (430) is connected to the walking track mechanism (410) and moves perpendicular to the extension direction of the photovoltaic module array as the walking track mechanism (410) operates. The support truss (430) is provided with two tooling mounting positions, and a module mounting frame (500) is quickly mounted at the tooling mounting positions. The module mounting frame (500) is equipped with an operation execution unit. The first rolling transmission component (200) includes a roller bracket (201) fixed to the end of the frame body, a roller shaft (202) passing through the roller bracket (201), a rolling bearing (203) mounted on the surface of the roller shaft (202) and spaced apart, an independent roller (204) mounted on the rolling bearing (203), and an adjusting locking bolt (205) mounted between the roller bracket (201) and the roller shaft (202) for adjusting and locking the installation position of the roller shaft (202). The rolling bearings (203) are spaced apart along the axial direction of the roller shaft (202). Each set of rolling bearings (203) is equipped with an independent roller (204) on its outer periphery to form a split multi-segment roller structure. The length of the sleeve section of the roller shaft (202) used to assemble the rolling bearings (203) and the independent rollers (204) is greater than the total axial length of all independent rollers (204), rolling bearings (203) and the preset gap between adjacent rolling bearings (203).

2. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 1, characterized in that: The number of operation execution units is four groups, namely cleaning operation unit, spraying operation unit, squeegee operation unit and uniform coating operation unit. Each group of operation execution units includes a functional bracket bolted to the module mounting bracket (500) and a functional fixture mounted on the functional bracket.

3. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 2, characterized in that: The second rolling transmission component includes two track wheel mounting shafts (321) flexibly connected to the track wheel mounting frame (103), a drive track wheel (322) connected to the track wheel mounting shaft (321) by a bearing, and a tension track (323) sleeved on the surface of the two drive track wheels (322). The drive track wheel (322) and the track wheel mounting shaft (321) together tension and support the tension track (323), and the outer peripheral surface of the tension track (323) forms a close rolling contact with the upper surface of the frame of the photovoltaic module. The track wheel mounting bracket (103) is also equipped with a motor mounting plate (311) for mounting the Y-axis drive unit. The output end of the Y-axis drive unit is flexibly connected to one of the track wheel mounting shafts (321) via a coupling (314).

4. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 3, characterized in that: A reference limiting shaft (324) is installed in the middle of the track wheel mounting frame (103). A reference plate (325) is fixed to one end of the reference limiting shaft (324) away from the track wheel mounting frame (103). Two track mounting plates (326) are rotatably connected to both sides of the track wheel mounting frame (103). The track mounting plates (326) are locked to one end of the track wheel mounting shaft (321) that extends out of the drive track wheel (322).

5. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 4, characterized in that: The track wheel mounting frame (103) is also provided with a clamping bearing mounting shaft (327). Part of the shaft of the clamping bearing mounting shaft (327) is an elastic telescopic shaft. The shaft of the clamping bearing mounting shaft (327) is rotatably engaged with an angular contact bearing (328). The angular contact bearing (328) abuts against the outer circumferential surface of the tensioned track (323).

6. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 5, characterized in that: The supporting truss (430) includes a main frame (431) and a plurality of locking blocks (432) installed at the bottom of the middle part of the main frame (431). The locking blocks (432) are detachably and lockingly connected to the walking track mechanism (410). There are four sets of guide rails (420). The four sets of guide rails (420) are respectively assembled at the four corners of the main frame (431), and the vehicle body is engaged in the guide rail slot opened at the bottom of the guide rail (420). The main frame (431) has multiple bolt holes, which correspond one-to-one with the mounting holes of the module mounting bracket (500). The bolt holes are evenly arranged along the length of the main frame (431).

7. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 6, characterized in that: The walking track mechanism (410) includes an annular track body (411), a drive wheel set, two support seats (412), and a track drive motor (415). The annular track body (411) is detachably connected to the locking block (432), and its inner side meshes with the drive wheel set for transmission. The drive wheel assembly includes an active drive wheel (413) and a driven tension wheel (414), and the axles of the active drive wheel (413) and the driven tension wheel (414) are respectively rotatably mounted on two support seats (412) on both sides of the frame body; The track drive motor (415) is fixedly mounted on the support base (412), and its output end is connected to the drive wheel (413) for transmission. The support base (412) is provided with a deep groove ball bearing (416), which is assembled at the axle of the support base (412) and the drive wheel (413) and the driven tension wheel (414).

8. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 7, characterized in that: The frame body includes a transverse main frame (101) that is attached to the upper surface of the photovoltaic module and guide brackets (102) that extend along the length direction on both sides of the transverse main frame (101). The transverse main frame (101) is arranged parallel to the length direction of the photovoltaic module and both ends extend outward toward the edge of the photovoltaic module. The guide rail (420) is engaged in the guide rail slot of the guide bracket (102).

9. The multifunctional photovoltaic module mobile intelligent cleaning and spraying device as described in claim 8, characterized in that: The module mounting bracket (500) is configured as an L-shaped frame base (501). The horizontal plate of the L-shaped frame base (501) is provided with a first fixing through hole corresponding to the bolt hole of the support truss (430). The vertical plate of the L-shaped frame base (501) is provided with a second fixing through hole at the assembly station.

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