Row-spanning movement locking device for photovoltaic cleaning robot

Abstract

The invention provides a photovoltaic cleaning robot cross-row movement locking device which comprises a supporting assembly used for providing support for a device main body structure and containing a cleaning agent; the cross-row connection and angle adjustment assembly is used for realizing cross-row connection of the device between different rows of photovoltaic panels and adjusting the angle of the cleaning component relative to the photovoltaic panels; the walking and spraying assembly is used for driving the device to move along the photovoltaic panel and spraying a cleaning solution to the surface of the photovoltaic panel; the cleaning execution assembly is used for physically wiping and cleaning the surface of the photovoltaic panel; the mechanical arm sensing mechanism is installed on the supporting assembly and used for pulling and adjusting the positions and angles of the cross-row connecting and angle adjusting assembly and the walking and spraying assembly; according to the photovoltaic panel cleaning device, cross-row moving locking, spraying and wiping integrated cleaning is achieved, the photovoltaic panel cleaning device is suitable for photovoltaic panels of different specifications, the automation and precision of cleaning operation are improved, the cleaning efficiency is higher, the photovoltaic panels can be prevented from being damaged through a flexible cleaning structure, and the power generation efficiency and the service life of the photovoltaic panels are guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic technology, specifically a photovoltaic cleaning robot cross-row movement locking device. Background Technology

[0002] Photovoltaic cleaning is a crucial maintenance step in ensuring the power generation efficiency of photovoltaic modules. By removing dust, dirt, and other obstructions, the system's power generation can be significantly improved and the equipment's lifespan extended. Currently, the industry is transitioning from traditional manual cleaning to intelligent mechanical cleaning, with automated cleaning robots becoming a mainstream solution. For example, Chinese Patent Application No. "202121175922.8" discloses a "General-Purpose Inclined Bridge-Crossing Device for Photovoltaic Cleaning Equipment," a technology that is becoming increasingly mature. The patent describes it as follows: "This utility model discloses a general-purpose inclined bridge-crossing device for photovoltaic cleaning equipment, belonging to the field of photovoltaic cleaning. A general-purpose inclined bridge-crossing device for photovoltaic cleaning equipment includes a photovoltaic module one, with a photovoltaic module two located to the right of the photovoltaic module one, and the photovoltaic module one and photovoltaic module two are adjacent to each other..." An inclined plate is fixed at one end, and a through groove is opened at the top of the inclined plate on the left side. A base plate is fixed at the bottom of the second photovoltaic module. A sliding rod is slidably connected to the top of the inner wall of the first base plate, and a limiting ring is fixed at the top of the sliding rod. A second base plate is fixed at the bottom of the first photovoltaic module, and a connecting plate is slidably connected to the inner wall of the second base plate. The connecting plate is moved by the cleaning robot pushing the connecting arm, so that the inclined plate and the connecting plate are connected, thereby facilitating the movement of the cleaning robot. This device has a simple and practical structure and a certain degree of stability. It can also avoid the inconvenience of manually installing the connecting plate and the first base plate.

[0003] In traditional photovoltaic panel cleaning processes, the cross-row movement is not conducive to locking the cleaning brush structure and makes the cleaning process very inconvenient. As a result, it is difficult to move the photovoltaic cleaning robot effectively when cleaning the photovoltaic panels in batches. Summary of the Invention

[0004] The purpose of this invention is to provide a photovoltaic cleaning robot cross-row movement locking device, which solves the above-mentioned shortcomings in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The present invention provides a photovoltaic cleaning robot cross-row movement locking device, comprising: Support components are used to provide structural support for the main body of the device and to contain the cleaning agent; A cross-row connection and angle adjustment assembly is used to enable the device to cross-connect between different rows of photovoltaic panels and to adjust the angle of the cleaning component relative to the photovoltaic panel; A walking and spraying assembly is used to drive the device to move along the photovoltaic panel and spray cleaning liquid onto the surface of the photovoltaic panel. Cleaning execution components are used for physical wiping and cleaning of the photovoltaic panel surface; The robotic arm sensing mechanism, mounted on the support assembly, is used to pull and adjust the position and angle of the cross-row connection and angle adjustment assembly, and the walking and spraying assembly.

[0006] Preferably, the support assembly includes an upper frame and a detergent storage tray. The detergent storage tray is fixed to the top center of the upper frame. A connecting tank is attached to the middle of the detergent storage tray. A liquid filling port is provided at the top of the connecting tank. A connecting tank is connected to the side wall of the connecting tank. A mixing motor is horizontally installed on the side wall of the connecting tank. The cleaning agent storage tray is equipped with a liquid pump at the top side. The discharge end of the liquid pump is connected to a conical base. The conical base is cross-connected with an L-shaped connecting pipe. The top of the L-shaped connecting pipe is equipped with a connecting valve pipe. The upper frame is symmetrically provided with reinforcing cylinders on both sides of the bottom, and the bottom of the reinforcing cylinder is provided with support pads on both sides of the bottom. The bottom of the support pads is connected to a second adjusting pad through a fourth hinge base. The robotic arm sensing mechanism is installed on the edge sidewall of the detergent storage tray.

[0007] Preferably, the outer frame has a configuration mechanism at the top center, the configuration mechanism includes a tray, an ultrasonic generator and a transverse support rod, the ultrasonic generator is installed in the center of the tray, the ultrasonic generator has an ultrasonic detection strip on the bottom side, and the transverse support rod connects the tray and the outer frame; A connecting cylinder is provided through the top side of the outer frame. One end of the connecting cylinder is connected to a flexible pipe. The top of the flexible pipe is connected to a water supply pipe. The water supply pipe is connected to a water pump. The bottom of the water pump body is fixed to the side of the first arc-shaped bracket. The side of the water pump is provided with an inlet sleeve and an impeller drive motor. The output end of the impeller drive motor is connected to the water pump.

[0008] Preferably, the robotic arm sensing mechanism includes an access base, a meshing gear disk, a concave bracket, an upper support, a first drive roller, an inclined support rod, a push cylinder, a concave traction frame, and a linkage roller, wherein: The access base is fixed to the side wall of the detergent storage tray of the support assembly. The meshing gear disk is located at the top of the access base. The concave bracket is located at the top of the meshing gear disk. The upper bracket is located at the top of the concave bracket. The first drive roller shaft is located at the top of the upper bracket. The inclined support rod is connected to the first drive roller shaft. The push cylinder is installed on the outer wall of the inclined support rod, the concave traction frame is connected to the output end of the push cylinder, the linkage roller is located in the middle of the side wall of the concave traction frame, and one end of the linkage roller is connected to the cross row and the top of the ultrasonic generator in the angle adjustment assembly for traction connection. The push cylinder body is provided with a hinged roller shaft on its side, and the hinged roller shaft is connected to one end of the connecting support rod for transmission and extension.

[0009] Preferably, the cross-row connection and angle adjustment assembly includes an arc-shaped support mechanism, which includes two first arc-shaped brackets arranged parallel to each other on both sides of the upper frame. The two first arc-shaped brackets are connected by a connecting crossbar. An angle drive motor is provided on the side wall of the first arc-shaped bracket. The output end of the angle drive motor is connected to an arc-shaped rotating base. The side wall of the arc-shaped rotating base is connected to a second arc-shaped bracket. The free end of the second arc-shaped bracket is hinged to an outer frame through a third hinge base. The outer frame has telescopic cavities on both sides, and multiple nested extension brackets are slidably installed in the telescopic cavities.

[0010] Preferably, the cross-row connection and angle adjustment assembly further includes a telescopic extension mechanism, which is installed at the bottom telescopic extension joint of the extension bracket. The telescopic extension mechanism includes an extension cylinder, a return spring, and a fitting pad. The cylinder body of the extension cylinder is fixed to the bottom of the extension bracket, the return spring is sleeved on the surface of the extension cylinder, and both the return spring and the telescopic end of the extension cylinder are connected to the fitting pad. The top of the fitting pad is slidably telescopically connected to the extension bracket of the next joint.

[0011] Preferably, the walking and spraying assembly includes multiple transmission mechanisms, which are arranged in the inner cavity formed by the outer frame and the extension bracket of the support assembly, and the installation direction is perpendicular to the extension direction of the outer frame. Each of the aforementioned transfer mechanisms is equipped with a spraying mechanism.

[0012] Preferably, the transmission mechanism includes two first adjusting pads mounted on the side wall of the extension bracket. One of the first adjusting pads is equipped with a drive motor and a moving wheel driven by the drive motor, and the other first adjusting pad is equipped with a moving wheel. The moving wheel slides in cooperation with the outer frame and the inner side wall of the extension bracket.

[0013] Preferably, the spraying mechanism includes two water spray pipes symmetrically arranged at the end of the first adjusting pad away from the extension bracket, the water spray pipes having a plurality of water spray heads evenly distributed along the axial direction, and the water spray pipes being connected to the pipe and hose on the outer frame. Each of the spray nozzles is fitted with a conical cover on its outer side, and an adjustment cover is slidably provided in the inner cavity of the conical cover.

[0014] Preferably, the cleaning execution component corresponds one-to-one with the transmission mechanism and is embedded inside the adjustment cover; The cleaning execution assembly includes two second drive rollers that are movably mounted in parallel on the inner surface of the first adjusting pad. The two second drive rollers are positioned between two water spray pipes. Each of the free ends of the second drive rollers is equipped with a meshing gear, and the two meshing gears mesh with each other. A cleaning motor is mounted on one of the first adjusting pads, and the cleaning motor is driven to one of the second drive rollers. The outer surfaces of the two second drive rollers are covered with a cleaning belt.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a photovoltaic cleaning robot with a cross-row movement and locking device. Through the support structure of the upper frame and the cleaning agent storage tray, it achieves stable installation of the connecting tank and convenient addition of cleaning agent. Combined with a sealing cap, connecting tank, and mixing motor, it ensures the stability and effectiveness of the cleaning agent addition process. Secondly, the device utilizes a combination of inclined support rods, a concave traction frame, and connecting support rods to achieve flexible extension and positioning. Simultaneously, an impeller-driven motor drives a water pump for efficient water pumping and spraying, improving the spraying efficiency and coverage of the photovoltaic panel cleaning operation. Finally, the drive motor and meshing gears drive two drive rollers to rotate synchronously, enabling continuous rolling cleaning of the cleaning belt. This design, combining water spraying and cleaning simultaneously, significantly improves the overall cleaning efficiency and automation level of the photovoltaic panel surface. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a top view of the structure of the present invention; Figure 3 This is a schematic diagram of the linkage roller structure of the present invention; Figure 4 This is a schematic diagram of the telescopic extension mechanism of the present invention; Figure 5 This is a schematic diagram of the arc-shaped support mechanism of the present invention; Figure 6 This is a schematic diagram of the cleaning motor structure of the present invention; Figure 7 This is a schematic diagram of the transmission mechanism structure of the present invention; Figure 8 This is a schematic diagram of the spray head structure of the present invention; Figure 9 This is a schematic diagram of the cleaning mechanism structure of the present invention; Figure 10 This is a schematic diagram of the robotic arm sensing mechanism of the present invention.

[0017] In the diagram: 1. Support mechanism; 11. Upper frame; 12. Detergent storage tray; 13. Liquid pump; 14. Conical base; 15. L-shaped connecting pipe; 16. Connecting valve pipe; 17. Connecting tank; 18. Cover; 191. Connecting tank; 192. Mixing motor; 2. Arc-shaped support mechanism; 21. First arc-shaped bracket; 22. Connecting crossbar; 23. Angle drive motor; 24. Arc-shaped rotating base; 25. Second arc-shaped bracket; 26. Third hinged base; 27. Outer frame; 28. Connecting strip; 29. ​​Telescopic cavity; 291. Extension bracket; 292. Water supply pipe; 293. Water pump; 294. Connecting sleeve; 295. Impeller drive motor; 3. Transmission mechanism; 31. Moving wheel; 32. Drive motor; 33. First adjusting pad 35. Spray pipe; 36. Spray head; 37. Conical cover; 38. Adjusting cover; 4. Configuration mechanism; 41. Tray; 42. Ultrasonic generator; 43. Lateral strut; 5. Robotic arm sensing mechanism; 51. Access base; 52. Meshing gear disk; 53. Concave bracket; 54. Upper bracket; 55. First drive roller; 56. Inclined strut; 57. Pushing cylinder; 58. Concave traction frame; 59. Linkage roller; 6. Telescopic extension mechanism; 61. Extension cylinder; 62. Return spring; 63. Adhesive pad; 64. Reinforcing cylinder; 65. Support pad; 66. Fourth hinged base; 67. Second adjusting pad; 7. Cleaning mechanism; 71. Second drive roller; 72. Meshing gear; 73. Cleaning motor; 74. Cleaning belt. Detailed Implementation

[0018] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0019] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0020] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0021] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0022] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0024] Example 1 This embodiment provides a photovoltaic cleaning robot cross-row movement locking device, comprising: Support components are used to provide structural support for the main body of the device and to contain the cleaning agent; A cross-row connection and angle adjustment assembly is used to enable the device to cross-connect between different rows of photovoltaic panels and to adjust the angle of the cleaning component relative to the photovoltaic panel; A walking and spraying assembly is used to drive the device to move along the photovoltaic panel and spray cleaning liquid onto the surface of the photovoltaic panel. Cleaning execution components are used for physical wiping and cleaning of the photovoltaic panel surface; The robotic arm sensing mechanism, mounted on the support assembly, is used to pull and adjust the position and angle of the cross-row connection and angle adjustment assembly, and the walking and spraying assembly.

[0025] Example 2 Based on Embodiment 1, this embodiment provides a photovoltaic cleaning robot cross-row movement locking device. The support component includes an upper frame 11. Reinforcing cylinders 64 are symmetrically arranged on both sides of the bottom of the upper frame 11. Support pads 65 are provided on both sides of the bottom of the reinforcing cylinders 64. The bottom of the support pads 65 is connected to the second adjusting pads 67 through a fourth hinge base 66, forming the device's ground support and horizontal adjustment structure. The upper frame 11 has a cleaning agent storage bracket 12 fixed at the top center. The middle of the bracket is attached to the connecting tank 17 (the main storage tank for cleaning agents). The top of the connecting tank 17 has a liquid filling port and is sealed by a cap 18. The side wall is connected to a connecting tank 191. A mixing motor 192 is installed horizontally on the side wall of the connecting tank 191. A liquid pump 13 is provided on the top side of the cleaning agent storage bracket 12. The discharge end of the liquid pump 13 is connected to a conical base 14. The conical base 14 is cross-connected to an L-shaped connecting pipe 15. A connecting valve pipe 16 is provided at the top of the L-shaped connecting pipe 15 to realize the extraction of cleaning agent and the control of pipeline opening and closing. The cleaning agent storage tray 12 has a robotic arm sensing mechanism 5 installed laterally on its edge sidewall.

[0026] In this embodiment, after the device is placed on the mobile trolley, the reinforcing cylinder 64 at the bottom of the upper frame 11 extends and retracts according to the flatness of the placement surface. The hinge rotation of the fourth hinge base 66 drives the second adjusting pad 67 to fully fit the trolley / ground, and the supporting pad 65 increases the contact area to prevent the device from shaking or shifting during operation, thus providing a stable foundation for the operation of all subsequent components.

[0027] Open the cap 18 and add cleaning agent / cleaning liquid into the connecting tank 17 through the liquid inlet. If mixing is required, start the mixing motor 192 to drive the liquid in the connecting tank 191 and the connecting tank 17 to stir and mix, ensuring that the concentration of the cleaning liquid is uniform. When the cleaning liquid is extracted, open the connecting valve pipe 16 and start the liquid pump 13 to transport the cleaning liquid in the connecting tank 17 to the subsequent spraying components through the conical base 14 and the L-shaped connecting pipe 15, so as to realize the quantitative and controllable supply of cleaning liquid.

[0028] The ultrasonic generator 42 of the robotic arm sensing mechanism 5 drives the subsequent cross-row connection and angle adjustment components and the configuration mechanism to achieve precise adjustment of position and angle, adapting to the cleaning position requirements of the photovoltaic panels.

[0029] Example 3 Based on Embodiment 1, this embodiment provides a photovoltaic cleaning robot cross-row movement locking device. The cross-row connection and angle adjustment assembly includes an arc-shaped support mechanism 2 and a telescopic extension mechanism 6, wherein: The arc-shaped support mechanism 2 includes two parallel first arc-shaped supports 21, which are arranged on both sides of the upper frame 11. The two first arc-shaped supports 21 are connected by a connecting crossbar 22 to enhance the structural strength. Each first arc-shaped support 21 has an angle drive motor 23 on its side wall, and its output end is connected to an arc-shaped rotating base 24. The side wall of the arc-shaped rotating base 24 is connected to a second arc-shaped support 25. The free end of the second arc-shaped support 25 is hinged to the outer frame 27 through a third hinge base 26.

[0030] The outer frame 27 is the core frame for cross-row operation. The two side walls of the outer frame 27 are provided with telescopic grooves 29 along the photovoltaic panel arrangement direction, and connecting strips 28 are installed in the telescopic grooves 29.

[0031] Multiple extension brackets 291 are installed inside the telescopic cavity 29 in a sequentially nested manner to extend the length of the frame.

[0032] The telescopic extension mechanism 6 includes an extension cylinder 61, a return spring 62, and a contact pad 63, wherein: The cylinder body of the extension cylinder 61 is fixed to the bottom of the extension bracket 291. A return spring 62 is sleeved on the surface of the cylinder body. The return spring 62 and the telescopic end of the extension cylinder 61 are both connected to the same fitting pad 63. The top of the fitting pad 63 is slidably telescopically connected to the extension bracket 291 of the next joint. A configuration mechanism 4 is provided at the top center of the outer frame 27. The configuration mechanism 4 includes a tray 41, an ultrasonic generator 42, and a transverse support rod 43, wherein: The ultrasonic generator 42 has an ultrasonic detection strip at its bottom. A horizontal support rod 43 connects the tray 41 and the outer frame 27 to enhance stability. A connecting cylinder passes through the top side of the outer frame 27. A flexible hose is connected to the end of the connecting cylinder. A water supply pipe 292 is connected to the top of the flexible hose. The water supply pipe 292 is connected to a water pump 293. The bottom of the water pump 293 is fixed to the side of the first arc-shaped bracket 21. A connecting sleeve 294 and an impeller drive motor 295 are provided next to it. The output end of the impeller drive motor 295 is connected to the water pump 293 to provide a high-pressure water source for the spray assembly.

[0033] The working process of this embodiment: The core function of this component is to enable the device to span between different rows of photovoltaic panels, adjust the working angle according to the tilt angle of the photovoltaic panels, and adapt to photovoltaic panels of different lengths to extend the frame. The working process consists of four steps: Frame extension adapts to photovoltaic panel length: Based on the arrangement length of the photovoltaic panels to be cleaned, the extension cylinder 61 of the telescopic extension mechanism 6 is activated, and its telescopic end extends out, pushing the fitting pad 63 to drive the next extension bracket 291 to slide outward along the telescopic cavity groove 29, thereby extending the frame length; the return spring 62 stretches / contracts synchronously with the extension cylinder. When the frame needs to be retracted, the extension cylinder 61 retracts, and the elastic force of the return spring 62 drives the extension bracket 291 to quickly return to its original position. The connecting strip 28 provides guidance for the sliding of the extension bracket 291, ensuring its straightness and avoiding deviation; Angle adjustment to fit the photovoltaic panel surface: The angle drive motor 23 is activated, and its output end drives the arc-shaped rotating base 24 to rotate, which in turn drives the second arc-shaped bracket 25 to rotate around the hinge point of the third hinge base 26, thereby driving the outer frame 27 to achieve up / down / left / right angle adjustment until the outer frame 27 and the subsequently connected walking and cleaning components are completely in contact with the inclined surface of the photovoltaic panel, ensuring the fit of the cleaning operation; the combination structure of the connecting crossbar 22 and the first arc-shaped bracket 21 effectively distributes the weight of the outer frame 27 and avoids frame deformation during angle adjustment; Basic support for cross-row movement: When the device needs to move from one row of photovoltaic panels to another, the extension support 291 is first retracted to its shortest length by the extension cylinder 61, and then the outer frame 27 is raised to a suitable height by the angle drive motor 23. The cross-row movement is achieved in conjunction with the movement of the mobile trolley. After the cross-row movement, the components are reattached to the surface of another row of photovoltaic panels by adjusting the angle and extending the frame, thus completing the cross-row locking. High-pressure water supply and cleaning detection: The impeller drive motor 295 starts, driving the impeller of the water pump 293 to rotate, and transporting the cleaning liquid / water through the water pipe 292 and hose to the subsequent spraying components. The water pump 293 pressurizes the liquid to ensure the pressure and coverage of the spray. At the same time, the ultrasonic generator 42 of the configuration mechanism 4 starts, and the ultrasonic detection strip at the bottom emits ultrasonic waves to the surface of the photovoltaic panel to detect the distribution and thickness of dust and dirt on the surface of the photovoltaic panel, providing data for the subsequent spraying and cleaning intensity adjustment.

[0034] Example 4 Based on Embodiment 1, this embodiment provides a photovoltaic cleaning robot cross-row movement locking device. The walking and spraying components include a transmission mechanism 3, a spraying pipeline, and a guiding and protective structure, wherein: Multiple transmission mechanisms 3 are provided, and the multiple transmission mechanisms 3 are arranged in the cavity formed by the outer frame 27 and the extension bracket 291, and their installation direction is perpendicular to the extension direction of the outer frame 27.

[0035] Each transmission mechanism 3 includes two first adjusting shims 33, which are mounted on the side wall of the extension bracket 291. One of the first adjusting shims 33 has two drive motors 32, each of which drives and connects to a movable wheel 31. The movable wheel 31 is slidably mounted on the inner side wall of the outer frame 27 and the extension bracket 291, and rolls along its extension direction. The first adjusting shim 33 can finely adjust the mounting position of the drive motor 32 and the movable wheel 31 to ensure smooth movement. The other first adjusting shim 33 has two movable wheels 31.

[0036] Two parallel water spray pipes 35 are symmetrically arranged at the other end of the first adjusting shim 33. Multiple water spray heads 36 are evenly distributed along the axial direction of the water spray pipes 35. The water spray pipes 35 are connected to the hoses on the outer frame 27 to realize the delivery of cleaning liquid. Each spray head 36 is fitted with a conical cover 37 on its outer side. An adjusting cover 38 is installed in the inner cavity of the conical cover 37. The conical cover 37 is fixedly connected to the extension bracket 291 to provide protection for the spray head 36 and at the same time to concentrate and guide the sprayed cleaning liquid. The adjusting cover 38 can slide inside the conical cover 37 to adjust the spray range and angle.

[0037] The working process of this embodiment: The core function of the walking and spraying components is to drive the device to move at a constant speed along the surface of the photovoltaic panel and spray the cleaning liquid onto the surface of the photovoltaic panel under high pressure, so as to achieve uniform coverage of the cleaning liquid. The working process is linked with the cross-row connection and angle adjustment components and is divided into three steps: Walking drive and cross-panel movement: After the photovoltaic panels are attached by the cross-row connection and angle adjustment components, the drive motor 32 is started, and its output end drives the moving wheel 31 to rotate. The moving wheel 31 rolls along the extension direction of the outer frame 27. The first adjustment shim 33 finely adjusts the position of the drive motor 32 according to the flatness of the road surface during the walking process to avoid the moving wheel 31 from getting stuck and to ensure the stability and uniformity of walking.

[0038] Preparation for cleaning solution spraying: The water pump 293 delivers the high-pressure cleaning solution to the spray pipe 35 through the water supply pipe 292 and the pipe connecting hose. The cleaning solution forms a high-pressure water flow in the spray pipe 35, providing power for the spraying. The speed of the water pump 293 is adjusted according to the degree of dirt on the photovoltaic panel detected by the ultrasonic detection strip to control the spraying pressure and flow rate. Directional spraying and range adjustment: High-pressure cleaning fluid is sprayed from the spray head 36 through the spray pipe 35. The conical cover 37 concentrates the sprayed water flow to prevent the cleaning fluid from splashing everywhere and improve the utilization rate of the cleaning fluid. By sliding the adjustment cover 38 within the conical cover 37, the spraying angle and coverage range can be changed, so that the cleaning fluid is accurately sprayed onto the dirty areas of the photovoltaic panel, achieving uniform coverage of the cleaning fluid and preparing for subsequent physical cleaning. During the movement, the spraying components move synchronously with the device to achieve continuous and full-area spraying of the photovoltaic panel surface.

[0039] Example 5 Based on Embodiment 1, this embodiment provides a photovoltaic cleaning robot cross-row movement locking device. Multiple cleaning execution components are provided, with one cleaning execution component on each transmission mechanism 3. Each cleaning execution component is embedded inside the adjustment cover 38 of the walking and spraying components, and includes a second drive roller 71, a meshing gear 72, a cleaning motor 73, and a cleaning belt 74, wherein: There are two second drive roller shafts 71, which are mounted side by side on the inner surface of the first adjusting shim 33 and placed between the two water spray pipes 35.

[0040] A cleaning motor 73 is mounted on one of the first adjusting shims 33, and the cleaning motor 73 is drivenly connected to one of the second drive rollers 71.

[0041] Each second drive roller 71 has a meshing gear 72 installed at its free end. The two meshing gears 72 mesh with each other to achieve synchronous transmission. The outer surfaces of the two second drive rollers 71 are covered with cleaning belts 74, which circulate as the rollers rotate.

[0042] The working process of this embodiment: The core function of this component is to remove dust and dirt from the surface of photovoltaic panels through flexible rolling wiping, based on the spraying of cleaning liquid, achieving deep cleaning. The working process is fully linked with the walking and spraying components, operating synchronously, and is divided into two steps: Synchronous drive preparation: After the device's walking and spraying components are started, the cleaning motor 73 is started synchronously. Its output shaft drives the meshing gear 72 connected to it to rotate. Through the mutual meshing of the two meshing gears 72, another second drive roller shaft 71 is driven to rotate synchronously and at the same speed, ensuring the smooth rolling of the cleaning belt 74 and avoiding the cleaning belt 74 from slipping or deviating due to inconsistent roller speeds. Rolling wiping and synchronous operation: Two second drive rollers 71 rotate synchronously, driving the cleaning belt 74 to circulate and roll. The outer surface of the cleaning belt 74 flexibly contacts the surface of the photovoltaic panel. Under the wetting effect of the cleaning liquid, it rolls and wipes the surface of the photovoltaic panel, removing the softened dust and dirt from the surface of the photovoltaic panel after spraying. During the cleaning process, the cleaning execution component moves at a constant speed along the photovoltaic panel with the walking component, and synchronously completes the spraying of cleaning liquid and physical wiping with the spraying component, realizing the integrated operation of "spraying-wiping", which significantly improves cleaning efficiency and cleaning effect. The flexible cleaning belt 74 can avoid scratching the surface of the photovoltaic panel, ensuring the light transmittance and service life of the photovoltaic panel.

[0043] Example 6 Based on Embodiment 1, this embodiment provides a photovoltaic cleaning robot cross-row movement locking device. The robotic arm sensing mechanism 5 includes an access base 51, a meshing gear disk 52, a concave bracket 53, an upper support 54, a first drive roller 55, an inclined support rod 56, a push cylinder 57, a concave traction frame 58, and a linkage roller 59, wherein: The access base 51 is fixed to the side wall of the bracket, and the meshing gear disk 52 is located at the top of the access base. A concave bracket 53 and an upper bracket 54 are connected to it in sequence. The upper bracket 54 is provided with a first drive roller shaft 55 and connected to an inclined support rod 56. The outer wall of the inclined support rod 56 is provided with a push cylinder 57. The output end of the push cylinder is connected to a concave traction frame 58. The concave traction frame and the inclined support rod are connected by a linkage roller shaft 59, and one end of the linkage roller shaft 59 is pulled by the top of the ultrasonic generator 42 of the subsequent configuration mechanism.

[0044] In this embodiment, the robotic arm sensing mechanism 5 is the core of the cross-component linkage. After activation, the meshing gear disk 52 rotates, driving the concave bracket 53 and the upper bracket 54 to achieve horizontal angle adjustment, thereby adjusting the spatial position of the inclined support rod 56; the push cylinder 57 extends and retracts, driving the concave traction frame 58 to move axially along the linkage roller shaft 59. Through the traction action of the linkage roller shaft 59, the ultrasonic generator 42 of the subsequent cross-row connection and angle adjustment components and configuration mechanism is driven to achieve precise adjustment of position and angle, adapting to the cleaning position requirements of the photovoltaic panel.

[0045] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A locking device for cross-row movement of a photovoltaic cleaning robot, characterized in that, include: Support components are used to provide structural support for the main body of the device and to contain the cleaning agent; A cross-row connection and angle adjustment assembly is used to enable the device to cross-connect between different rows of photovoltaic panels and to adjust the angle of the cleaning component relative to the photovoltaic panel; A walking and spraying assembly is used to drive the device to move along the photovoltaic panel and spray cleaning liquid onto the surface of the photovoltaic panel. Cleaning execution components are used for physical wiping and cleaning of the photovoltaic panel surface; The robotic arm sensing mechanism, mounted on the support assembly, is used to pull and adjust the position and angle of the cross-row connection and angle adjustment assembly, and the walking and spraying assembly.

2. The photovoltaic cleaning robot cross-row movement locking device according to claim 1, characterized in that, The support assembly includes an upper frame (11) and a detergent storage tray (12). The detergent storage tray (12) is fixed to the top center of the upper frame (11). A connecting tank (17) is attached to the middle of the detergent storage tray (12). A liquid filling port is provided at the top of the connecting tank (17). A connecting tank (191) is connected to the side wall of the connecting tank (17). A mixing motor (192) is installed horizontally on the side wall of the connecting tank (191). The cleaning agent storage tray (12) is equipped with a liquid pump (13) on the top side. The discharge end of the liquid pump (13) is connected to a conical base (14). The conical base (14) is cross-connected with an L-shaped connecting pipe (15). The top of the L-shaped connecting pipe (15) is equipped with a connecting valve pipe (16). The upper frame (11) is symmetrically provided with reinforcing cylinders (64) on both sides of the bottom. The reinforcing cylinders (64) are provided with support pads (65) on both sides of the bottom. The support pads (65) are connected to the bottom of the second adjusting pads (67) through the fourth hinge base (66). The robotic arm sensing mechanism is installed on the edge sidewall of the detergent storage tray (12).

3. The photovoltaic cleaning robot cross-row movement locking device according to claim 2, characterized in that, The outer frame (27) has a configuration mechanism (4) at the top center. The configuration mechanism (4) includes a tray (41), an ultrasonic generator (42), and a horizontal support rod (43). The ultrasonic generator (42) is installed in the middle of the tray (41). An ultrasonic detection strip is provided on the bottom side of the ultrasonic generator (42). The horizontal support rod (43) connects the tray (41) and the outer frame (27). The top side of the outer frame (27) is provided with a connecting cylinder, one end of which is connected to a flexible pipe, and the top of the flexible pipe is connected to a water supply pipe (292). The water supply pipe (292) is connected to a water pump (293). The bottom of the pump body of the water pump (293) is fixed to the side of the first arc-shaped bracket (21). The side of the water pump (293) is provided with an access sleeve (294) and an impeller drive motor (295). The output end of the impeller drive motor (295) is connected to the water pump (293) in a transmission connection.

4. The photovoltaic cleaning robot cross-row movement locking device according to claim 1, characterized in that, The robotic arm sensing mechanism includes an access base (51), a meshing gear disk (52), a concave bracket (53), an upper support (54), a first drive roller (55), an inclined support rod (56), a push cylinder (57), a concave traction frame (58), and a linkage roller (59), wherein: The access base (51) is fixed to the side wall of the detergent storage tray (12) of the support assembly. The meshing gear disk (52) is located at the top of the access base (51). The concave bracket (53) is located at the top of the meshing gear disk (52). The upper bracket (54) is located at the top of the concave bracket (53). The first drive roller shaft (55) is located at the top of the upper bracket (54). The inclined support rod (56) is connected to the first drive roller shaft (55). The push cylinder (57) is installed on the outer wall of the inclined support rod (56), the concave traction frame (58) is connected to the output end of the push cylinder (57), the linkage roller (59) is located in the middle of the side wall of the concave traction frame (58), and one end of the linkage roller (59) is connected to the top of the ultrasonic generator (42) in the angle adjustment assembly. The push cylinder (57) has a hinged roller shaft on the side of the cylinder body, and the hinged roller shaft is connected to one end of the connecting support rod for transmission and extension.

5. The photovoltaic cleaning robot cross-row movement locking device according to claim 1, characterized in that, The cross-row connection and angle adjustment assembly includes an arc-shaped support mechanism (2). The arc-shaped support mechanism (2) includes two first arc-shaped brackets (21) arranged in parallel on both sides of the upper frame (11). The two first arc-shaped brackets (21) are connected by a connecting crossbar (22). An angle drive motor (23) is provided on the side wall of the first arc-shaped bracket (21). The output end of the angle drive motor (23) is connected to an arc-shaped rotating base (24). The side wall of the arc-shaped rotating base (24) is connected to a second arc-shaped bracket (25). The free end of the second arc-shaped bracket (25) is hinged to an outer frame (27) through a third hinge base (26). The outer frame (27) has telescopic cavities (29) on both sides, and multiple extension brackets (291) are slidably installed in the telescopic cavities (29).

6. A photovoltaic cleaning robot cross-row movement locking device according to claim 5, characterized in that, The cross-row connection and angle adjustment assembly also includes a telescopic extension mechanism (6). The telescopic extension mechanism (6) is installed at the bottom telescopic extension joint of the extension bracket (291). The telescopic extension mechanism (6) includes an extension cylinder (61), a return spring (62), and a fitting pad (63). The cylinder body of the extension cylinder (61) is fixed to the bottom of the extension bracket (291). The return spring (62) is sleeved on the surface of the extension cylinder (61). The telescopic ends of the return spring (62) and the extension cylinder (61) are both connected to the fitting pad (63). The top of the fitting pad (63) is slidably telescopically connected to the extension bracket (291) of the next joint.

7. The photovoltaic cleaning robot cross-row movement locking device according to claim 1, characterized in that, The walking and spraying assembly includes multiple transmission mechanisms (3), which are arranged in the cavity formed by the outer frame (27) and the extension bracket (291) of the support assembly, and the installation direction is perpendicular to the extension direction of the outer frame (27); Each of the transfer mechanisms (3) is provided with a spraying mechanism.

8. A photovoltaic cleaning robot cross-row movement locking device according to claim 7, characterized in that, The transmission mechanism (3) includes two first adjustment pads (33) mounted on the side wall of the extension bracket (291). One of the first adjustment pads (33) is provided with a drive motor (32) and a moving wheel (31) driven by the drive motor (32). The other first adjustment pad (33) is provided with a moving wheel (31). The moving wheel (31) slides in cooperation with the outer frame (27) and the inner side wall of the extension bracket (291).

9. A photovoltaic cleaning robot cross-row movement locking device according to claim 8, characterized in that, The spraying mechanism includes two water spray pipes (35) symmetrically arranged at one end of the first adjusting pad (33) away from the extension bracket (291). The water spray pipes (35) are evenly distributed with multiple water spray heads (36) along the axial direction. The water spray pipes (35) are connected to the pipe and hose on the outer frame (27). Each of the spray nozzles (36) is fitted with a conical cover (37) on its outer side, and an adjusting cover (38) is slidably provided in the inner cavity of the conical cover (37).

10. A photovoltaic cleaning robot cross-row movement locking device according to claim 7, characterized in that, The cleaning execution component corresponds one-to-one with the transmission mechanism (3) and is embedded inside the adjustment cover (38); The cleaning execution assembly includes two second drive rollers (71) mounted side-by-side on the inner surface of the first adjusting pad (33). The two second drive rollers (71) are positioned between two water spray pipes (35). Each of the free ends of the second drive rollers (71) is equipped with a meshing gear (72), and the two meshing gears (72) mesh with each other. A cleaning motor (73) is installed on one of the first adjusting pads (33), and the cleaning motor (73) is driven to one of the second drive rollers (71). The outer surfaces of the two second drive rollers (71) are covered with a cleaning belt (74).

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