A photovoltaic module cleaning robot and a cleaning method

Abstract

This invention discloses a photovoltaic module cleaning robot and cleaning method, relating to the field of photovoltaic cleaning technology. The photovoltaic module cleaning robot includes a moving support, a lifting component, a cover, a flexible scraper, a power conversion unit, and a cleaning fluid injection component. The moving support holds the photovoltaic panel in place, the lifting component moves the cover up and down to cover the dirt, and the cover includes a shell and a cylinder connected by an elastic telescopic member. The cleaning fluid injection component injects cleaning fluid to soften the dirt, and the power conversion unit converts the lifting power into the rotational power of the flexible scraper. A limiting member, through its cooperation with a limiting groove, ensures the scraper is flush with the photovoltaic panel, preventing scratches on the coating. This invention achieves cleaning of stubborn dirt through the cooperation of the flexible scraper and the softening effect of the injected cleaning fluid, effectively protecting the photovoltaic panel and its self-cleaning nano-coating from scratches by the scraper. This solves the problem that existing equipment struggles to balance cleaning effectiveness and coating protection when cleaning stubborn dirt on the hydrophobic and oleophobic coating of photovoltaic panels.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic cleaning technology, specifically a photovoltaic module cleaning robot and cleaning method. Background Technology

[0002] As the core component of solar power generation, the surface cleanliness of photovoltaic modules directly affects their photoelectric conversion efficiency. With the expansion of photovoltaic power plant applications, the photovoltaic panels within these modules are often exposed to outdoor environments, easily accumulating stubborn stains such as dust, bird droppings, resin, and insect remains. These stains not only block sunlight transmission, causing a decrease in photovoltaic panel power generation efficiency of over 30%, but also accelerate module aging and damage due to the temperature difference between the stains and the photovoltaic panel surface, shortening the lifespan of the photovoltaic modules.

[0003] To alleviate the problem of surface contamination in photovoltaic panels, the industry has gradually promoted the application of self-cleaning nanomaterials. These materials form a hydrophobic and oleophobic coating on the surface of the photovoltaic panel, reducing the adhesion of dust and water stains, achieving a certain degree of self-cleaning effect, and reducing the frequency of cleaning. However, these self-cleaning nanomaterials still have significant limitations. The self-cleaning nanocoating can only deal with easily cleanable dirt such as floating dust and small amounts of water stains. For stubborn stains such as solidified bird droppings, resin, and insect remains, its hydrophobic and oleophobic properties cannot effectively remove them, and the stains will still adhere firmly to the coating surface. Long-term accumulation will also affect the light transmittance of the photovoltaic panel.

[0004] Currently, conventional cleaning equipment mostly uses methods such as brush roller sweeping and negative pressure adsorption, which can only remove surface dust and cannot effectively deal with hardened stubborn stains. In order to clean stubborn stains, some equipment has added a scraper structure, using a hard scraper to rotate and scrape or remove stubborn stains. However, for photovoltaic panels with hydrophobic and oleophobic coatings, it is difficult to control the depth of the scraper during the scraping process. If the scraper is higher than the surface of the hydrophobic and oleophobic coating, it will be difficult to thoroughly clean the stubborn stains adhering to the root of the hydrophobic and oleophobic coating. If the scraper is lower than the surface of the hydrophobic and oleophobic coating, it will scratch the coating. In summary, when using a hard scraper to remove stubborn stains, there are problems such as damage to the nano-coating and photovoltaic panel surface due to the rigid contact of the scraper, friction, and loss of control of force. This makes it difficult for current cleaning equipment to meet the needs of cleaning effect and protection of photovoltaic panel coating. Summary of the Invention

[0005] The purpose of this invention is to provide a photovoltaic module cleaning robot and cleaning method to solve the problem that existing photovoltaic module cleaning equipment has difficulty in simultaneously achieving cleaning effect and protecting the photovoltaic panel cleaning coating when cleaning stubborn stains adhering to photovoltaic panels with hydrophobic and oleophobic coatings.

[0006] The technical solution of this invention is: A photovoltaic module cleaning robot includes a mobile support, a lifting component, a cover, a flexible scraper, a power conversion unit, and a cleaning fluid injection component. The mobile support is used to hold the photovoltaic panel and move along a first direction of the photovoltaic panel. The lifting component has a fixing part and a lifting part, and the fixing part is connected to the mobile support. The cover includes a shell and a cylinder. The top of the shell is connected to the lifting part, and the cylinder slides through the shell and is connected to the top surface of the shell via an elastic telescopic member. The cleaning fluid injection component is connected to the cylinder. When the shell is moved by the lifting component to cover the stubborn stains on the photovoltaic panel, cleaning fluid is injected into the cylinder. The flexible scraper is disposed inside the cylinder. The power conversion unit is used to convert the lifting power of the lifting component into... The rotational power of the flexible scraper includes a connecting sleeve, a connecting shaft, a pin, and a limiting component. The connecting sleeve passes through the inner side of the cylinder, and one end of the connecting sleeve is fixed to the inner top surface of the cover. The connecting shaft passes through the connecting sleeve, and one end of the connecting shaft is fixed to the flexible scraper. A spiral groove is formed on the circumferential sidewall of the connecting shaft. The pin is fixed on the inner wall of the connecting sleeve, and the pin is slidably connected to the spiral groove. One side of the limiting component is rotatably connected to the outer wall of the connecting shaft, and the other side of the limiting component is slidably connected to a limiting groove vertically formed on the inner wall of the cylinder. A cleaning fluid injection assembly is mounted on a movable support and communicates with the interior of the cylinder for injecting cleaning fluid into the cylinder before the flexible scraper rotates.

[0007] Preferably, as a further improvement of the present invention, the limiting member is an annular limiting block, the limiting groove is a cylindrical groove, the inner ring surface of the annular limiting block is rotatably connected to the connecting shaft through a bearing, and the outer ring surface of the annular limiting block is slidably connected in the cylindrical groove.

[0008] Preferably, as a further improvement of the present invention, a flexible sealing ring is provided on the bottom outer wall of the cylinder.

[0009] Preferably, as a further improvement of the present invention, the circumferential outer wall of the cylinder is in the shape of a regular polygon, and the circumferential inner wall of the cover matches the shape of the circumferential outer wall of the cylinder.

[0010] Preferably, as a further improvement of the present invention, the elastic telescopic member includes a plurality of springs arranged in a circular manner, with the two ends of each spring connected to the inner top surface of the cover and the end face of the cylinder, respectively.

[0011] Preferably, as a further improvement of the present invention, the movable support is a U-shaped frame, and multiple sets of movable wheel sets are provided on the two walls facing the U-shaped frame. The multiple sets of movable wheel sets are arranged parallel to each other along the first direction of the photovoltaic panel. Each movable wheel set includes two vertically parallel walking wheels, and the photovoltaic panel is held between the two walking wheels.

[0012] Preferably, as a further improvement of the present invention, the U-shaped frame is provided with a position adjustment mechanism, the position adjustment mechanism including an identification component, a lead screw slide module and a control component; the identification component is disposed on the inner wall of the crossbeam of the U-shaped frame and located on the front side of the cover, for detecting the location of stubborn stains adhering to the surface of the photovoltaic panel; the lead screw slide module is disposed at the mounting opening along the second direction of the photovoltaic panel, the second direction being perpendicular to the first direction, the mounting opening being opened on the crossbeam of the U-shaped frame, and the fixing part of the lifting component is fixed to the slide in the lead screw slide module; the control component is electrically connected to the identification component, the lead screw slide module and the lifting component respectively.

[0013] Preferably, as a further improvement of the present invention, the cleaning fluid injection assembly includes a cleaning fluid storage tank, a water pump, and an injection pipe. The cleaning fluid storage tank is fixed on the outer wall of the crossbeam of the U-shaped frame and located on one side of the mounting port. The input end of the water pump is connected to the interior of the cleaning fluid storage tank, and the output end of the water pump is connected to the interior of the cylinder through the injection pipe. The water pump is electrically connected to the control assembly.

[0014] Preferably, as a further improvement of the present invention, it also includes a waste collection assembly, which includes a collection box, a waste pump, and a waste pumping pipe. The collection box is fixed on the outer wall of the crossbeam of the U-shaped frame and located on the other side of the mounting port. The input end of the waste pump is connected to the interior of the cylinder through the waste pumping pipe, and the output end of the waste pump is connected to the interior of the collection box. The waste pump is electrically connected to the control assembly.

[0015] Based on the same concept, this invention also discloses a photovoltaic module cleaning method, which is implemented using the aforementioned photovoltaic module cleaning robot and includes the following steps: The moving bracket stops moving once it reaches the area with stubborn stains on the photovoltaic panel. The lifting assembly lowers the cover, using the cylindrical body to cover the stubborn stains on the photovoltaic panels, forming an enclosed space. The cleaning solution is injected into the cylinder through the cleaning solution injection component, so that the cleaning solution covers the stubborn stains and soaks for 30 to 60 seconds to soften the stubborn stains. After soaking, the lifting component continues to move the cover downward and compress the elastic telescopic component. When the flexible scraper cover moves downward, it will drive the connecting sleeve, connecting shaft, limiting component and flexible scraper to move downward synchronously until the limiting component is restricted by the limiting groove, so that the flexible scraper is flush with the surface of the photovoltaic panel. Continue to control the lifting component to move the cover and connecting sleeve downwards, so that the connecting sleeve is displaced downwards relative to the connecting shaft. The pin slides in the spiral groove and pushes the connecting shaft to rotate, which drives the flexible scraper to rotate and scrape the softened stubborn stains, thus removing the stubborn stains.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. A flexible scraper is used to reduce damage to the coating. The cover is positioned over stubborn stains to form a space surrounding the stains. The cleaning solution is then injected into the stains in advance by the cleaning solution injection component to soften them. This allows the flexible scraper to remove stubborn stains without applying too much force, improving the cleaning effect while reducing scratches on the photovoltaic panel surface coating.

[0017] 2. The lifting power is used to simultaneously control the lifting of the cover and drive the rotation of the scraper. The cover consists of a shell and a cylinder, which are connected by an elastic telescopic component. During the process of lowering the cover onto the photovoltaic panel surface, a certain buffer displacement space is formed, thereby avoiding a rigid collision between the bottom of the cylinder and the photovoltaic panel surface. After the lifting power drives the cover to cover the photovoltaic panel surface, it can continue to drive the scraper to move up and down to the photovoltaic panel surface through the power conversion unit for rotation and scraping.

[0018] 3. By using the limiting components and limiting grooves together, the lifting position of the scraper can be limited, so that after it is lowered to the lowest position, it remains flush with the surface of the photovoltaic panel, thus avoiding penetrating and scratching the surface coating of the photovoltaic panel. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a photovoltaic module cleaning robot according to an embodiment of the present invention.

[0020] Figure 2 This is a three-dimensional structural diagram of a photovoltaic module cleaning robot from another perspective, according to an embodiment of the present invention.

[0021] Figure 3 This is a front sectional view of a photovoltaic module cleaning robot according to an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the internal structure of the cover in a photovoltaic module cleaning robot according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of a photovoltaic module cleaning robot in its first usage state during the cleaning process, according to an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of a photovoltaic module cleaning robot in its second usage state during the cleaning process, according to an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of a photovoltaic module cleaning robot in its third usage state during the cleaning process, according to an embodiment of the present invention.

[0026] Figure 8This is a schematic diagram of a photovoltaic module cleaning robot in its fourth usage state during the cleaning process, according to an embodiment of the present invention. Detailed Implementation

[0027] The following is combined Figures 1-8 The specific embodiments of the present invention will be described in detail below. In the description of the invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the invention, unless otherwise stated, "a plurality of" means two or more.

[0029] Example 1 like Figures 1-8 As shown, this embodiment of the invention provides a photovoltaic module cleaning robot, including a mobile support 1, a lifting component 2, a cover 3, a flexible scraper 4, a power conversion unit, and a cleaning fluid injection component.

[0030] The mobile support 1 serves as the main body for the robot's movement, holding onto the photovoltaic panel and moving along its first direction. In practice, the first direction refers to the length direction of the photovoltaic panel. The mobile support 1 is a U-shaped frame with multiple sets of moving wheels 11 on its two opposite walls. These sets of moving wheels 11 are arranged parallel to the first direction of the photovoltaic panel. Each set of moving wheels 11 includes two parallel wheels arranged vertically. In use, the two sides of the photovoltaic panel are placed inside the opening of the U-shaped frame and held between the two wheels of each set of moving wheels 11. The wheels can be driven by a motor, using friction to move the mobile support 1 along the photovoltaic panel. Alternatively, when the overall weight of the mobile support 1 exceeds the load-bearing capacity of the photovoltaic panel, the wheels are passive, unpowered, and only serve as guides to avoid damaging the panel. The robot is moved by external transport equipment, which is a mobile vehicle equipped with a robotic arm. The robotic arm connects the U-shaped frame, thus moving the mobile support 1 along the photovoltaic panel by hoisting.

[0031] The lifting assembly 2 has a fixed part and a lifting part. The fixed part is connected to the movable support 1. In specific implementation, the lifting assembly 2 can be any structural component with linear displacement function, such as a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder. The fixed part refers to the cylinder body, and the lifting part refers to the piston rod end.

[0032] The cover 3 includes a housing 31 and a cylindrical body 32. The top of the housing 31 is connected to the lifting unit, and the cylindrical body 32 slides inside the housing 31 and is connected to the inner top surface of the housing 31 through an elastic telescopic member 33. A cleaning liquid injection component is connected to the cylindrical body 32. When the housing 31 is driven by the lifting component 2 to cover the stubborn stains on the photovoltaic panel, cleaning liquid is injected into the cylindrical body 32. The cover 3 is one of the invention points of this invention. It is used to cover the stubborn stains on the photovoltaic panel and form a space surrounding the stubborn stains. This makes it easy for the cleaning liquid injection component to inject the cleaning liquid into the inside of the cylindrical body 32. Before scraping, the stubborn stains are soaked in the cleaning liquid. During the scraping process of the flexible scraper 4, the friction of the scraper 4 is reduced, thereby reducing the occurrence of scratches on the surface of the photovoltaic panel. The elastic telescopic member 33 provides a certain buffer displacement space between the housing 31 and the cylindrical body 32, which can prevent the bottom of the cylindrical body 32 from rigidly colliding with the surface of the photovoltaic panel.

[0033] The flexible scraper 4, as the main component for removing stubborn stains, is located inside the cylinder 32. The flexible scraper 4 is made of a material that possesses a certain degree of flexibility, strength, wear resistance, chemical corrosion resistance, and a low coefficient of friction, preventing damage to the coating and ensuring its durability. The flexible scraper 4 can be made of polyurethane thermoplastic elastomer or polytetrafluoroethylene (PTFE). Polyurethane thermoplastic elastomer combines the high elasticity of rubber with the wear resistance of plastic, offering moderate hardness. For photovoltaic panels, it provides the necessary hardness to remove stubborn stains while also providing sufficient cushioning elasticity to avoid damaging the nano-coating. Furthermore, its low coefficient of friction results in low resistance during cleaning and minimizes wear on the self-cleaning coating. PTFE, on the other hand, has non-stick properties, making it difficult for dirt to adhere to the scraper, thus achieving a self-cleaning scraping process. In use, it is made into a flexible PTFE film and adhered to a rigid substrate as a wear-resistant and non-stick lining.

[0034] The power conversion unit, as one of the inventive points of this invention, is used to convert the lifting power of the lifting assembly 2 into the rotational power of the flexible scraper 4. The rotating flexible scraper 4 is used to scrape away stubborn stains. The power conversion unit includes a connecting sleeve 51, a connecting shaft 52, a pin 53, and a limiting member 54. The connecting sleeve 51 passes through the inner side of the cylinder 32, and one end of the connecting sleeve 51 is fixed to the inner top surface of the cover 31. The connecting shaft 52 passes through the connecting sleeve 51, and one end of the connecting shaft 52 is fixed to the back of the flexible scraper 4. A spiral groove 521 is opened on the circumferential side wall of the connecting shaft 52. The pin 53 is fixed on the inner wall of the connecting sleeve 51, and the pin 53 is slidably connected to the spiral groove 521. One side of the limiting member 54 is rotatably connected to the outer wall of the connecting shaft 52, and the other side of the limiting member 54 is slidably connected to the limiting groove 321 vertically opened on the inner wall of the cylinder 32.

[0035] The following is combined Figures 5-8 The process of scraping by rotating the flexible scraper 4 driven by the power conversion unit is described in detail, such as... Figure 5 As shown, the lifting assembly 2 causes the entire cover 3 to retract above the photovoltaic panel, allowing the cleaning robot to move along the photovoltaic panel; as Figure 6 As shown, after moving to the location of the photovoltaic panel to be cleaned, the lifting component 2 moves the cover 3 downwards, and the lower end of the cylinder 32 abuts against the photovoltaic panel, covering the stubborn stains inside the cylinder 32. At this time, the flexible scraper 4 is located above the stubborn stains. After the cylinder 32 completely covers the photovoltaic panel, a certain amount of cleaning liquid is injected into the cylinder 32 through the cleaning liquid injection component, so that the cleaning liquid inside the cylinder 32 submerges the stubborn stains. The cleaning liquid accumulated inside the cylinder 32 soaks and softens the stubborn stains for 30-60 seconds. Figure 7 As shown, since the cylinder 32 and the cover 31 are connected by an elastic telescopic member 33, they have a certain amount of room to move. This allows the lifting assembly 2 to continue to move the cover 31 downwards and compress the elastic telescopic member 33. Simultaneously, since the connecting sleeve 51 is connected to the connecting shaft 52 via a spiral groove 521 on the circumferential sidewall of the connecting shaft 52 through a pin 53, the downward movement of the cover 31 will cause the connecting sleeve 51, connecting shaft 52, limiting member 54, and flexible scraper 4 to move downwards synchronously until the movement of the limiting member 54 is restricted by the limiting groove 321 and cannot continue downwards. At this point, the flexible scraper 4 remains flush with the lower end of the cylinder 32, i.e., flush with the surface of the photovoltaic panel, preventing the flexible scraper 4 from scratching the surface of the photovoltaic panel. Figure 8As shown, because the limiting member 54 is restricted by the limiting groove 321, the connecting shaft 42 cannot continue to move downward. At this time, as the lifting component 2 continues to drive the cover 31 and the connecting sleeve 51 downward, it continuously compresses the elastic telescopic member 33. The connecting sleeve 51 moves downward relative to the connecting shaft 52, and the pin 53 slides in the spiral groove 521 of the connecting shaft 52, pushing the connecting shaft 521 to rotate around its own axis, thereby driving the flexible scraper 4 to rotate and scrape the softened stubborn stains, achieving thorough removal of stubborn stains. Moreover, due to the presence of cleaning fluid during the cleaning process, damage to the photovoltaic panel by the flexible scraper 4 can be reduced. After cleaning, as shown... Figure 5 As shown, the lifting assembly 2 raises the cover 31, causing the cylinder 32 to move back above the photovoltaic panel. Since no pressure is applied to the elastic telescopic member 33, it re-extends under the elastic force of the elastic telescopic member 33 and returns to its original state. During the extension of the elastic telescopic member 33, displacement changes occur between the cover 31 and the cylinder 32, as well as between the connecting sleeve 51 and the connecting shaft 52. This causes the limiting member 54 to rise and move until it is limited by the limiting groove 321. The connecting sleeve 51 continues to move upward relative to the connecting shaft 52, causing the pin 53 to slide in the spiral groove 521 of the connecting shaft 52, pushing the connecting shaft 521 to rotate in the opposite direction around its own axis back to its initial state, so as to clean the next stubborn stain.

[0036] Specifically, such as Figure 4 As shown, the limiting member 54 is an annular limiting block, and the limiting groove 321 is a cylindrical groove. The inner ring surface of the annular limiting block is rotatably connected to the connecting shaft 52 through a bearing, so that the connecting shaft 52 can easily rotate relative to the annular limiting block. The outer ring surface of the annular limiting block is slidably connected in the cylindrical groove.

[0037] As an optimization and improvement of the present invention, such as Figure 4 As shown, a flexible sealing ring 34 is provided on the bottom outer wall of the cylinder 32. The flexible sealing ring 34 can seal the gaps around the cylinder 32 when the lifting component 2 moves the lower end of the cylinder 32 to cover the photovoltaic panel, so as to prevent leakage after the cleaning fluid is injected into the cylinder 32.

[0038] As an optimization and improvement of the present invention, in order to prevent the cylinder 32 from rotating relative to the cover 31 during the movement, the shape of the outer circumferential wall of the cylinder 32 is a regular polygon, and the shape of the inner circumferential wall of the cover 31 matches the shape of the outer circumferential wall of the cylinder 32. In this way, the movement direction of the cylinder 32 is limited, so that it can only move up and down along the axial direction of the cover 31.

[0039] Specifically, the elastic telescopic component 33 includes multiple springs arranged in a ring. The two ends of each spring are connected to the inner top surface of the cover 31 and the end face of the cylinder 32, respectively. The springs can provide cushioning for the cylinder 32 while applying continuous elastic pressure, so that the flexible sealing ring 34 at the bottom of the cylinder 32 is always tightly attached to the surface of the photovoltaic panel, sealing the peripheral gaps of the cylinder 32 and preventing leakage after the cleaning fluid is injected into the cylinder 32.

[0040] In other embodiments of the invention, such as Figure 1 and Figure 2 As shown, in order to identify and locate stubborn stains and adjust the position of the cover 3 for cleaning, a position adjustment mechanism is provided on the U-shaped frame. The position adjustment mechanism includes an identification component 61, a lead screw slide module 62, and a control component 63. The identification component 61 is set on the inner wall of the crossbeam of the U-shaped frame and located on the front side of the cover 3. It is used to detect the location of stubborn stains on the surface of the photovoltaic panel. In specific implementation, real-time images of the photovoltaic panel surface can be captured. The image recognition module analyzes and processes the images to identify the specific coordinates of the stubborn stains and transmits the position signal to the control component 63. The lead screw slide module 62 moves along the light... The second direction of the photovoltaic panel is set at the mounting port 12. The second direction is perpendicular to the first direction. In practical applications, the second direction specifically refers to the width direction of the photovoltaic panel. The mounting port 12 is opened on the crossbeam of the U-shaped frame. The fixing part of the lifting component 2 is fixed to the slide in the screw slide module 62. Taking the lifting component 2 as an example, the cylinder body of the hydraulic cylinder is fixed to the top of the slide in the screw slide module 62. The piston rod of the hydraulic cylinder passes through the reserved through hole of the slide and extends to its lower part to be fixed to the cover 31. The control component 63 is electrically connected to the identification component 61, the screw slide module 62, the lifting component 2, and the traveling wheel / external transportation equipment.

[0041] In this embodiment, the identification component 61 can accurately detect the location of stubborn stains on the surface of the photovoltaic panel and transmit the location signal to the control component 63. The control component 63 controls the wheels of the moving support 1 or the external transport equipment to adjust the position of the cover 3 on the photovoltaic panel in the length direction. The control component 63 controls the screw slide module 62 to drive the lifting component 2 and the cover to move along the width direction of the photovoltaic panel, thereby realizing the process of adjusting the width direction of the cover 3 on the photovoltaic panel, so that the cover 3 can be accurately positioned to cover the location of the stubborn stains to be cleaned.

[0042] It should be noted that the present invention has a main cleaning mechanism and a secondary cleaning mechanism on the U-shaped frame. The main cleaning mechanism is used to clean the dust on the surface of the photovoltaic panel, while the secondary cleaning mechanism is the stubborn dirt cleaning structure mentioned earlier, consisting of the lifting component 2, the cover 3, the flexible scraper 4, the power conversion unit, and the cleaning fluid injection component. Figure 3As shown, the main cleaning mechanism includes a cleaning brush roller 91 and a wiping plate 92, both of which are located at the bottom of the crossbeam of the U-shaped frame. The cleaning brush roller 91 is located on the front side of the cover 3 as the first cleaning process, which aims to remove the easily cleanable dust from the surface of the photovoltaic panel. The identification component 61 is located on the rear side of the cleaning brush roller 91 and can identify stubborn stains that cannot be removed by the cleaning brush roller 91. Then, the position of the cover 3 is adjusted by the position adjustment mechanism and the stubborn stains are removed by the flexible scraper 4. The wiping plate 92 is located on the rear side of the cover 3 and can wipe the cleaned photovoltaic panel surface.

[0043] Specifically, the cleaning fluid injection assembly includes a cleaning fluid storage tank 71, a water pump 72, and an injection pipe 73. The cleaning fluid storage tank 71 is fixed on the outer wall of the crossbeam of the U-shaped frame and located on one side of the mounting port 12. The input end of the water pump 72 is connected to the interior of the cleaning fluid storage tank 71, and the output end of the water pump 72 is connected to the interior of the cylinder 32 through the injection pipe 73. The water pump 72 is electrically connected to the control component 63. During the injection process, the control component 63 controls the water pump 72 to extract the cleaning fluid stored in the cleaning fluid storage tank 71 and pump it into the cylinder 32 through the injection pipe 73. The injection pipe 73 is a flexible hose so that it can move with the cover 3 when the position adjustment mechanism moves it.

[0044] In another embodiment of the present invention, considering that the cleaning fluid inside the cylinder 32 after cleaning is mixed with dirt and forms waste liquid, if the cylinder 32 is lifted directly, the waste liquid will slide down the surface of the photovoltaic panel, causing large-area secondary pollution to the surface of the photovoltaic panel. Therefore, in order to achieve direct collection of the waste liquid inside the cylinder 32, a dirt collection component is also provided, such as... Figure 1 and Figure 3 As shown, the waste collection assembly includes a collection box 81, a sludge pump 82, and a sludge suction pipe 83. The collection box 81 is fixed on the outer wall of the crossbeam of the U-shaped frame and is located on the other side of the mounting port 12. The input end of the sludge pump 82 is connected to the inside of the cylinder 32 through the sludge suction pipe 83, and the output end of the sludge pump 82 is connected to the inside of the collection box 81. The sludge pump 82 is electrically connected to the control component 63. When the waste collection assembly is collecting waste, the control component 63 controls the sludge pump 82 to use the sludge suction pipe 83 to draw the waste liquid in the cylinder 32 into the collection box 81. The sludge suction pipe 83 is a flexible hose so that it can move with the cover 3 when the position adjustment mechanism moves it.

[0045] Example 2 This embodiment, based on Embodiment 1, discloses a photovoltaic module cleaning method, which is implemented using the aforementioned photovoltaic module cleaning robot, and includes the following steps: S1. When the moving bracket 1 moves the cover 3 to the stubborn stain on the photovoltaic panel, it stops moving.

[0046] S2. The lifting component 2 drives the cover 31 to descend, and the cylinder 32 covers the stubborn stains on the photovoltaic panel to form an enclosed space.

[0047] S3. Inject cleaning solution into cylinder 32 through the cleaning solution injection component, so that the cleaning solution covers the stubborn stains, and soak for 30 to 60 seconds to soften the stubborn stains.

[0048] S4. After soaking, the lifting component 2 continues to drive the cover 31 to move downward and compress the elastic telescopic component 33. When the cover 31 moves downward, the flexible scraper 4 will drive the connecting sleeve 51, connecting shaft 52, limiting component 54 and flexible scraper 4 to move downward synchronously until the limiting component 54 is restricted by the limiting groove 321, so that the flexible scraper 4 is flush with the surface of the photovoltaic panel.

[0049] S5. Continue to control the lifting component 2 to drive the cover 31 and connecting sleeve 51 to move downward, so that the connecting sleeve 51 is displaced downward relative to the connecting shaft 52, the pin 53 slides in the spiral groove 521 and pushes the connecting shaft 52 to rotate, driving the flexible scraper 4 to rotate and scrape the softened stubborn stains, thereby removing the stubborn stains.

[0050] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A photovoltaic module cleaning robot, characterized in that, include: A movable bracket is used to hold the photovoltaic panel in place and move along the first direction of the photovoltaic panel. A lifting assembly has a fixed part and a lifting part, wherein the fixed part is connected to a movable bracket; The cover includes a housing and a cylinder. The top of the housing is connected to the lifting unit. The cylinder slides through the housing and is connected to the top surface of the housing through an elastic telescopic member. A cleaning liquid injection component is connected to the cylinder. When the housing is lifted by the lifting component and the cylinder is placed over the stubborn stains on the photovoltaic panel, cleaning liquid is injected into the cylinder. A flexible scraper is placed inside the cylinder; A power conversion unit, used to convert the lifting power of the lifting assembly into the rotational power of the flexible scraper, includes: a connecting sleeve, which passes through the inner side of the cylinder and has one end fixed to the inner top surface of the cover; A connecting shaft is inserted into the connecting sleeve, and one end is fixed to the flexible scraper. A spiral groove is provided on the circumferential sidewall of the connecting shaft. A pin is fixed on the inner wall of the connecting sleeve and is slidably connected to the spiral groove. A limiting member is rotatably connected to the outer wall of the connecting shaft on one side and slidably connected to the limiting groove vertically opened on the inner wall of the cylinder on the other side.

2. The photovoltaic module cleaning robot according to claim 1, characterized in that, The limiting component is an annular limiting block, and the limiting groove is a cylindrical groove. The inner ring surface of the annular limiting block is rotatably connected to the connecting shaft through a bearing, and the outer ring surface of the annular limiting block is slidably connected in the cylindrical groove.

3. The photovoltaic module cleaning robot according to claim 1, characterized in that, A flexible sealing ring is provided on the bottom outer wall of the cylinder.

4. The photovoltaic module cleaning robot according to claim 1, characterized in that, The outer circumferential wall of the cylinder is a regular polygon, and the inner circumferential wall of the cover matches the shape of the outer circumferential wall of the cylinder.

5. The photovoltaic module cleaning robot according to claim 1, characterized in that, The elastic telescopic component includes multiple springs arranged in a circular pattern, with each spring's two ends connected to the inner top surface of the cover and the end face of the cylinder, respectively.

6. The photovoltaic module cleaning robot according to claim 1, characterized in that, The movable support is a U-shaped frame, and multiple sets of movable wheels are provided on the two walls facing the U-shaped frame. The multiple sets of movable wheels are arranged parallel to the first direction of the photovoltaic panel. Each set of movable wheels includes two vertically parallel walking wheels, and the photovoltaic panel is held between the two walking wheels.

7. The photovoltaic module cleaning robot according to claim 6, characterized in that, The U-shaped frame is equipped with a position adjustment mechanism, which includes: The identification component is set on the inner wall of the crossbeam of the U-shaped frame and located on the front side of the cover, and is used to detect the location of stubborn stains on the surface of the photovoltaic panel; A lead screw slide module is installed at the mounting port along the second direction of the photovoltaic panel. The second direction is perpendicular to the first direction. The mounting port is opened on the U-shaped frame beam. The fixing part of the lifting component is fixed to the slide in the lead screw slide module. The control component is electrically connected to the identification component, the lead screw slide module, and the lifting component, respectively.

8. The photovoltaic module cleaning robot according to claim 7, characterized in that, The cleaning fluid injection assembly includes a cleaning fluid storage tank, a water pump, and an injection pipe. The cleaning fluid storage tank is fixed on the outer wall of the crossbeam of the U-shaped frame and located on one side of the installation port. The input end of the water pump is connected to the interior of the cleaning fluid storage tank, and the output end of the water pump is connected to the interior of the cylinder through the injection pipe. The water pump is electrically connected to the control assembly.

9. The photovoltaic module cleaning robot according to claim 8, characterized in that, It also includes a waste collection assembly, which includes a collection box, a waste pump, and a waste pumping pipe. The collection box is fixed on the outer wall of the crossbeam of the U-shaped frame and located on the other side of the installation port. The input end of the waste pump is connected to the inside of the cylinder through the waste pumping pipe, and the output end of the waste pump is connected to the inside of the collection box. The waste pump is electrically connected to the control assembly.

10. A method for cleaning photovoltaic modules, characterized in that, The photovoltaic module cleaning robot as described in any one of claims 1 to 9 is used, comprising the following steps: The moving bracket stops moving once it reaches the area with stubborn stains on the photovoltaic panel. The lifting assembly lowers the cover, using the cylindrical body to cover the stubborn stains on the photovoltaic panels, forming an enclosed space. The cleaning solution is injected into the cylinder through the cleaning solution injection component, so that the cleaning solution covers the stubborn stains and soaks them for 2-3 seconds to soften the stubborn stains; After soaking, the lifting component continues to move the cover downward and compress the elastic telescopic component. When the flexible scraper cover moves downward, it will drive the connecting sleeve, connecting shaft, limiting component and flexible scraper to move downward synchronously until the limiting component is restricted by the limiting groove, so that the flexible scraper is flush with the surface of the photovoltaic panel. Continue to control the lifting component to move the cover and connecting sleeve downwards, so that the connecting sleeve is displaced downwards relative to the connecting shaft. The pin slides in the spiral groove and pushes the connecting shaft to rotate, which drives the flexible scraper to rotate and scrape the softened stubborn stains, thus removing the stubborn stains.

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