Intelligent cleaning device for surface of photovoltaic panel

Abstract

A photovoltaic panel surface intelligent cleaning device belongs to the technical field of photovoltaic power generation. Which comprises a cleaning robot (1), the cleaning robot (1) is clamped on the surface of a photovoltaic module (2), a cleaning roller is arranged in the cleaning robot (1), and the photovoltaic module cleaning device is characterized in that a water supply mechanism (5) is arranged on the side portion of the photovoltaic module (2), a sprayer is further arranged in the cleaning robot (1), the water supply mechanism (5) is connected with the sprayer and comprises a guide rail arranged in the arrangement direction of the photovoltaic module (2), and the guide rail is connected with the photovoltaic module (2). And a water tank (9) moving along with the cleaning robot (1) is arranged on the guide rail. According to the intelligent cleaning device for the photovoltaic panel surface, spraying and cleaning can be conducted on the photovoltaic module surface at the same time through the cleaning robot, the cleaning effect is improved, meanwhile, the water tank moving along with the cleaning robot is arranged in the water supply mechanism on the ground, the sufficient water storage amount is guaranteed, and the intelligent cleaning device is suitable for cleaning photovoltaic modules laid in a large area.

Description

Technical Field

[0001] The invention discloses an intelligent cleaning device for the surface of a photovoltaic panel, belonging to the technical field of photovoltaic power generation. Background Art

[0002] Photovoltaic power generation is a technology that uses the photovoltaic effect of semiconductor interfaces to directly convert light energy into electrical energy. During the use of photovoltaic panels, impurities such as dust and bird droppings are easily attached to their surfaces. If they are not removed in time, the power generation efficiency will be greatly reduced, further generating hot spot effects, leading to damage to photovoltaic panels, thereby causing energy waste.

[0003] Therefore, it is necessary to clean the surface of photovoltaic panels regularly. In the prior art, there are generally two ways:

[0004] (1) Cleaning type. Robots of this type generally only clean the surface of photovoltaic panels, such as the technical solution disclosed in the Chinese utility model patent with application number 202322425959.7, application date September 7, 2023, and patent name "A photovoltaic module automatic cleaning robot". Since this type of cleaning robot only cleans the surface of photovoltaic panels with a hair roller, it is difficult to achieve an ideal cleaning effect for some impurities with a harder texture.

[0005] (2) Cleaning type. This type of robot can spray and clean the surface of photovoltaic panels. Compared with sweeping type robots, its cleaning effect is improved. This type of cleaning robot is divided into the following two types:

[0006] 1) In the prior art represented by the technical solution disclosed in the Chinese invention patent with application number 202311755771.7, application date December 19, 2023, and patent name "A photovoltaic module cleaning robot", and the technical solution disclosed in the Chinese invention patent with application number 202311200418.2, application date September 18, 2023, and patent name "Photovoltaic panel intelligent cleaning robot", the robot carries its own water tank and cleans while moving along the photovoltaic panel. The defect of this method is that if the water tank has a large amount of water, it will increase the load of the robot's operation. If the water tank has a small amount of water, it needs to be continuously replenished, and because the photovoltaic panels are generally arranged above the ground, the water replenishment process is also cumbersome.

[0007] 2) In the prior art represented by the technical solution disclosed in the Chinese invention patent with application number 202211731458.5, application date December 30, 2022, and patent name “An automatic cleaning system and method for photovoltaic roofs”, the water tank is placed on a ground cart, the power of the robot is located on the roof, and the power mechanism drives the robot and the ground cart to run at the same time. In this technical solution, the power device on the roof drives the ground cart to move through the lifting frame. If the water storage capacity of the water tank in the cart is large, its reliability is poor. Therefore, this solution is more suitable for cleaning photovoltaic panels arranged on the roof, and is not suitable for photovoltaic power generation units arranged in large areas in the wild. In addition, this technical solution can only spray, and cannot be cleaned at the same time, and its cleaning effect is limited. Utility Model Content

[0008] The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art and to provide a photovoltaic panel surface intelligent cleaning device which can realize spraying and sweeping the photovoltaic module surface at the same time by means of a cleaning robot, thereby improving the cleaning effect; at the same time, a water tank which moves with the cleaning robot is arranged in a water supply mechanism on the ground to ensure sufficient water storage capacity, and is suitable for cleaning photovoltaic modules laid over a large area.

[0009] The technical solution adopted by the utility model to solve its technical problem is: it includes a cleaning robot, the cleaning robot is clamped on the surface of the photovoltaic module and moves along the photovoltaic module, a cleaning roller for cleaning the surface of the photovoltaic module is arranged in the cleaning robot, and its characteristics are: a water supply mechanism is arranged on the side of the photovoltaic module, a sprayer is also arranged in the cleaning robot, the water supply mechanism is connected to the sprayer, the water supply mechanism includes a guide rail arranged along the arrangement direction of the photovoltaic module, and a water tank moving with the cleaning robot is arranged on the guide rail.

[0010] Preferably, in the water supply mechanism, the guide rails are two power supply rails arranged side by side, the external power supply is connected to the power supply rails, the water tank and the power supply rails are arranged at an interval or insulated, a drive motor is arranged on the side of the water tank, and the two power supply rails are connected to the drive motor through power-taking structure wires.

[0011] Preferably, a group of driving wheels are respectively arranged at the front and rear ends in the moving direction of the water tank, the two driving wheels of each group are respectively located on both sides of the water tank, and the driving motor is connected to one of the groups of driving wheels; the two driving wheels of each group respectively lead out transmission shafts, and the transmission shafts respectively led out from the two driving wheels of each group are coaxially fixed through insulating sleeves.

[0012] Preferably, the cleaning robot includes two support beams arranged side by side, and a front drive mechanism and a rear drive mechanism which are clamped with the photovoltaic components are respectively provided at the front and rear ends of the support beams, and the front drive mechanism and the rear drive mechanism are respectively provided with front drive wheels and rear drive wheels for providing power for the cleaning robot.

[0013] Preferably, a front drive motor is provided in the front drive mechanism, a front driving gear is fixed to the motor shaft of the front drive motor, a front driven gear is coaxially fixed to the two front drive wheels, and the front driving gear is connected to the front driven gear;

[0014] A rear drive motor is arranged in the rear drive mechanism, a rear driving gear is fixed on the motor shaft of the rear drive motor, rear driven gears are coaxially fixed to two rear drive wheels, and the rear driving gears are connected to the rear driven gears; a driving card wheel which rotates synchronously with the rear drive wheels is also arranged in the rear drive mechanism, and the wheel axles of the rear drive wheels and the driving card wheel are perpendicular to each other.

[0015] Preferably, a cleaning drive mechanism for driving the cleaning roller to rotate is also provided in the middle of the two support beams, and the output end of the cleaning drive mechanism is connected to the cleaning roller.

[0016] Preferably, the cleaning drive mechanism includes a cleaning drive motor, which is connected to a reduction gear set, and a cleaning drive shaft is led out from the output end of the reduction gear set. The cleaning roller includes a roller shaft and bristles arranged on the surface of the roller shaft, and the roller shaft is coaxially fixed with the two cleaning drive shafts.

[0017] Preferably, the sprayer includes a spray pipe fixed on the surfaces of the two support beams, the two spray pipes are respectively connected to the water supply pipes, and spray holes facing the surface of the photovoltaic module are opened on the spray pipes.

[0018] Compared with the prior art, the utility model has the following beneficial effects:

[0019] In the present photovoltaic panel surface intelligent cleaning device, the surface of the photovoltaic module can be sprayed and cleaned simultaneously by a cleaning robot, thereby improving the cleaning effect. At the same time, a water tank that moves with the cleaning robot is provided in the ground water supply mechanism to ensure sufficient water storage capacity, which is suitable for cleaning photovoltaic modules laid over a large area.

[0020] Photovoltaic power generation units are generally laid over a large area in the wild, so power supply rails are used to supply power to water supply mechanisms, avoiding the large-scale laying of power lines.

[0021] In the correction mechanism, two correction angle sensors are used to perform real-time absolute angle detection of the cleaning robot deviation. Compared with traditional correction schemes, the correction accuracy and reliability are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the intelligent cleaning device for the photovoltaic panel surface.

[0023] Figure 2 Front view of the water supply mechanism of the intelligent cleaning device for the photovoltaic panel surface.

[0024] Figure 3 for Figure 2 Top view of the .

[0025] Figure 4 for Figure 2 AA section view.

[0026] Figure 5 Axonometric view of a cleaning robot that is an intelligent cleaning device for the surface of photovoltaic panels.

[0027] Figure 6 A top view of the cleaning robot, an intelligent cleaning device for the surface of photovoltaic panels.

[0028] Figure 7 for Figure 6 Left view of .

[0029] Figure 8 for Figure 5 The cleaning roller and the rear housing are omitted in the schematic diagram.

[0030] Fig. 9 for Figure 6 The cleaning roller and the rear housing are omitted in the schematic diagram.

[0031] Fig.10 for Fig. 9 Left view of .

[0032] Fig.11 for Figure 7 Enlarged view of point A in the middle.

[0033] Fig.12 An enlarged front view of the cleaning robot with intelligent cleaning device for photovoltaic panel surface omitting the cleaning roller and outer shell.

[0034] Fig.13 for Fig.12 Bottom view of .

[0035] Fig.14 for Fig.12 Top view of the .

[0036] Fig.15 for Fig.10 CC section view.

[0037] Fig.16 An enlarged rear view of the cleaning robot with the intelligent cleaning device for the photovoltaic panel surface omitting the cleaning roller and the outer shell.

[0038] Fig.17 for Fig. 9 Enlarged cross-section view along the BB axis.

[0039] Fig.18 for Fig.16 Top view of the .

[0040] Fig.19 for Fig.16 The rear view with the front fixing plate omitted.

[0041] Fig. 20 for Fig.19 Axonometric drawing of .

[0042] Fig.21 for Figure 7 Enlarged view of point B in the middle.

[0043] Among them: 1. Cleaning robot 2. Photovoltaic module 3. Water supply pipe 4. Photovoltaic bracket 5. Water supply mechanism 6. Insulating pad 7. Water supply bracket 8. Power supply rail 9. Water tank 10. Water supply control box 11. Driving wheel 12. End fixing plate 13. Transmission shaft 14. Insulating sleeve 15. Side fixing plate 16. Swinging shaft 17. Follow-up fixing frame 18. Shell 19. Support beam 20. Front driving mechanism 21. Cleaning driving mechanism 22. Handle 23. Rear driving mechanism 24. Control box 25. Roller 26. Brush 27. Front driving gear 28. Correction angle sensor 29. Front intermediate gear 30, front drive fixing plate 31, front driven gear 32, correction wheel 33, front drive wheel 34, fixing frame 35, swing arm 36, tension spring 37, front drive motor 38, cleaning drive motor 39, cleaning transmission box 40, cleaning fixing plate 41, auxiliary roller 42, cleaning drive shaft 43, rear driving gear 44, rear intermediate gear 45, rear drive rear fixing plate 46, rear driven gear 47, rear drive wheel 48, drive card wheel 49, rear drive motor 50, rear drive front fixing plate 51, rear drive box 52, driven bevel gear 53, driving bevel gear 54, following angle sensor. DETAILED DESCRIPTION

[0044] Figures 1 to 21 It is the best embodiment of the utility model, and the following Figures 1 to 21 The utility model is further described.

[0045] like Figure 1 As shown, the intelligent cleaning device for the surface of a photovoltaic panel includes a cleaning robot 1 and a water supply mechanism 5 connected to the cleaning robot 1. The photovoltaic module 2 is installed at a high place through a photovoltaic bracket 4. Similar to the prior art, the photovoltaic module 2 is composed of multiple photovoltaic panels. The water supply mechanism 5 is arranged on the ground and is located at the rear side of the photovoltaic module 2. The water supply mechanism 5 can also be located on the same horizontal plane as the photovoltaic bracket 4. The cleaning robot 1 is mounted on the surface of the photovoltaic module 2 and moves along the arrangement direction of the photovoltaic module 2. The water supply mechanism 5 is connected to the cleaning robot 1 through a water supply pipe 3. In the process of the cleaning robot 1 moving along the photovoltaic module 2, the water supply mechanism 5 moves synchronously with the cleaning robot 1 on the ground.

[0046] like Figures 2~4 As shown, the water supply mechanism 5 includes a water supply bracket 7, which is arranged along the arrangement direction of the photovoltaic components 2. Power supply rails 8 are arranged on both sides above the water supply bracket 7, and a number of pillars are arranged at intervals on the front and back sides of the water supply bracket 7. Two power supply rails 8 are respectively arranged above the pillars on the corresponding sides, and insulating pads 6 are arranged between the power supply rails 8 and the corresponding pillars. The insulation between the water supply bracket 7 and the power supply rails 8 is achieved by the insulating pads 6.

[0047] A water tank 9 is movably arranged above the power supply rails 8 on both sides. A group of end fixing plates 12 and a group of side fixing plates 15 are arranged opposite to each other above the power supply rails 8. The end fixing plates 12 and the side fixing plates 15 are both made of insulating materials. The end fixing plates 12 and the side fixing plates 15 surround a space for accommodating the water tank 9. The end fixing plates 12 on both sides are arranged at the front and rear sides of the moving direction of the water tank 9, and the side fixing plates 15 on both sides are arranged perpendicular to the end fixing plates 12.

[0048] A shield is provided on the outside of the side fixing plates 15 on both sides, and the lower part of one of the shields is a water supply control box 10. The control circuit in the water supply control box 10 at least includes a controller and a drive circuit for controlling the rotation of the drive motor. A group of drive wheels 11 are provided at the front and rear ends of the moving direction of the water supply mechanism 5, respectively. The two drive wheels 11 of each group are respectively located on both sides of the water tank 9, and the two drive wheels 11 on the same side are located at the lower part of the corresponding side shield. The drive motor is connected to one group of drive wheels 11, and the drive wheel 11 is arranged on the surface of the power supply rail 8 on the corresponding side. The power supply rail 8 supplies power to the drive motor. Specifically, the power supply rail 8 is directly transmitted to the drive motor through a carbon brush, or the power supply rail 8 is contacted by the drive wheel 11 and then the power is transmitted to the drive motor through wires or carbon brushes. There is no need to lay long-distance wires, the cost is low, and it is safer and more reliable.

[0049] A transmission shaft 13 is provided on both sides of the front and rear sides of the moving direction of the water tank 9, and the two transmission shafts 13 correspond to the two sets of driving wheels 11. The two ends of the transmission shaft 13 extend horizontally to the corresponding two driving wheels 11 and are connected to the driving wheels 11. Both transmission shafts 13 are two-section type, and the front and rear sections of the transmission shaft 13 are coaxially fixed by an insulating sleeve 14, so as to realize power transmission while avoiding short circuit between the two power supply rails 8.

[0050] A submersible pump is arranged in the water tank 9, and the outlet of the submersible pump is connected to the water supply pipe 3. The water supply pipe 3 is led out from the upper port of the water tank 9 and extends to the cleaning robot 1, and is connected to the top of the cleaning robot 1 to realize water supply to the cleaning robot 1. The two power supply rails 8 are preferably connected to the alternating current, and the two power supply rails 8 are respectively connected to the live wire and the neutral wire of the alternating current. The driving wheels 11 on both sides are made of metal. The power on the two power supply rails 8 is led out through the driving wheels 11 and the transmission shaft 13, and the control circuit, the driving motor and the water pump in the box on both sides of the water tank 9 are powered. Photovoltaic generator sets are generally laid over a large area in the wild, so the power supply rails 8 are used to power the water supply mechanism 5, avoiding the large-scale laying of power lines.

[0051] like Figures 5 to 7 As shown, the cleaning robot 1 includes two support beams 19 arranged side by side, and a shell 18 is arranged on the surface of the support beams 19. The shell 18 covers the upper surface and the front and rear ends of the two support beams 19. A plurality of handles 22 are respectively arranged on both sides of the shell 18 so as to place the cleaning robot 1 on the surface of the photovoltaic component 2.

[0052] Spray pipes (not shown) are respectively arranged on the surfaces of the two support beams 19 facing the photovoltaic module 2, and a plurality of spray holes are opened on the spray pipes. When the rising water supply pipe 3 extends upward to the lower end of the cleaning robot 1, it is connected to the spray pipes at the lower part of the support beams 19 on both sides (through a three-way pipe) to spray the surface of the photovoltaic module 2.

[0053] Combination Figures 8-10 A rear driving mechanism 23 is provided at the rear ends of the two supporting beams 19, and a front driving mechanism 20 is provided at the front ends of the two supporting beams. The rear driving mechanism 23 and the front driving mechanism 20 are respectively clamped at the front and rear ends of the photovoltaic component 2. The rear driving mechanism 23 and the front driving mechanism 20 are both powered. When the rear driving mechanism 23 and the front driving mechanism 20 are working, they drive the cleaning robot 1 from both ends to move along the photovoltaic component 2.

[0054] A cleaning roller is arranged in parallel between the two support beams 19, and a cleaning drive mechanism 21 is arranged in the middle of the two support beams 19. Fig.11 The cleaning roller includes a roller shaft 25 and bristles 26 arranged on the surface of the roller shaft 25. The roller shaft 25 is provided with two sections, both of which are connected to the cleaning drive mechanism 21. The other end of one section of the roller shaft 25 extends to the rear drive mechanism 23, and the other end of the other section of the roller shaft 25 extends to the front drive mechanism 20. The cleaning drive mechanism 21 drives the two roller shafts 25 to rotate at the same time, and the bristles 26 are used to clean the surface of the photovoltaic module 2.

[0055] A control box 24 is provided at the front between the two support beams 19, and a control circuit of the cleaning robot 1 is provided in the control box 24. A photovoltaic panel is also provided on the surface of the housing 18, and the photovoltaic panel provides working power for the cleaning robot 1. The working power of the cleaning robot 1 can also be introduced from two power supply rails 8 on the ground through wires.

[0056] like Figures 12-14 As shown, the front drive mechanism 20 includes a front drive fixing plate 30 fixed to the front ends of the two support beams 19, and a front drive motor 37 is arranged on the back (rear surface) of the front drive fixing plate 30. The output side of the front drive motor 37 passes through the front drive fixing plate 30 and is coaxially fixed with the front driving gear 27. The front driving gear 27 is located above the middle of the front drive fixing plate 30. The above-mentioned roller shaft 25 extends to the front drive mechanism 20 and is rotatably connected to the front drive fixing plate 30. The roller shaft 25 is located at the lower part of the front driving gear 27.

[0057] Two front intermediate gears 29 are respectively arranged on both sides of the lower part of the front driving gear 27, and a front driven gear 31 is also respectively arranged on both sides of the lower part of the two front intermediate gears 29. The two front intermediate gears 29 are rotatably mounted on the surface of the front driving fixing plate 30, and the wheel shafts of the two front driven gears 31 penetrate the front driving fixing plate 30 backwards, and a front driving wheel 33 is coaxially fixed to each of them. The front driving wheel 33 is located on the surface of the lower part of the photovoltaic module as a power wheel. The front driving gear 27, the two front intermediate gears 29 and the two front driven gears 31 are connected by a chain (not shown in the figure). When the front driving gear 27 rotates under the drive of the front driving motor 37, the two front intermediate gears 29 and the two front driven gears 31 are driven to rotate at the same time through the chain, and the two front driving wheels 33 are further driven to rotate.

[0058] A deviation correction mechanism is also provided at the lower part of the front drive fixing plate 30, and the deviation correction mechanism includes a fixing frame 34 fixed at the lower part of the front drive fixing plate 30, and the lower part of the fixing frame 34 extends downward to the lower part of the front drive fixing plate 30. A swing arm 35 is hinged on both sides of the fixing frame 34, and the two swing arms 35 are respectively absorbed and extended to the front drive wheels 33 on the corresponding sides. A tension spring 36 is provided at the rear of the fixing frame 34, and the two ends of the tension spring 36 are respectively connected to the two swing arms 35. A deviation correction wheel 32 is respectively installed at the rear end of the two swing arms 35. After the cleaning robot 1 is installed on the surface of the photovoltaic module 2, the two deviation correction wheels 32 are stuck at the lower edge of the photovoltaic module 2.

[0059] A correction angle sensor 28 is coaxially fixed on the upper part of the two swing arms 35. After the cleaning robot 1 is installed on the surface of the photovoltaic module 2, the two correction angle sensors 28 respectively measure the swing angles of the two swing arms 35. The signal output ends of the two correction angle sensors 28 are connected to the control box 24 and connected to the control circuit in the control box 24. When a speed difference occurs during the operation of the front drive mechanism 20 or the rear drive mechanism 23, position deviation will occur at the upper and lower ends of the cleaning robot 1. Since the two correction wheels 32 are clamped at the lower edge of the photovoltaic module 2, the correction wheels 32 will drive the swing arms 35 to rotate. Through the correction angle sensor 28 connected to the swing arms 35, the absolute angle of rotation of the two swing arms 35 can be measured, thereby obtaining the deviation of the cleaning robot 1, and the correction is achieved by controlling the front drive mechanism 20 or the rear drive mechanism 23.

[0060] like Fig.15 As shown, the cleaning drive mechanism 21 includes a cleaning fixed plate 40 vertically fixed to the support beams 19 on both sides, a cleaning transmission box 39 is arranged on one side of the cleaning fixed plate 40, a cleaning drive motor 38 is fixed on the surface of the cleaning transmission box 39, and a plurality of gears meshing with each other are arranged in the cleaning transmission box 39 as a reduction gear set. The motor shaft of the cleaning drive motor 38 enters the cleaning transmission box 39 and is connected to the driving gear, and the reduction effect is achieved through the reduction gear set. A cleaning drive shaft 42 is coaxially fixed at the wheel shaft of the last gear in the reduction gear set, and the cleaning drive shaft 25 is located at both ends of the last gear. The cleaning drive shaft 25 can be two independent shaft bodies or a whole shaft body. The cleaning drive shaft 42 is respectively drawn from the surface of the cleaning transmission box 39 and the surface of the cleaning fixed plate 40, and is coaxially fixed with the above-mentioned two roller shafts 25. A group of auxiliary rollers 41 are also symmetrically arranged on the surface of the cleaning fixed plate 40, and the two auxiliary rollers 41 are located on both sides of the cleaning drive shaft 42.

[0061] like Figures 16-18 As shown, the rear drive mechanism 23 includes a rear drive rear fixing plate 45 and a rear drive front fixing plate 50 fixed to the two support beams 19 at the same time, wherein the rear drive rear fixing plate 45 is fixed to the ends of the two support beams 19, and the rear drive rear fixing plate 45 is located at the rear side of the rear drive front fixing plate 50. A rear drive box 51 is arranged between the rear drive rear fixing plate 45 and the rear drive front fixing plate 50, and the rear drive rear fixing plate 45 and the rear drive front fixing plate 50 serve as the rear panel and the front panel of the rear drive box 51 respectively. A rear drive motor 49 is arranged on the back (front surface) of the rear drive rear fixing plate 45. The output side of the rear drive motor 49 passes through the rear drive rear fixing plate 45 and is coaxially fixed with the rear driving gear 43, and the rear driving gear 43 is located above the middle of the front drive fixing plate 30. The above-mentioned roller shaft 25 extends to the rear drive mechanism 23 and is rotatably connected with the rear drive front fixing plate 50.

[0062] Two rear intermediate gears 44 are respectively arranged on both sides of the lower part of the rear driving gear 43, and a rear driven gear 46 is also respectively arranged on both sides of the lower part of the two rear intermediate gears 44. The two rear intermediate gears 44 and the two rear driven gears 46 are rotatably mounted on the surface of the rear driving rear fixing plate 45. The rear driving gear 43, the two rear intermediate gears 44 and the two rear driven gears 46 are connected by a chain (not shown in the figure). When the rear driving gear 43 is driven by the rear driving motor 49 to rotate, the two rear intermediate gears 44 and the two rear driven gears 46 are driven to rotate at the same time through the chain.

[0063] Further integration Figures 19 and 20 After the wheel shafts of the two rear intermediate gears 44 pass through the rear drive rear fixing plate 45 and the rear drive front fixing plate 50 respectively, a rear drive wheel 47 is coaxially fixed to the front side of the rear drive front fixing plate 50, and the wheel shafts of the two rear driven gears 46 are coaxially fixed to a driving bevel gear 53 in the rear drive box 51. Two driven bevel gears 52 are arranged in the rear drive box 51, and the two driven bevel gears 52 are meshed with the driving bevel gears 53 on the corresponding side. The wheel sets of the two driven bevel gears 53 pass through the bottom plate of the rear drive box 51 downward and extend to the lower side of the rear drive box 51, and are coaxially fixed to a driving card wheel 48 respectively.

[0064] When the cleaning robot 1 is installed on the surface of the photovoltaic module 2, the two rear drive wheels 47 are located on the upper side of the front surface of the photovoltaic module 2 and are arranged opposite to the front drive wheel 33 in the front drive mechanism 20. The two drive card wheels 48 are mounted on the upper edge of the photovoltaic module 2. When the rear drive motor 49 rotates, it drives the rear driving gear 43 to rotate, and the rear driving gear 43 further drives the rear intermediate gear 44 and the rear driven gear 46 to rotate through the chain. When the rear driven gear 46 rotates, it directly drives the rear drive wheel 47 to rotate, and drives the drive card wheel 48 to rotate through the mutually meshing driven bevel gear 52 and the driving bevel gear 53.

[0065] Combination Fig.21 A follower fixing frame 17 is also vertically fixed on the top of the shell 18, and a swing shaft 16 is rotatably installed at the rear of the follower fixing frame 17. A follower angle sensor 54 is arranged at the front end of the follower fixing frame 17, and the follower angle sensor 54 detects the swing angle of the swing shaft 16. The above-mentioned water supply pipe 3 extends to the cleaning robot 1, is fixed on the side of the swing shaft 16, and extends into the shell 18, and docks with the above-mentioned spray pipe inside the shell 18. The signal output end of the follower angle sensor 54 is connected to the controller in the control box 24. The signal output end of the controller in the control box 24 also extends to the water supply mechanism 5, and is connected to the controller in the water supply control box 10.

[0066] When the cleaning robot 1 moves along the photovoltaic module 2, when the position of the cleaning robot 1 intersects with the position of the water supply mechanism 5, the water supply pipe 3 itself will twist to a certain extent, and the twisting of the water supply pipe 3 will drive the swing shaft 16 to rotate, and the following angle sensor 54 sends the rotation angle of the swing shaft 16 to the control box 24. After receiving the output signal of the following angle sensor 54, the control box 24 further sends the control signal to the water supply control box 10, and the control electrical appliance in the water supply control box 10 controls the drive motor to rotate, so that the water supply mechanism 5 follows the movement of the cleaning robot 1. In order to avoid frequent startup of the water supply mechanism 5, a certain margin can be set. When the rotation angle of the swing shaft 16 reaches a certain threshold, the control box 24 sends a signal to the water supply control box 10.

[0067] The specific working process and working principle are as follows:

[0068] The cleaning robot 1 is mounted on the surface of the photovoltaic module 2 by the handle 22, at which time the front driving wheel 33 in the front driving mechanism 20 is located at the lower side of the front surface of the photovoltaic module 2, and the rear driving wheel 47 in the rear driving mechanism 23 is located at the upper side of the front surface of the photovoltaic module 2, and at the same time the correcting wheel 32 in the correcting mechanism is clamped at the lower edge of the photovoltaic module 2, and the driving card wheel 48 in the rear driving mechanism 23 is clamped at the lower edge of the photovoltaic module 2. When the front driving motor 37 and the rear driving motor 49 in the front driving mechanism 20 and the rear driving mechanism 23 are working, the front driving wheel 33, the rear driving mechanism 23 and the driving card wheel 48 respectively provide power to drive the cleaning robot 1 at the same time, and the cleaning robot 1 moves along the surface of the photovoltaic module 2.

[0069] The water tank 9 on the surface of the water supply mechanism 5 on the ground provides power to the electrical appliances in the boxes on both sides of the water tank 9 under the power output of the power supply rail 8. The driving motor in the water supply control box 10 drives the driving wheel 11 therein to rotate, and drives the two driving wheels 11 on the other side to rotate through the transmission shaft 13, and the water tank 9 moves along the surface of the power supply rail 8. At the same time, the water pump in the water supply mechanism 5 works, and the water in the water tank 9 is sent to the cleaning robot 1 through the water supply pipe 3 for spraying. During the movement of the cleaning robot 1, the cleaning driving motor 38 in the cleaning driving mechanism 21 works, drives the two rollers 25 to rotate, and cleans the surface of the photovoltaic module 2 through the bristles 26 on the surface of the rollers 25.

[0070] When the cleaning robot 1 is moving, the two correcting wheels 32 in the correcting mechanism roll along the lower surface of the photovoltaic module 2. When a speed difference occurs during the operation of the front drive mechanism 20 or the rear drive mechanism 23, position deviations will occur at the upper and lower ends of the cleaning robot 1. Since the two correcting wheels 32 are clamped at the lower edge of the photovoltaic module 2, the correcting wheels 32 will drive the swing arm 35 to rotate. The correcting angle sensor 28 connected to the swing arm 35 can measure the absolute angle of rotation of the two swing arms 35, thereby obtaining the deviation of the cleaning robot 1, and realizing correction by controlling the front drive mechanism 20 or the rear drive mechanism 23.

[0071] At the same time, the following angle sensor 54 on the top of the cleaning robot 1 monitors the swing angle of the swing shaft 16, and sends the rotation angle of the swing shaft 16 to the control box 24. After receiving the output signal of the following angle sensor 54, the control box 24 further sends the control signal to the water supply control box 10, and the control electrical appliance in the water supply control box 10 controls the driving motor to rotate, so that the water supply mechanism 5 follows the movement of the cleaning robot 1.

[0072] The above is only the preferred embodiment of the utility model, and does not limit the utility model in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the technical solution of the utility model still belongs to the protection scope of the technical solution of the utility model.

Claims

1. An intelligent photovoltaic panel surface cleaning device, comprising a cleaning robot (1), the cleaning robot (1) being mounted on the surface of a photovoltaic module (2) and moving along the photovoltaic module (2), a cleaning roller for cleaning the surface of the photovoltaic module (2) being arranged inside the cleaning robot (1), and characterized in that: A water supply mechanism (5) is arranged on the side of the photovoltaic module (2), and a sprayer is also arranged in the cleaning robot (1). The water supply mechanism (5) is connected to the sprayer. The water supply mechanism (5) comprises a guide rail arranged along the arrangement direction of the photovoltaic module (2), and a water tank (9) is arranged on the guide rail and moves with the cleaning robot (1).

2. The photovoltaic panel surface intelligent cleaning device according to claim 1, characterized in that: In the water supply mechanism (5), the guide rails are two power supply guide rails (8) arranged side by side, an external power source is connected to the power supply guide rails (8), a water tank (9) and the power supply guide rails (8) are arranged at intervals or insulated from each other, a drive motor is arranged on the side of the water tank (9), and the two power supply guide rails (8) are connected to the drive motor via a power supply structure.

3. The photovoltaic panel surface intelligent cleaning device according to claim 1, characterized in that: A group of driving wheels (11) is respectively arranged at the front and rear ends of the water tank (9) in the moving direction, the two driving wheels (11) of each group are respectively located on both sides of the water tank (9), and the driving motor is connected to one of the driving wheels (11); the two driving wheels (11) of each group respectively lead out a transmission shaft (13), and the transmission shafts (13) respectively led out from the two driving wheels (11) of each group are coaxially fixed through insulating sleeves (14).

4. The photovoltaic panel surface intelligent cleaning device according to claim 1, characterized in that: The cleaning robot (1) comprises two support beams (19) arranged side by side, a front drive mechanism (20) and a rear drive mechanism (23) which are clamped to the photovoltaic module (2) are respectively arranged at the front end and the rear end of the support beam (19), and a front drive wheel (33) and a rear drive wheel (47) which are used to provide power for the cleaning robot (1) are respectively arranged in the front drive mechanism (20) and the rear drive mechanism (23).

5. The photovoltaic panel surface intelligent cleaning device according to claim 4, characterized in that: A front drive motor (37) is provided in the front drive mechanism (20); a front driving gear (27) is fixed to the motor shaft of the front drive motor (37); a front driven gear (31) is coaxially fixed to the two front drive wheels (33); and the front driving gear (27) is connected to the front driven gear (31); A rear drive motor (49) is provided in the rear drive mechanism (23), a rear driving gear (43) is fixed to the motor shaft of the rear drive motor (49), a rear driven gear (46) is coaxially fixed to two rear drive wheels (47), and the rear driving gear (43) is connected to the rear driven gear (46); a driving card wheel (48) which rotates synchronously with the rear drive wheel (47) is also provided in the rear drive mechanism (23), and the wheel axes of the rear drive wheel (47) and the driving card wheel (48) are perpendicular to each other.

6. The photovoltaic panel surface intelligent cleaning device according to claim 4, characterized in that: A cleaning drive mechanism (21) for driving the cleaning roller to rotate is also provided in the middle of the two support beams (19), and an output end of the cleaning drive mechanism (21) is connected to the cleaning roller.

7. The photovoltaic panel surface intelligent cleaning device according to claim 6, characterized in that: The cleaning drive mechanism (21) comprises a cleaning drive motor (38), the cleaning drive motor (38) is connected to a reduction gear set, a cleaning drive shaft (42) is led out from the output end of the reduction gear set, the cleaning roller comprises a roller shaft (25) and bristles (26) arranged on the surface of the roller shaft (25), and the roller shaft (25) and the two cleaning drive shafts (42) are coaxially fixed.

8. The photovoltaic panel surface intelligent cleaning device according to claim 4, characterized in that: The sprayer comprises a spray pipe fixed on the surface of two support beams (19), the two spray pipes are respectively connected to the water supply pipe (3), and spray holes facing the surface of the photovoltaic module (2) are opened on the spray pipe.

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