Crawler-type automatic driving photovoltaic cleaning machine

Abstract

The utility model relates to the technical field of mechanical equipment in the photovoltaic cleaning industry, and discloses a crawler-type automatic driving photovoltaic cleaning machine which comprises a crawler-type frame, and a lifting frame is arranged on the top of the crawler-type frame. The angle adjusting assembly is used for adjusting the angle between the spraying pipe and the mounting arm; the water spraying direction adjusting assembly is used for adjusting the water spraying direction of the spraying pipe; and the dust blocking assembly is used for blocking splashing dust and sewage during cleaning. Through cooperation of the crawler-type frame and the generator, the high-pressure water pump, the water tank and the spraying pipe above the crawler-type frame, the automatic spraying and washing effect is achieved; through the arrangement of the water spraying direction adjusting assembly, the direction of the spraying pipe can be adjusted, water flow sprayed by the multiple spraying heads always faces the advancing direction, sewage on the photovoltaic panel is continuously pushed to the moving direction of the crawler-type frame, and secondary pollution caused by sewage backflow to the photovoltaic panel is avoided.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology in the photovoltaic cleaning industry, specifically to a tracked automatic photovoltaic cleaning machine. Background Technology

[0002] A solar photovoltaic (PV) power station is a PV power generation system that is connected to the power grid and transmits electricity to it. Its power generation principle is to use PV technology, that is, to convert sunlight into usable electrical energy through a semiconductor interface (solar cell). If dust, dirt, bird droppings, or other debris accumulate on the surface of the PV panel, it will block sunlight and affect the absorption of sunlight by the PV panel. These obstructions reduce the light flux reaching the PV panel, resulting in a reduction in the electrical energy generated by the PV panel. Therefore, PV panels need to be cleaned regularly to ensure the power generation efficiency of the PV panel.

[0003] Currently, there are still devices for manually cleaning photovoltaic panels. These devices are water-saving, labor-saving, and have a very good cleaning effect. In particular, workers can use the handle of the air pump to pump air, and they can also step on the foot pedal to pump air into the device.

[0004] However, the existing technology has the following problems: 1. The existing technology usually uses water storage trucks and spray devices to clean photovoltaic panels. The water storage trucks need to be driven manually, and the distance and angle between the spray device and the photovoltaic panels need to be adjusted manually, which is quite troublesome. In addition, in sandy environments, due to the influence of wind and sand and terrain undulations, the water storage trucks need to be driven by staff who need to observe the driving route in real time. Since there are many blind spots in manual driving, the photovoltaic panels may be damaged due to human error.

[0005] 2. When cleaning photovoltaic panels, the existing spraying devices usually have a fixed angle for the spray bar. This means that when the water storage truck reciprocates to clean the photovoltaic panels, the spray direction may be opposite to the driving direction. This causes the wastewater generated during cleaning to flow onto the already cleaned photovoltaic panels, causing secondary pollution and affecting the cleaning effect. Utility Model Content

[0006] The purpose of this invention is to provide a tracked, automated photovoltaic cleaning machine to solve the above-mentioned problems and overcome the shortcomings of the prior art, as detailed below.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A tracked autonomous photovoltaic cleaning machine includes a tracked frame, a lifting structure, and a water supply and cleaning structure.

[0009] The lifting structure includes a lifting frame, a mounting arm, and a lifting seat;

[0010] The water supply and cleaning structure includes a water tank, a high-pressure water pump and a spraying device. The spraying device includes a spray bar and a spray pipe. The high-pressure water pump is connected to the water tank on the vehicle through a water pipe.

[0011] The top of the tracked vehicle frame is connected to a lifting frame, the lifting frame is slidably connected to a lifting seat, the lifting seat is hinged to a mounting arm, the mounting arm is rotatably connected to a spray bar, the spray bar is hinged to a spray pipe, the spray pipe is equipped with multiple nozzles, and the spray pipe is connected to a high-pressure water pump through a water pipe.

[0012] It also includes an angle adjustment assembly and a water spray direction adjustment assembly, the angle adjustment assembly being used to adjust the angle between the spray pipe and the mounting arm;

[0013] The water spray direction adjustment assembly includes a second mounting rod, a second cylinder, and a clamp. The second cylinder is fixed to the spray rod via the second mounting rod. The output end of the second cylinder is hinged to the clamp, which is sleeved with the outer wall of the spray pipe to adjust the water spray direction of the spray pipe.

[0014] As one possible implementation, it also includes a dust-blocking component, which includes a baffle plate installed on the outer wall of the spray bar. The baffle plate has inclined sides on both sides, and the spray bar is located between the two inclined sides of the baffle plate.

[0015] As one possible implementation, the lifting structure further includes a first electric winch and a first steel cable; the lifting frame is connected to the first electric winch, the first electric winch is connected to the first steel cable, the end of the first steel cable away from the first electric winch is connected to the lifting seat, the lifting frame is provided with pulleys, and the middle section of the first steel cable is slidably sleeved with the pulleys on the lifting frame.

[0016] In one possible implementation, the lifting structure includes a second electric winch and a second steel cable. The second electric winch is connected to the second steel cable. The end of the second steel cable away from the second electric winch is connected to the lifting seat. A pulley is provided on the mounting arm. The middle section of the second steel cable is slidably sleeved with the pulley on the mounting arm. Distance sensors are provided at both ends of the mounting arm.

[0017] In one possible implementation, the lifting structure further includes a first connecting rod and two second connecting rods. The first connecting rods are hinged to both sides of the mounting arm via brackets, and the two second connecting rods are hinged to the lifting seat via brackets. The two first connecting rods are hinged to the two second connecting rods. A limiting mechanism is provided at the hinge point between the lifting seat and the mounting arm, and a limiting sensor is also provided at the hinge point between the lifting seat and the mounting arm. The limiting sensor is connected to the second electric winch.

[0018] As one possible implementation, the angle adjustment assembly includes a first mounting rod, which is mounted on a mounting arm. The first mounting rod is equipped with a first cylinder, the output end of which is hinged to the spray rod.

[0019] As one possible implementation, the dust-blocking assembly further includes two T-shaped frames, two reinforcing rods, and two first scraper strips. The inner wall of the baffle is slidably connected to the two T-shaped frames, and the two reinforcing rods are connected between the two T-shaped frames. The two T-shaped frames are respectively connected to a chute frame, and the two ends of the spray pipe are respectively connected to a sliding shaft. The chute frame is provided with a chute, and the two sliding shafts are slidably connected to the chute of the two chute frames. The two first scraper strips are connected between the two T-shaped frames, and the two first scraper strips contact the baffle when they move.

[0020] As one possible implementation, the dust blocking assembly also includes a push-pull rod, two slide rods, and two second scraper strips. Two slide rods are slidably connected to the two inclined sides of the baffle, and push-pull rods are hinged to both ends of the T-shaped frame. The ends of the four push-pull rods away from the T-shaped frame are respectively hinged to the four slide rods. Two second scraper strips are connected between the two slide rods located on the same inclined side of the baffle. When the four second scraper strips move, they respectively contact the two inclined sides of the baffle.

[0021] As one possible implementation, the baffle is provided with a gantry frame, the gantry frame is provided with multiple cleaning brushes, the multiple cleaning brushes are respectively located on the movement trajectory of multiple nozzles, the gantry frame is connected to two elastic rods, each of the two elastic rods is connected to a set of spring pieces, and each of the two sliding frames is connected to a triangular block, the two triangular blocks contacting the two sets of spring pieces respectively during movement.

[0022] The beneficial effects are:

[0023] 1. This utility model achieves automatic spraying and washing by coordinating a tracked vehicle frame with a generator, high-pressure water pump, water tank, and spray pipes above it. The tracked vehicle frame can achieve automatic driving using radar and navigation equipment, avoiding collisions with photovoltaic panels. The washing height is adjusted by a first electric winch and a first steel cable, and the washing angle is adjusted by a second electric winch and a second steel cable, keeping the plane of multiple nozzles parallel to the photovoltaic panels, improving the uniformity of washing. At the same time, the limiting mechanism of the mounting arm can prevent the mounting arm from colliding with the photovoltaic panels.

[0024] 2. This utility model, through the setting of the water spray direction adjustment component, enables the spray pipe to be oriented, and the water flow from multiple nozzles always faces the direction of travel, so that the sewage on the photovoltaic panel is continuously pushed to the direction of movement of the tracked vehicle frame, avoiding sewage backflow and secondary pollution to the photovoltaic panel; through the setting of the angle adjustment component, the spray bar can be adjusted to adjust the angle between itself and the mounting arm, keeping the spray bar at a certain tilt angle for pushing cleaning, so that the sewage flowing down from the top of the photovoltaic panel can pre-wash the area below the photovoltaic panel, thereby improving the cleaning effect to a certain extent.

[0025] 3. This utility model, through the setting of the dust-blocking component, enables the baffle to shield the cleaning area, thereby preventing excessive accumulation of dirt and grime on the mounting arm, lifting seat, and lifting frame, which would affect the performance. The cooperation of two first scrapers and four second scrapers allows them to periodically clean the contact surface between the baffle and the wastewater, preventing excessive dirt and grime from adhering to the baffle and increasing its weight, thus increasing the load on the mounting arm. The multiple cleaning brushes allow for individual cleaning of multiple nozzles, preventing blockage caused by scale and dust accumulation after prolonged use. The cleaning brushes also vibrate, promoting cleaning and shaking off any adhering dirt. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0028] Figure 2 This is a schematic diagram of the tracked vehicle frame structure of this utility model;

[0029] Figure 3 This is a schematic diagram of the lifting frame structure of this utility model;

[0030] Figure 4 This is a schematic diagram of the lifting seat structure of this utility model;

[0031] Figure 5 This is a schematic diagram of the mounting arm structure of this utility model;

[0032] Figure 6 This is a schematic diagram of the spray bar structure of this utility model;

[0033] Figure 7 This is a schematic diagram of the angle adjustment component structure of this utility model;

[0034] Figure 8 This is a schematic diagram of the water spray direction adjustment component of this utility model;

[0035] Figure 9 This is a schematic diagram of the spray bar structure of this utility model;

[0036] Figure 10 This is a schematic diagram of the dust-blocking component structure of this utility model;

[0037] Figure 11 This is a schematic diagram of the baffle structure of this utility model;

[0038] Figure 12 This is a schematic diagram of the portal frame structure of this utility model;

[0039] Figure 13 This is a schematic diagram of the cleaning brush structure of this utility model.

[0040] The reference numerals in the attached drawings are explained as follows: 1. Tracked frame; 2. Lifting frame; 21. First electric winch; 22. First steel cable; 3. Lifting seat; 31. Second electric winch; 32. Second steel cable; 33. First connecting rod; 34. Second connecting rod; 4. Mounting arm; 5. Spray bar; 6. Spray pipe; 61. Nozzle; 7. Angle adjustment assembly; 71. First mounting rod; 72. First cylinder; 8. Water spray direction adjustment assembly; 81. Second mounting rod. ; 82. Second cylinder; 83. Clamp; 9. Dust-blocking assembly; 91. Baffle; 92. Sliding shaft; 93. L-shaped frame; 94. Slide frame; 95. Reinforcing rod; 96. First scraper; 97. Push-pull rod; 98. Sliding rod; 99. Second scraper; 910. Gantry frame; 911. Cleaning brush; 912. Elastic rod; 913. Spring; 914. Triangular block; 10. Generator; 11. High-pressure water pump; 12. Water tank; 13. Bucket. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0042] Example 1

[0043] Please see Figure 1 - Figure 13A tracked autonomous photovoltaic cleaning machine includes a tracked frame 1 with tracked wheels at its bottom, allowing for movement on various terrains. A lifting frame 2 is mounted on top of the tracked frame 1, with a lifting seat 3 slidably connected to it. A mounting arm 4 is hinged to the lifting seat 3, and a spray bar 5 is rotatably connected to the mounting arm 4. A spray pipe 6 is hinged to the spray bar 5, and multiple nozzles 61 are mounted on the spray pipe 6. The tracked frame 1 also includes a generator 10, a high-pressure water pump 11, and a water tank 12. The generator 10 is equipped with a fuel tank and a battery to provide power. In this embodiment, buckets 13 are provided at both the front and rear ends. The two buckets 13 can be driven by a hydraulic mechanism to clean up debris on the travel path of the tracked vehicle 1. The high-pressure water pump 11 is connected to the water tank 12 through a water pipe, and the spray pipe 6 is connected to the high-pressure water pump 11 through a water pipe. The tracked vehicle 1 is equipped with radar and navigation equipment. The tracked vehicle 1 uses radar and navigation equipment to achieve automatic driving, which can detect the surrounding terrain and automatically plan the travel route. The high-pressure water pump 11 transports the water in the water tank 12 to the spray pipe 6 through a water pipe. The spray pipe 6 sprays water through multiple nozzles 61 to clean the photovoltaic panels.

[0044] The lifting frame 2 is equipped with a first electric winch 21, which is connected to a first steel cable 22. The end of the first steel cable 22 away from the first electric winch 21 is connected to the lifting seat 3. The lifting frame 2 is equipped with pulleys, and the middle section of the first steel cable 22 is slidably connected to the pulleys on the lifting frame 2. The operator can adjust the height of the lifting seat 3 by controlling the first electric winch 21 to raise and lower the first steel cable 22 to meet the cleaning needs of photovoltaic panels at different heights. Through the cooperation between the tracked vehicle frame 1 and the generator 10, high-pressure water pump 11, water tank 12 and spray pipe 6 above it, the effect of automatic spray washing is achieved. The tracked vehicle frame 1 can achieve automatic driving using radar and navigation equipment to avoid collisions with photovoltaic panels. The washing height can be adjusted by the first electric winch 21 and the first steel cable 22.

[0045] Furthermore, the lifting platform 3 is equipped with a second electric winch 31, which is connected to a second steel cable 32. The end of the second steel cable 32 away from the second electric winch 31 is connected to the lifting platform 3. The mounting arm 4 is equipped with a pulley, and the middle section of the second steel cable 32 is slidably sleeved with the pulley on the mounting arm 4. The operator can adjust the angle of the mounting arm 4 by controlling the second electric winch 31 to raise and lower the second steel cable 32. Distance sensors are provided at both ends of the mounting arm 4. When the mounting arm 4 is above the photovoltaic panel, the two distance sensors can detect the distance between themselves and the photovoltaic panel. When the distance between the two distance sensors and the photovoltaic panel is equal, the plane of the mounting arm 4 is parallel to the plane of the photovoltaic panel, and the plane of the spray pipe 6 is also parallel to the plane of the photovoltaic panel. At this time, the distance between the multiple nozzles 61 and the photovoltaic panel is equal, so that the water flow impact force on the surface of the photovoltaic panel is more uniform, thereby making the rinsing effect more uniform.

[0046] The first connecting rods 33 are hinged to both sides of the mounting arm 4 via brackets. Two second connecting rods 34 are hinged to the lifting base 3 via brackets. The two first connecting rods 33 and the two second connecting rods 34 are hinged together. The cooperation between the two first connecting rods 33 and the two second connecting rods 34 on the mounting arm 4 improves the horizontal stability of the mounting arm 4, preventing swaying during cleaning operations. A limiting mechanism is provided at the hinge point between the lifting base 3 and the mounting arm 4. This limiting mechanism restricts the rotation angle of the mounting arm 4, preventing the mounting arm 4 from falling downwards and hitting the photovoltaic panels, thus preventing damage, should the second steel cable 32 break. The hinge between the lifting base 3 and the mounting arm 4... A limit sensor is also provided, which is connected to the second electric winch 31. When the second electric winch 31 malfunctions and continues to retract and extend, if the rotation angle of the mounting arm 4 exceeds the limit position, the limit sensor can control the second electric winch 31 to shut down, so that the mounting arm 4 can swing within a safe range and avoid collision with the photovoltaic panel and cause damage. The second electric winch 31 and the second steel cable 32 realize the adjustment of the flushing angle, so that the plane where the multiple nozzles 61 are located is parallel to the photovoltaic panel, improving the flushing uniformity. At the same time, the limit mechanism of the mounting arm 4 can prevent the mounting arm 4 from colliding with the photovoltaic panel.

[0047] In one embodiment, an angle adjustment component 7 is also included to adjust the angle between the spray pipe 6 and the mounting arm 4. The angle adjustment component 7 includes a first mounting rod 71, which is mounted on the mounting arm 4. The first mounting rod 71 is equipped with a first cylinder 72, the output end of which is hinged to the spray rod 5. When the first cylinder 72 extends or retracts, it can drive the spray rod 5 to swing through its output end, so that the angle of the spray pipe 6 along the direction of travel can be adjusted. The upper end of the spray pipe 6 is further forward than the lower end in the direction of travel, so that when the wastewater cleaned at the upper end of the spray pipe 6 flows down the photovoltaic panel, the wastewater flowing down from the higher part of the photovoltaic panel can first carry away some of the dust from the lower part of the photovoltaic panel. Subsequently, the water sprayed from the lower end of the spray pipe 6 will clean the lower part of the photovoltaic panel again. By setting the angle adjustment component 7, the angle between the spray rod 5 and the mounting arm 4 can be adjusted, keeping the spray rod 5 at a certain tilt angle for pushing cleaning, so that the wastewater flowing down from the top of the photovoltaic panel can pre-wash the lower part of the photovoltaic panel, thereby improving the cleaning effect to a certain extent.

[0048] Specifically, it also includes a water spray direction adjustment component 8, used to adjust the water spray direction of the spray pipe 6; the water spray direction adjustment component 8 includes a second mounting rod 81, which is mounted on the spray rod 5. The second mounting rod 81 is equipped with a second cylinder 82, and the output end of the second cylinder 82 is hinged to a clamp 83. The clamp 83 is sleeved with the outer wall of the spray pipe 6. When the second cylinder 82 extends or retracts, it can drive the spray pipe 6 to swing through the clamp 83, thereby adjusting the orientation of multiple nozzles 61. Through the setting of the water spray direction adjustment component 8, the spray pipe 6 can be oriented, and the water flow sprayed from multiple nozzles 61 always faces the direction of travel, so that the sewage on the photovoltaic panel is continuously pushed to the direction of movement of the tracked vehicle frame 1, avoiding sewage backflow and secondary pollution to the photovoltaic panel.

[0049] In addition, the dust blocking component 9 is used to block dust and sewage splashed during cleaning. The dust blocking component 9 includes a baffle 91, which is installed on the outer wall of the spray bar 5. The baffle 91 has beveled edges on both sides. The spray bar 5 is located between the two beveled edges of the baffle 91. The baffle 91 can block dust and sewage splashed during rinsing, preventing a large amount of dust and sewage from splashing onto the mounting arm 4, the lifting seat 3, and the lifting frame 2. This would prevent the mounting arm 4, the lifting seat 3, and the lifting frame 2 from being affected by a lot of dust after long-term use, thus reducing the cleaning work of the staff.

[0050] The inner wall of the baffle 91 is provided with two L-shaped frames slidably connected 93. Two reinforcing rods 95 are connected between the two L-shaped frames 93. Slide frames 94 are connected to the two L-shaped frames 93 respectively. Slide shafts 92 are connected to both ends of the spray pipe 6 respectively. Slide frames 94 are provided with slide grooves. The two slide shafts 92 are slidably connected to the slide grooves of the two slide frames 94 respectively. The two slide shafts 92 drive the two L-shaped frames 93 to move a certain distance in the swing direction of the spray pipe 6 through the two slide frames 94. Two first scraper blades 96 are connected between the two L-shaped frames 93. When the two first scraper blades 96 move, they contact the baffle 91. The two L-shaped frames 93 drive the two first scraper blades 96 to move synchronously, so that the two first scraper blades 96 can block the baffle. A portion of the dirt adhering to the baffle 91 is scraped off. Two sliding rods 98 are slidably connected to the two inclined sides of the baffle 91. Push-pull rods 97 are hinged to both ends of the L-shaped frame 93. The ends of the four push-pull rods 97 away from the L-shaped frame 93 are respectively hinged to the four sliding rods 98. Two second scraper strips 99 are connected between the two sliding rods 98 located on the same inclined side of the baffle 91. When the two L-shaped frames 93 move back and forth, they can drive the four sliding rods 98 to slide on the two inclined sides of the baffle 91 through the four push-pull rods 97. When the four second scraper strips 99 move, they contact the two inclined sides of the baffle 91 respectively. When the two second scraper strips 99 on the inclined side of the baffle 91 slide, they can scrape off the dirt adhering to the inclined side.

[0051] By setting up the dust blocking component 9, the baffle 91 can block the cleaning position, thereby preventing excessive mud and dirt from accumulating on the mounting arm 4, lifting seat 3 and lifting frame 2, thus affecting the use effect; by cooperating with the two first scrapers 96 and the four second scrapers 99, the two first scrapers 96 and the four second scrapers 99 can periodically clean the contact surface between the baffle 91 and the sewage, preventing excessive mud and dirt from adhering to the baffle 91 and increasing its own weight, thereby increasing the load on the mounting arm 4.

[0052] In addition, the baffle 91 is equipped with a gantry frame 910, which has multiple cleaning brushes 911. These cleaning brushes 911 are positioned along the movement paths of multiple nozzles 61. When a nozzle 61 moves to the middle section of its movement path, it contacts the cleaning brushes 911, allowing the brushes to clean the nozzle. The gantry frame 910 connects to two elastic rods 912, each connected to a set of spring pieces 913. Two sliding brackets 94 are each connected to a triangular block 914. During movement, the two triangular blocks 914 contact the two sets of spring pieces 913. As the triangular blocks 914 move, they contact one set of spring pieces 913. The vibration of the set of springs 913 is triggered, which in turn drives the two elastic rods 912 to vibrate. The two elastic rods 912 transmit the vibration to multiple cleaning brushes 911 through the gantry frame 910. This vibration promotes the cleaning effect of the multiple cleaning brushes 911 and also shakes off the dirt attached to the cleaning brushes 911. The multiple cleaning brushes 911 can clean the multiple nozzles 61 separately, preventing the nozzles 61 from becoming clogged due to the accumulation of scale and dust after long-term use. At the same time, the vibration of the cleaning brushes 911 can promote the cleaning effect and shake off the dirt attached to them.

[0053] Using the above structure, the working principle of this application is as follows:

[0054] The tracked vehicle 1 moves using tracked wheels, facilitating movement on various terrains. The tracked vehicle 1 utilizes radar and navigation equipment to achieve autonomous driving, enabling it to detect the surrounding terrain and automatically plan its route. The generator 10 is equipped with a fuel tank and battery to provide power. The two buckets 13 are driven by a hydraulic mechanism to clear debris from the tracked vehicle 1's path. The high-pressure water pump 11 delivers water from the water tank 12 to the spray pipe 6 through a water pipe. The spray pipe 6 sprays water through multiple nozzles 61 to clean the photovoltaic panels.

[0055] When the first electric winch 21 winds up the first steel cable 22, the first steel cable 22, through its interaction with the pulleys on the lifting frame 2, drives the lifting seat 3 to move upward. When the first electric winch 21 releases the steel cable, the lifting seat 3 descends due to gravity. Therefore, workers can adjust the height of the lifting seat 3 by controlling the winding and unwinding of the first steel cable 22 to meet the cleaning needs of photovoltaic panels at different heights. When the second electric winch 31 winds up the second steel cable 32, the second steel cable 32, through its interaction with the pulleys on the mounting arm 4, drives the mounting arm 4 to swing upward with its connection point with the lifting seat 3 as the fulcrum. When the second electric winch 31 releases the steel cable, the mounting arm 4 swings downward due to gravity. Therefore, workers can adjust the height of the lifting seat 3 by controlling the winding and unwinding of the first steel cable 22 to meet the cleaning needs of photovoltaic panels at different heights. The angle of the mounting arm 4 is adjusted by controlling the second electric winch 31 to wind and unwind the second steel cable 32. When the mounting arm 4 is above the photovoltaic panel, the two distance sensors at both ends of the mounting arm 4 can detect the distance between itself and the photovoltaic panel. When the distance between the two distance sensors and the photovoltaic panel is equal, the distance between the two ends of the mounting arm 4 and the photovoltaic panel is equal. At this time, the plane of the mounting arm 4 is parallel to the plane of the photovoltaic panel. Since the plane of the spray bar 5 and the spray pipe 6 is parallel to the plane of the mounting arm 4, the plane of the spray pipe 6 is parallel to the plane of the photovoltaic panel. At this time, the distance between the multiple nozzles 61 and the photovoltaic panel is equal, so that the water flow impact force on the surface of the photovoltaic panel is more uniform, thus making the rinsing effect more uniform.

[0056] The two first connecting rods 33 on the mounting arm 4, in conjunction with the two second connecting rods 34, improve the horizontal stability of the mounting arm 4, preventing swaying during cleaning operations. The limiting mechanism at the hinge joint between the lifting seat 3 and the mounting arm 4 restricts the rotation angle of the mounting arm 4, preventing it from falling and hitting the photovoltaic panels after the second steel cable 32 breaks, thus avoiding damage. The limit sensor at this position is connected to the second electric winch 31. When the second electric winch 31 malfunctions and continues to retract, if the rotation angle of the mounting arm 4 exceeds the limit position, the limit sensor can control the second electric winch 31 to shut down, ensuring the mounting arm 4 remains in a safe position. The system swings within the designated area to avoid collisions with the photovoltaic panels and causing damage. Through the coordination between the tracked frame 1 and the generator 10, high-pressure water pump 11, water tank 12, and spray pipe 6 above it, an automatic spraying and washing effect is achieved. The tracked frame 1 can achieve automatic driving using radar and navigation equipment to avoid collisions with the photovoltaic panels. The washing height is adjusted by the first electric winch 21 and the first steel cable 22, and the washing angle is adjusted by the second electric winch 31 and the second steel cable 32, so that the plane where the multiple nozzles 61 are located is parallel to the photovoltaic panels, improving the washing uniformity. At the same time, the limiting mechanism of the mounting arm 4 can prevent the mounting arm 4 from colliding with the photovoltaic panels.

[0057] Since the second cylinder 82 is fixed to the spray rod 5 via the second mounting rod 81, the second cylinder 82 can swing the spray pipe 6 via the clamp 83 when it extends or retracts, thereby adjusting the orientation of multiple nozzles 61. When the tracked frame 1 moves forward, the multiple nozzles 61 face forward, so that the sprayed water pushes the sewage on the surface of the photovoltaic panel forward with the tracked frame 1. When the tracked frame 1 turns to move backward, by controlling the second cylinder 82, the multiple nozzles 61 face backward, so that the sprayed water pushes the sewage on the photovoltaic panel backward with the tracked frame 1. Through the setting of the water spray orientation adjustment component 8, the spray pipe 6 can be oriented, and the water sprayed by the multiple nozzles 61 always faces the direction of travel, so that the sewage on the photovoltaic panel is continuously pushed to the direction of movement of the tracked frame 1, avoiding sewage backflow and secondary pollution to the photovoltaic panel.

[0058] Since the first cylinder 72 is fixed to the mounting arm 4 via the first mounting rod 71, when the first cylinder 72 extends or retracts, it can drive the spray rod 5 to swing through its output end. The spray rod 5 swings with its connection point with the mounting arm 4 as the fulcrum, thereby adjusting the angle between the spray rod 5 and the mounting arm 4. When the spray rod 5 swings, it drives the spray pipe 6 to swing synchronously, so that the angle of the spray pipe 6 along the direction of travel can be adjusted. This makes the upper end of the spray pipe 6 more forward relative to the lower end in the direction of travel. When the wastewater cleaned at the upper end of the spray pipe 6 flows down the photovoltaic panel, the wastewater flowing down from the higher part of the photovoltaic panel can first carry away some of the dust from the lower part of the photovoltaic panel. Subsequently, the water sprayed from the lower end of the spray pipe 6 will clean the lower part of the photovoltaic panel again. Through the setting of the angle adjustment component 7, the angle between the spray rod 5 and the mounting arm 4 can be adjusted to keep the spray rod 5 at a certain tilt angle for pushing cleaning. This allows the wastewater flowing down from the top of the photovoltaic panel at the front to pre-wash the lower part of the photovoltaic panel, thereby improving the cleaning effect to a certain extent.

[0059] The baffle 91 can block the dust and sewage splashed during rinsing, preventing a large amount of dust and sewage from splashing onto the mounting arm 4, lifting seat 3, and lifting frame 2. This prevents the mounting arm 4, lifting seat 3, and lifting frame 2 from becoming affected by excessive dust accumulation after prolonged use, thus reducing the cleaning work required by the staff. Whenever the spray pipe 6 moves and swings, the spray pipe 6 drives the two sliding shafts 92 to move synchronously. The two sliding shafts 92 drive the two T-shaped frames 93 to move a certain distance in the swing direction of the spray pipe 6 through the two sliding groove frames 94. 93 drives the two first scraper strips 96 to move synchronously, so that the two first scraper strips 96 can scrape off some of the mud and dirt attached to the baffle 91. The two reinforcing rods 95 can improve the stability of the two T-shaped frames 93. When the two T-shaped frames 93 move back and forth, they can drive the four sliding rods 97 to slide on the two inclined sides of the baffle 91. The four sliding rods 98 respectively drive the four second scraper strips 99 to slide on the two inclined sides of the baffle 91. When the two second scraper strips 99 on the inclined side of the baffle 91 slide, they can scrape off the mud and dirt attached to the inclined side.

[0060] During the oscillation of multiple nozzles 61, when a nozzle 61 moves to the middle section of its trajectory, it contacts the cleaning brush 911, allowing the cleaning brush 911 to clean the nozzle 61. As the two sliding brackets 94 move, they drive two triangular blocks 914 to move synchronously. When the triangular blocks 914 move, they contact a set of spring pieces 913, causing these spring pieces 913 to vibrate. This causes the two sets of spring pieces 913 to drive two elastic rods 912 to vibrate respectively. The two elastic rods 912 transmit the vibration to the multiple cleaning brushes 911 through the portal frame 910, allowing the multiple cleaning brushes 911 to improve the cleaning effect through vibration, while also shaking off any dirt adhering to the cleaning brushes 911. The dust-blocking component 9 allows the baffle 91 to... The cleaning area is shielded to prevent excessive sludge buildup on the mounting arm 4, lifting seat 3, and lifting frame 2, which would affect the cleaning performance. The cooperation of two first scrapers 96 and four second scrapers 99 allows them to periodically clean the contact surface between the baffle 91 and the wastewater, preventing excessive sludge buildup on the baffle 91 and its increased weight, thus reducing the load on the mounting arm 4. Multiple cleaning brushes 911 allow them to clean the nozzles 61 individually, preventing blockages caused by scale and dust accumulation after prolonged use. The cleaning brushes 911 also vibrate to promote cleaning and shake off any attached sludge.

[0061] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A tracked autonomous photovoltaic cleaning machine, comprising a tracked frame, a lifting structure, and a water supply and cleaning structure; The lifting structure includes a lifting frame, a mounting arm, and a lifting seat; The water supply and cleaning structure includes a water tank, a high-pressure water pump and a spraying device. The spraying device includes a spray bar and a spray pipe. The high-pressure water pump is connected to the water tank on the vehicle through a water pipe. The top of the tracked vehicle frame is connected to a lifting frame, the lifting frame is slidably connected to a lifting seat, the lifting seat is hinged to a mounting arm, the mounting arm is rotatably connected to a spray bar, the spray bar is hinged to a spray pipe, the spray pipe is equipped with multiple nozzles, and the spray pipe is connected to a high-pressure water pump through a water pipe. Its features are: It also includes an angle adjustment assembly and a water spray direction adjustment assembly, the angle adjustment assembly being used to adjust the angle between the spray pipe and the mounting arm; The water spray direction adjustment assembly includes a second mounting rod, a second cylinder, and a clamp. The second cylinder is fixed to the spray rod via the second mounting rod. The output end of the second cylinder is hinged to the clamp, which is sleeved with the outer wall of the spray pipe to adjust the water spray direction of the spray pipe.

2. The tracked automatic photovoltaic cleaning machine according to claim 1, characterized in that: It also includes a dust-blocking component, which includes a baffle plate installed on the outer wall of the spray bar. The baffle plate has beveled edges on both sides, and the spray bar is located between the two beveled edges of the baffle plate.

3. The tracked automatic photovoltaic cleaning machine according to claim 1, characterized in that: The lifting structure also includes a first electric winch and a first steel cable; the lifting frame is connected to the first electric winch, the first electric winch is connected to the first steel cable, the end of the first steel cable away from the first electric winch is connected to the lifting seat, the lifting frame is provided with pulleys, and the middle section of the first steel cable is slidably sleeved with the pulleys on the lifting frame.

4. A tracked automatic photovoltaic cleaning machine according to claim 1 or 2, characterized in that: The lifting structure includes a second electric winch and a second steel cable. The second electric winch is connected to the second steel cable. The end of the second steel cable away from the second electric winch is connected to the lifting seat. A pulley is provided on the mounting arm. The middle section of the second steel cable is slidably connected to the pulley on the mounting arm. Distance sensors are provided at both ends of the mounting arm.

5. A tracked automatic photovoltaic cleaning machine according to claim 4, characterized in that: The lifting structure also includes a first connecting rod and two second connecting rods. The first connecting rods are hinged to both sides of the mounting arm via brackets. The two second connecting rods are hinged to the lifting seat via brackets. The two first connecting rods are hinged to the two second connecting rods. A limit mechanism is provided at the hinge point between the lifting seat and the mounting arm. A limit sensor is also provided at the hinge point between the lifting seat and the mounting arm. The limit sensor is connected to the second electric winch.

6. A tracked automatic photovoltaic cleaning machine according to claim 1 or 2, characterized in that: The angle adjustment assembly includes a first mounting rod, which is mounted on a mounting arm. The first mounting rod is equipped with a first cylinder, and the output end of the first cylinder is hinged to the spray rod.

7. A tracked automatic photovoltaic cleaning machine according to claim 1, characterized in that: The dust-blocking assembly also includes two L-shaped frames, two reinforcing rods, and two first scraper strips. The inner wall of the baffle is slidably connected to the two L-shaped frames, and the two reinforcing rods are connected between the two L-shaped frames. The two L-shaped frames are respectively connected to the slide frame, and the two ends of the spray pipe are respectively connected to the slide shaft. The slide frame is provided with a slide groove, and the two slide shafts are slidably connected to the slide grooves of the two slide frames respectively. The two L-shaped frames are connected to the two first scraper strips, and the two first scraper strips contact the baffle when they move.

8. A tracked automatic photovoltaic cleaning machine according to claim 7, characterized in that: The dust-blocking assembly also includes push-pull rods, two slide rods, and two second scraper strips. Two slide rods are slidably connected to the two inclined sides of the baffle, and push-pull rods are hinged to both ends of the T-shaped frame. The ends of the four push-pull rods away from the T-shaped frame are respectively hinged to the four slide rods. Two second scraper strips are connected between the two slide rods located on the same inclined side of the baffle. When the four second scraper strips move, they contact the two inclined sides of the baffle respectively.

9. A tracked automatic photovoltaic cleaning machine according to any one of claims 6-8, characterized in that: The baffle is equipped with a gantry frame, which is equipped with multiple cleaning brushes. The multiple cleaning brushes are located on the movement trajectory of multiple nozzles. The gantry frame is connected to two elastic rods, and a set of spring pieces is connected to each of the two elastic rods. Triangular blocks are connected to the two sliding frames, and the two triangular blocks contact the two sets of spring pieces respectively during movement.

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