CN103406292A - Photovoltaic module cleaning robot - Google Patents

Photovoltaic module cleaning robot Download PDF

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Publication number
CN103406292A
CN103406292A CN2013103482285A CN201310348228A CN103406292A CN 103406292 A CN103406292 A CN 103406292A CN 2013103482285 A CN2013103482285 A CN 2013103482285A CN 201310348228 A CN201310348228 A CN 201310348228A CN 103406292 A CN103406292 A CN 103406292A
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CN
China
Prior art keywords
photovoltaic module
cleaning
motor
cleaning brush
wheel
Prior art date
Application number
CN2013103482285A
Other languages
Chinese (zh)
Inventor
李笑梅
吴为民
李凤婷
龚松柏
李义岩
郑重
Original Assignee
国家电网公司
新疆电力建设调试所
新疆大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 国家电网公司, 新疆电力建设调试所, 新疆大学 filed Critical 国家电网公司
Priority to CN2013103482285A priority Critical patent/CN103406292A/en
Publication of CN103406292A publication Critical patent/CN103406292A/en

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Abstract

The invention relates to a photovoltaic module cleaning robot. The photovoltaic module cleaning robot comprises a rack spanned on a photovoltaic module, a traveling mechanism and a shading and avoiding mechanism installed on the rack, a cleaning mechanism connected onto the traveling mechanism and the shading and avoiding mechanism to clean the photovoltaic module, and a traveling motor, an avoiding as well as a cleaning motor for driving the traveling mechanism, the shading and avoiding mechanism and the cleaning mechanism respectively, wherein the traveling motor, the avoiding motor and the cleaning motor are connected to an intelligent controller; the intelligent controller is internally provided with control programs in advance; the intelligent controller is connected to a dispatching control terminal through a wireless network. The photovoltaic module cleaning robot is high in automation degree, cleans the surface of the photovoltaic module automatically without water, has good cleaning effects, is convenient to maintain, is fast and smooth in the cleaning process, and has short time consumption and high efficiency. The rack in the traveling process is steady, so that the continuous and steady cleaning process is ensured. A cleaning brush is located outside a power generation region of the photovoltaic module to protect the photovoltaic module when photovoltaic module cleaning robot stops.

Description

The photovoltaic module sweeping robot
Technical field
The present invention relates to a kind of clearing apparatus, relate in particular to a kind of photovoltaic module sweeping robot that cleans the dirt such as photovoltaic module surface laying dust.
Background technology
Photovoltaic module is the root that the solar power station electric energy produces, and the efficiency of photovoltaic module is directly determining the generated energy of solar power station.Keeping photovoltaic module clean is the effective way that keeps photovoltaic plant maximum generation ability.Be accompanied by the develop rapidly of photovoltaic generation, the cleaning problem of photovoltaic module has become each photovoltaic generation enterprise urgent need to solve the problem.Because the large-sized photovoltaic power station generally is distributed in the Gobi desert desert, dust storm very easily covers the photovoltaic module surface, thereby causes the photovoltaic module generating efficiency significantly to reduce.The cleaning way that current each photovoltaic generation corporate boss will adopt sprinkling truck spraying-rinsing and manual cleaning to combine, because the large-sized photovoltaic power station needs cleaning area very big, therefore water consumption is large, length consuming time, the manpower consumption is large, cleans cost very high.And due to the structure mounting condition of photovoltaic module, some position is difficult to touch, make the photovoltaic module cleaning frequency longer, can't guarantee the state that photovoltaic module continues to keep clean.For the problems referred to above, this project is intended to develop a kind of anhydrous automatic cleaning device, can realize automatically cleaning without aquation.
Application number is that 201110000120.8 " high-altitude solar panels automatic cleaner " and the patent No. are the device that 201220436723.2 " solar panels automatic cleaner " all proposes a kind of automated cleaning solar panels, it all has the frame be connected across on solar panels, be arranged on the transmission mechanism on described frame, be connected to the cleaning brush on described transmission mechanism, solar panels cleaned, drive the reciprocating direct current generator of described conveyer belt, and the associated electrical apparatus of controlling machine operation, to reach, substitute manually, the purpose of the foreign material such as automated cleaning solar panels surface laying dust.But all there is following defect in it: 1, after cleaning brush or cleaning brush stop, reserved location is not set, thereby solar panels partly can be covered, if at same position, cover for a long time, can produce hot spot effect, thereby solar panels are produced to irreversible damage, until damage fully; 2, cleaning brush or cleaning brush are arranged in a rotating shaft, if certain a part of cleaning brush or cleaning brush damage, need its integral body is changed, and maintenance difficulties increases, and indirectly make cleaning cost increase; And when the rotating shaft span is larger, can lift gradually because of the lifting of rotating speed at rotary course shaft middle part, rotate thereby rotating shaft forms spindle, rotating shaft very easily damages; 3, when cleaning brush or cleaning brush were advanced along solar panels, because structure is limit, the gait of march difference will certainly be caused in its upper and lower two ends, when differential is larger, easily stuck, and can't advance, and solar panels are damaged.
Also have all the other disclosed patent applications; the cleaning device of its proposition substantially be take the monoblock battery plate and is cleaning unit; adopt single machinery or physics dust collection method; there is complex structure; make and operating cost is high, cell panel shelters from heat or light; under winter low temperature, spray water into ice, be difficult to the problems such as washing, causing can't the large-scale promotion application.Also have some public technologies, it is, outside the ring solar panels, trapped orbit is set, the cleaning agency orbital motion, and because the orbit occupancy space is larger, installing inconvenience.And concerning large-scale photovoltaic module group, the large-scale track of this kind unrealistic is installed, especially in windy and dusty area, the maintenance of track and cleaning are insoluble problems.
Summary of the invention
The object of the present invention is to provide a kind of in the frame walking process, frame upper and lower side gait of march is carried out to synchronized coordination, and after frame stops, when cleaning brush quits work, photovoltaic module, fully without covering, is extended to the photovoltaic module photovoltaic module sweeping robot in service life; On the basis of aforementioned purpose, another object of the present invention is that automaticity is high, can be anhydrous the photovoltaic module sweeping robot of the dirt such as cleaning photovoltaic module surface laying dust; On the basis of aforementioned purpose, another purpose of the application is that part replacement is convenient, the photovoltaic module sweeping robot that maintenance cost is low.
The object of the present invention is achieved like this: the photovoltaic module sweeping robot has the frame be connected across on photovoltaic module, be arranged on the walking mechanism on described frame, the shading avoiding mechanism, be connected to described walking mechanism, the cleaning agency on the shading avoiding mechanism, photovoltaic module cleaned, drive described walking mechanism, the shading avoiding mechanism, the movable motor of cleaning agency, dodge motor and cleaning motor, described movable motor, dodging motor is connected with an intelligent controller with the cleaning motor, default control program in intelligent controller, intelligent controller is connected by wireless network with the scheduling controlling terminal.
Owing to carrying out technique scheme, the application is without the extra cleaning water that uses in cleaning process, and anhydrous can cleaning, be applicable to the arid area, field and use.Frame in the process of walking, can be carried out synchronized coordination to frame upper and lower side gait of march by the differential adjusting device, guarantees that the upper and lower side gait of march is consistent, the whole held stationary travel condition of frame, thus guarantee that cleaning course continues, stablizes.The structure that cleaning agency adopts the multistage cleaning brush to interlock, combine closely, clean effectively, and it is convenient to safeguard, the reduction maintenance cost is quick in cleaning course, smooth and easy, consuming time short, efficiency is high.The application is provided with special shading avoiding device to the cleaning brush rear stop position that quits work; cleaning brush is positioned at outside the power generation region of photovoltaic module; in the situation that morning and evening solar angle degree changes, still the photovoltaic module power generation region can be exposed fully; when guaranteeing generating efficiency, photovoltaic module is protected.The application's automaticity is high, and alternative manual cleaning focuses the photovoltaic assembly surface automatically and cleans.The application not only is applicable to the monolithic photovoltaic module is cleaned, and is more suitable for the photovoltaic module that polylith links together is cleaned, and is applicable to applying, and has good practical value.
The accompanying drawing explanation: technical scheme of the present invention is provided by following drawings and Examples:
Fig. 1 is photovoltaic module sweeping robot structural representation;
Fig. 2 is frame, cleaning agency, shading avoiding mechanism, walking mechanism structural representation;
Fig. 3 is frame and photovoltaic module attaching structure schematic diagram;
Fig. 4 is walking mechanism drive mechanism schematic diagram;
Fig. 5 is the cleaning agency structural representation;
Fig. 6 is shading avoiding mechanism structural representation;
Fig. 7 is the cleaning brush structural representation;
Fig. 8 is differential governor motion schematic diagram;
Fig. 9 is the intelligent controller schematic block circuit diagram.
Legend: 1. cleaning agency, 2. shading avoiding mechanism, 3. walking mechanism, 4. photovoltaic module, 5. intelligent controller, 6. scheduling controlling terminal, 7. dodge motor, 8. dodge pulley, 9. cleaning brush holder, 10. cleaning brush position, 11. cleaning brush, 12. crossbeam, 13. slide rail, 14. front limit wheel, 15. movable motor, 16. road wheel, 17, the cleaning motor, 18. vertical beam, 19. front limit wheel driven pulley, 20. road wheel driving wheel, 21. road wheel driven pulley, 22. rear position-limited wheel, 23. front limit wheel driving wheel, 24. driving shaft, 25. cleaning brush rotating shaft, 26. cleaning brush slide block, 27. dodge driving wheel, 28. cleaning cylinder, 29. error of measurement rocking arm, 30. anticipating signal detector, 31. delay signal detector, 32. rotating control module, 33. single-chip microcomputer, a probe 34. left side puts in place, the probe 35. the right side puts in place, 36. left side limit switch, 37. right side limit switch, 38. switch power module.
The specific embodiment:
The present invention is not subjected to the restriction of following embodiment, can determine concrete embodiment according to technical scheme of the present invention and actual conditions.
Embodiment: as shown in Fig. 1-8, the photovoltaic module sweeping robot has the frame be connected across on photovoltaic module, be arranged on the walking mechanism 3 on described frame, shading avoiding mechanism 2, be connected to described walking mechanism 3, the cleaning agency 1 on shading avoiding mechanism 2, photovoltaic module cleaned, drive described walking mechanism 3, shading avoiding mechanism 2, the movable motor 15 of cleaning agency 1, dodge motor 7 and cleaning motor 17, described movable motor 15, dodging motor 7 is connected with an intelligent controller 5 with cleaning motor 17, the interior default control program of intelligent controller 5, intelligent controller 5 is connected by wireless network with scheduling controlling terminal 6, carry out data, control command.Described intelligent controller 5 comprises single-chip microcomputer 33, the rotating control module 32 be connected with single-chip microcomputer 3, switch power module 38.Because of circuit connection more, at the single-chip microcomputer 33 external expansion modules in place.Each dodges motor 7, the corresponding rotating control module 32 of movable motor 15, and is connected with its circuit.In rotating control module 32, comprise prograde circuit and circuit for reversing, two circuit all are connected with switch power module 38 with single-chip microcomputer 33.Anticipating signal detector 30, delay signal detector 31, a left side put in place the probe 35, left side limit switch 36, right side limit switch 37 of probe 34, the right side that put in place all is connected with single-chip microcomputer 33 circuit.
As shown in Figure 1, 2, photovoltaic module tiltedly stands on ground, and frame has crossbeam 12 and vertical beam 18, two vertical beams 18 are laid in the photovoltaic module top along photovoltaic module upper surface oblique parallel, and stretch out at two ends; Two crossbeams 12 are connected between the upper and lower end parts of two vertical beams 18, and are positioned at outside the photovoltaic module power generation region.Two crossbeams 12 and two vertical beams 18 form rectangular frame.At the upper and lower sides of the left and right sides of two crossbeams 12 and two vertical beams 18, be equiped with respectively left side probe 34, the right side probe 35 that puts in place that puts in place.
As shown in Fig. 2,5,7, in two crossbeam 12 inboards, be provided with slide rail 13, between two slide rails 13, be equiped with cleaning brush holder 9, on cleaning one the first from left right side, brush holder 9 both sides, be staggeredly equipped with cleaning brush position 10, in cleaning brush position 10, be equiped with cleaning brush rotating shaft 25, cover has cleaning cylinder 28 in cleaning brush rotating shaft 25, and cleaning brush 11 is laid on cleaning cylinder 28 surfaces.Cleaning brush rotating shaft 25 is driven by cleaning motor 17.The two interior two ends of slide rail 13 are equiped with respectively left side limit switch 36, right side limit switch 37 again.
As shown in Figure 2,3, 4, described walking mechanism is installed in every crossbeam 12 places, it has the road wheel 16 that rolls and contact with the photovoltaic module upper and lower end face, and with the forward and backward position-limited wheel 14,4 that the photovoltaic module front/rear end rolls and contacts, road wheel 16, front limit wheel 14 are synchronously driven by movable motor 15.Movable motor 15 driving shafts and 24 interlocks of another driving shaft, on described driving shaft 24, be equiped with front limit wheel driving wheel 23 and road wheel driving wheel 20, described front limit wheel driving wheel 23 and road wheel driving wheel 20 and the front limit wheel driven pulley 19 and the 21 engagement interlocks of road wheel driven pulley that are installed in front limit wheel 14, road wheel 16 rotating shafts.
As shown in Figure 2,6, described shading avoiding mechanism is installed in slide rail 13 places of every crossbeam 12, it has one and dodges driving wheel 27 by dodging motor 7 drivings, dodge driving wheel 27 and be two-wheel groove structure, in two races, be wound with the steel wire rope that two external end heads are connected, the connecting portion place is equiped with cleaning brush slide block 26, and cleaning brush slide block 26 is in the interior slip of slide rail 13.Two 26 of cleaning brush slide blocks are equiped with cleaning brush holder 9.Described two steel wire ropes respectively be arranged on the pulley 8 of dodging of dodging driving wheel 27 left and right sides and roll and be connected.
As shown in Figure 7, in vertical beam 18 bottoms, stretch out place outside the photovoltaic module power generation region and be equiped with the error of measurement rocking arm 29 parallel with crossbeam 12, in the anterior upper and lower both sides of error of measurement rocking arm 29, be respectively arranged with anticipating signal detector 30, delay signal detector 31, both are connected with intelligent controller.
One, in the frame traveling process, the progressive error of the upper and lower crossbeam of frame machine is in normal range (NR), the position of error of measurement rocking arm 29 is under GK1 under sufficient anticipating signal detector 30 and GK2 in the space between sufficient delay signal detector 31, intelligent controller 5 is controlled the at the uniform velocity stable operation that the movable motor 15 on upper and lower crossbeam keeps the upper and lower crossbeam of frame foot, not output regulation signal.
Two, in the frame walking process, when the stroke of frame sill is leading, the position of error of measurement rocking arm 29 has entered among the detection range of sufficient anticipating signal detector 30 under GK1, intelligent controller 5 is controlled the speed of service of the movable motor 15 attenuating underbeams on sill 12, entablature maintains the original speed of service, through an adjustment process time and distance, within progressive error returns to the deviation range of regulation, error of measurement rocking arm 29 exits the detection range of sufficient anticipating signal detector 30 under GK1, and adjustment process finishes.
Three, in the frame walking process, when the stroke of frame sill lags behind, the position of error of measurement rocking arm 29 has entered among the detection range of sufficient delay signal detector 31 under GK2, intelligent controller 5 lowers the speed of service of entablature, sill maintains the original speed of service, through an adjustment process time and distance, within progressive error returns to the deviation range of regulation, error of measurement rocking arm 29 exits the detection range of sufficient delay signal detector 31 under GK2, and adjustment process finishes.
As shown in Fig. 1-9, while cleaning, movable motor 15 and cleaning motor 17 are opened simultaneously, and movable motor 15 drives frame and at the uniform velocity advanced to the other end by an end of photovoltaic module group.In traveling process, cleaning motor 17 drives 11 pairs of photovoltaic module surfaces of cleaning brush and cleans.When rack rows during to photovoltaic module one end, one vertical beam 18 exposures are outside photovoltaic module, and another vertical beam is positioned at the outermost end photovoltaic module when inner, and rack-mounted left side probe 34, the right side probe 35 that puts in place that puts in place sends a signal to intelligent controller 5, movable motor 15 stalls, start and dodge motor 7 simultaneously.Dodging motor 7 drive cleaning brush holders 9 moves at vertical beam 18 places laterally, after brush holder 9 to be cleaned touched left side limit switch 36 or right side limit switch 37, cleaning brush holder 9 was dodged to outermost end, and photovoltaic module is avoided fully, now dodge motor 7 stalls, complete cleaning process one time.When needs clean back and forth, by movable motor 15, drive frames reciprocal back and forth, until, after the cleaning degree reaches the photovoltaic module requirement, can stop.
Predeterminable timing cleaning program in the CPU of intelligent controller 5, according to actual needs, can clean by 17 pairs of photovoltaic modulies of timing automatic startup movable motor 15 and cleaning motor.Intelligent controller 5 can adopt the Wireless remote control technology to be connected with scheduling controlling terminal 6, after meeting with dusty wind weather, can to intelligent controller 5, send the cleaning order by scheduling controlling terminal 6, and photovoltaic module is cleaned.
Above technical characterictic has formed most preferred embodiment of the present invention, and it has stronger adaptability and best implementation result, can increase and decrease according to actual needs inessential technical characterictic, meets the needs of different situations.

Claims (7)

1. photovoltaic module sweeping robot, it is characterized in that: it has the frame be connected across on photovoltaic module, be arranged on the walking mechanism on described frame, the shading avoiding mechanism, be connected to described walking mechanism, the cleaning agency on the shading avoiding mechanism, photovoltaic module cleaned, drive described walking mechanism, the shading avoiding mechanism, the movable motor of cleaning agency, dodge motor and cleaning motor, described movable motor, dodging motor is connected with an intelligent controller with the cleaning motor, default control program in intelligent controller, intelligent controller is connected by wireless network with the scheduling controlling terminal.
2. photovoltaic module sweeping robot as claimed in claim 1, it is characterized in that: frame has crossbeam and vertical beam, and two vertical beams are laid in the photovoltaic module top along photovoltaic module upper surface oblique parallel, and stretch out at two ends; Two crossbeams are connected between the upper and lower end parts of two vertical beams, and are positioned at outside the photovoltaic module power generation region, and two crossbeams and two vertical beams form rectangular frame, are equiped with respectively left side probe, the right side probe that puts in place that puts in place at the upper and lower sides of the left and right sides of two crossbeams and two vertical beams.
3. photovoltaic module sweeping robot as claimed in claim 1, it is characterized in that: be provided with slide rail in two crossbeam inboards, between two slide rails, be equiped with the cleaning brush holder, on cleaning one the first from left right side, brush holder both sides, be staggeredly equipped with the cleaning brush position, in the cleaning brush position, be equiped with the cleaning brush rotating shaft, cover has the cleaning cylinder in the cleaning brush rotating shaft, and cleaning brush is laid on cleaning cylinder surface, the cleaning brush rotating shaft is by the cleaning driven by motor, then in two slide rails, two ends are equiped with respectively left side limit switch, right side limit switch.
4. photovoltaic module sweeping robot as claimed in claim 1, it is characterized in that: described walking mechanism is installed in every crossbeam place, it has the road wheel that rolls and contact with the photovoltaic module upper and lower end face, before with the rolling of photovoltaic module front/rear end, contacting, rear position-limited wheel, road wheel, the front limit wheel is synchronously driven by movable motor, movable motor driving shaft and the interlock of another driving shaft, on described driving shaft, be equiped with front limit wheel driving wheel and road wheel driving wheel, described front limit is taken turns driving wheel and road wheel driving wheel and is installed in the front limit wheel, front limit wheel driven pulley in the road wheel rotating shaft and road wheel driven pulley engagement interlock.
5. photovoltaic module sweeping robot as claimed in claim 1, it is characterized in that: described shading avoiding mechanism is installed in the slide rail place of every crossbeam, it has one by dodging the motor-driven driving wheel of dodging, dodging driving wheel is two-wheel groove structure, in two races, be wound with the steel wire rope that two external end heads are connected, the connecting portion place is equiped with the cleaning brush slide block, the cleaning brush slide block slides in slide rail, between two cleaning brush slide blocks, be equiped with the cleaning brush holder, described two steel wire ropes respectively be arranged on the pulley rolling of dodging of dodging the driving wheel left and right sides and be connected.
6. photovoltaic module sweeping robot as claimed in claim 1, it is characterized in that: place is equiped with the error of measurement rocking arm parallel with crossbeam outside the photovoltaic module power generation region is stretched out in the vertical beam bottom, in the anterior upper and lower both sides of error of measurement rocking arm, be respectively arranged with anticipating signal detector, delay signal detector, both are connected with intelligent controller.
7. as claim 1, 2, 3 or 6 described photovoltaic module sweeping robots, it is characterized in that: described intelligent controller comprises single-chip microcomputer, the rotating control module be connected with single-chip microcomputer, switch power module, each dodges motor, the corresponding rotating control module of movable motor, and be connected with its circuit, in the rotating control module, comprise prograde circuit and circuit for reversing, two circuit all are connected with switch power module with single-chip microcomputer, the anticipating signal detector, the delay signal detector, the left side probe that puts in place, the right side probe that puts in place, the left side limit switch, the right side limit switch all is connected with single chip circuit.
CN2013103482285A 2013-08-12 2013-08-12 Photovoltaic module cleaning robot CN103406292A (en)

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103599894A (en) * 2013-10-08 2014-02-26 大连民族学院 Automatic dust removing device for solar panels
CN103769377A (en) * 2014-01-24 2014-05-07 国家电网公司 Large-scale photovoltaic array water-free cleaning system
CN104259121A (en) * 2014-08-19 2015-01-07 杜吉良 Ash removing device for photovoltaic module
CN104467647A (en) * 2014-11-26 2015-03-25 北京科诺伟业科技股份有限公司 Water-free cleaning device for photovoltaic module
CN105381969A (en) * 2015-12-21 2016-03-09 中信博新能源科技(苏州)有限公司 Rail type portable photovoltaic array cleaning device
CN105665314A (en) * 2016-03-21 2016-06-15 深圳市华星光电技术有限公司 Cleaning robot and automatic storage cleaning system
CN105680789A (en) * 2016-03-10 2016-06-15 山东豪沃电气有限公司 Automatic cleaning system for solar cell panel
CN105703703A (en) * 2016-03-10 2016-06-22 山东豪沃电气有限公司 Automatic cleaning device for solar cell panel
CN105798033A (en) * 2016-03-22 2016-07-27 苏州合欣美电子科技有限公司 Automatic cleaning control device of photovoltaic module
CN106076900A (en) * 2016-08-09 2016-11-09 常州索拉克林智能科技有限公司 A kind of photovoltaic module detection and cleaning equipment
CN106513404A (en) * 2016-10-31 2017-03-22 杨洪新 Novel full-automatic photovoltaic plate cleaning machine
CN106625692A (en) * 2015-10-29 2017-05-10 新疆西北星信息技术有限责任公司 Solar photovoltaic cell continuous blowdown cleaning robot
CN107992037A (en) * 2017-11-23 2018-05-04 浙江国自机器人技术有限公司 A kind of robot and its air navigation aid, system, equipment
CN108160617A (en) * 2017-12-12 2018-06-15 深圳市华星光电半导体显示技术有限公司 Cleaning device
CN108268032A (en) * 2016-12-30 2018-07-10 北京天诚同创电气有限公司 The control method and control device of photovoltaic module cleaning device
CN108824716A (en) * 2018-07-19 2018-11-16 安徽信康电子科技有限公司 A kind of herringbone wayside pavilion pavilion top upper surface cleaner

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103599894A (en) * 2013-10-08 2014-02-26 大连民族学院 Automatic dust removing device for solar panels
CN103769377A (en) * 2014-01-24 2014-05-07 国家电网公司 Large-scale photovoltaic array water-free cleaning system
CN103769377B (en) * 2014-01-24 2015-09-09 国家电网公司 The anhydrous cleaning systems of large-scale photovoltaic array
CN104259121A (en) * 2014-08-19 2015-01-07 杜吉良 Ash removing device for photovoltaic module
CN104467647A (en) * 2014-11-26 2015-03-25 北京科诺伟业科技股份有限公司 Water-free cleaning device for photovoltaic module
CN106625692A (en) * 2015-10-29 2017-05-10 新疆西北星信息技术有限责任公司 Solar photovoltaic cell continuous blowdown cleaning robot
CN105381969A (en) * 2015-12-21 2016-03-09 中信博新能源科技(苏州)有限公司 Rail type portable photovoltaic array cleaning device
CN105680789A (en) * 2016-03-10 2016-06-15 山东豪沃电气有限公司 Automatic cleaning system for solar cell panel
CN105703703A (en) * 2016-03-10 2016-06-22 山东豪沃电气有限公司 Automatic cleaning device for solar cell panel
CN105703703B (en) * 2016-03-10 2017-07-21 山东豪沃电气有限公司 Solar panel automatic cleaning device
CN105665314A (en) * 2016-03-21 2016-06-15 深圳市华星光电技术有限公司 Cleaning robot and automatic storage cleaning system
CN105798033A (en) * 2016-03-22 2016-07-27 苏州合欣美电子科技有限公司 Automatic cleaning control device of photovoltaic module
CN106076900A (en) * 2016-08-09 2016-11-09 常州索拉克林智能科技有限公司 A kind of photovoltaic module detection and cleaning equipment
CN106076900B (en) * 2016-08-09 2018-04-24 常州索拉克林智能科技有限公司 A kind of photovoltaic module detection and cleaning equipment
CN106513404A (en) * 2016-10-31 2017-03-22 杨洪新 Novel full-automatic photovoltaic plate cleaning machine
CN108268032A (en) * 2016-12-30 2018-07-10 北京天诚同创电气有限公司 The control method and control device of photovoltaic module cleaning device
CN107992037A (en) * 2017-11-23 2018-05-04 浙江国自机器人技术有限公司 A kind of robot and its air navigation aid, system, equipment
CN108160617A (en) * 2017-12-12 2018-06-15 深圳市华星光电半导体显示技术有限公司 Cleaning device
CN108824716A (en) * 2018-07-19 2018-11-16 安徽信康电子科技有限公司 A kind of herringbone wayside pavilion pavilion top upper surface cleaner

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