CN103406292A - Photovoltaic module cleaning robot - Google Patents

Abstract

The invention relates to a photovoltaic module cleaning robot, which has a frame connected to the photovoltaic module, a running mechanism and a shading avoidance mechanism installed on the frame, and connected to the walking mechanism and the shading avoidance mechanism to protect the photovoltaic The cleaning mechanism for cleaning the components drives the walking mechanism, the shading avoidance mechanism, the travel motor, the avoidance motor and the cleaning motor of the cleaning mechanism. The travel motor, the avoidance motor and the cleaning motor are connected with an intelligent controller, and the intelligent controller The preset control program, the intelligent controller and the dispatch control terminal are connected through the wireless network. The application has a high degree of automation, automatically cleans the surface of the photovoltaic module without water, has good cleaning effect, convenient maintenance, fast and smooth cleaning process, short time consumption and high efficiency. The rack is stable during walking, ensuring continuous and stable cleaning process. When stopped, the cleaning brush is located outside the power generation area of the photovoltaic module to protect the photovoltaic module.

Description

Photovoltaic module cleaning robot

technical field

The invention relates to a cleaning device, in particular to a photovoltaic module cleaning robot for cleaning dirt such as dust accumulated on the surface of a photovoltaic module.

Background technique

Photovoltaic modules are the source of electricity generated by solar power plants, and the efficiency of photovoltaic modules directly determines the power generation of solar power plants. Keeping photovoltaic modules clean is an effective way to maintain the maximum power generation capacity of photovoltaic power plants. With the rapid development of photovoltaic power generation, the cleaning of photovoltaic modules has become an urgent problem for photovoltaic power generation enterprises. Since large-scale photovoltaic power plants are generally distributed in the Gobi desert, wind and sand can easily cover the surface of photovoltaic modules, resulting in a significant reduction in the power generation efficiency of photovoltaic modules. At present, photovoltaic power generation enterprises mainly adopt the cleaning method combining sprinkler cleaning with water spraying and manual cleaning. Due to the large cleaning area of large-scale photovoltaic power plants, it consumes a lot of water, takes a long time, consumes a lot of manpower, and the cleaning cost is high. Moreover, due to the structure and installation conditions of photovoltaic modules, some parts are difficult to touch, which makes the cleaning cycle of photovoltaic modules longer, and it is impossible to ensure that photovoltaic modules are kept in a clean state. In view of the above problems, this project intends to develop an anhydrous automatic cleaning device, which can realize anhydrous automatic cleaning.

The "automatic cleaner for high-altitude solar panels" with the application number of 201110000120.8 and the "automatic cleaner for solar panels" with the patent number of 201220436723.2 both propose a device for automatically cleaning solar panels. The transmission mechanism installed on the frame, the cleaning brush connected to the transmission mechanism to clean the solar panel, the DC motor that drives the reciprocating motion of the conveyor belt, and the related electrical devices that control the operation of the motor, so as to replace manual , The purpose of automatically cleaning dust and other sundries on the surface of the solar panel. But they all have the following defects: 1. After the cleaning brush or the cleaning brush stops, no reserved position is set, which will partially cover the solar panel. If the same position is covered for a long time, a hot spot effect will be produced, thereby causing damage to the solar panel. Irreversible damage until it is completely damaged; 2. The cleaning brush or cleaning brush is set on a rotating shaft. If a certain part of the cleaning brush or cleaning brush is damaged, it needs to be replaced as a whole, which increases the difficulty of maintenance and indirectly increases the cleaning cost. Increase; and when the span of the rotating shaft is large, the middle part of the rotating shaft will gradually lift up due to the increase of the rotating speed during the rotation process, so that the rotating shaft forms a spindle-shaped rotation, and the rotating shaft is easily damaged; 3. When the cleaning brush or cleaning brush travels along the solar panel At the time, due to the limitation of the structure, there will inevitably be a difference in traveling speed at the upper and lower ends of the solar panel. When the differential speed is large, it is easy to get stuck and unable to travel, causing damage to the solar panel.

There are other patent applications that have been published. The cleaning device proposed basically uses a single battery plate as a cleaning unit, and adopts a single mechanical or physical dust removal method. Problems such as spraying water into ice and being difficult to wash with water make it impossible to promote and apply it on a large scale. Also have some open technologies, and it is to arrange fixed track outside ring solar panel, and cleaning mechanism moves along track, because track takes up a lot of space, it is inconvenient to install. And for large-scale photovoltaic module groups, it is unrealistic to install such large-scale tracks, especially in windy and sandy areas, the maintenance and cleaning of the tracks are difficult problems to solve.

Contents of the invention

The purpose of the present invention is to provide a method to coordinate the traveling speed of the upper and lower ends of the rack at the same speed during the running process of the rack, and when the rack stops and the cleaning brush stops working, the photovoltaic modules are completely unshielded and the photovoltaic modules are extended. A photovoltaic module cleaning robot with a long service life; on the basis of the aforementioned purposes, another object of the present invention is a photovoltaic module cleaning robot with a high degree of automation that can clean dirt such as dust on the surface of photovoltaic modules without water; on the basis of the aforementioned purposes, the present invention Another purpose of the application is a photovoltaic module cleaning robot with convenient component replacement and low maintenance cost.

The purpose of the present invention is achieved in this way: the photovoltaic module cleaning robot has a frame connected to the photovoltaic module, the running mechanism and the shading avoidance mechanism installed on the frame are connected to the walking mechanism and the shading avoidance mechanism The cleaning mechanism for cleaning the photovoltaic modules drives the traveling mechanism, the shading and avoiding mechanism, the traveling motor, the avoiding motor and the cleaning motor of the cleaning mechanism. The traveling motor, the avoiding motor and the cleaning motor are connected with an intelligent controller, and the intelligent control The preset control program in the device, the intelligent controller and the dispatching control terminal are connected through the wireless network. the

Due to the implementation of the above technical solution, the application does not need to use additional cleaning water in the cleaning process, and can be cleaned without water, which is suitable for use in dry areas in the wild. During the running process of the rack, the speed of the upper and lower ends of the rack can be coordinated at the same speed through the differential speed adjustment device to ensure that the upper and lower ends of the rack travel at the same speed, and the rack as a whole maintains a stable moving state, thereby ensuring a continuous and stable cleaning process. The cleaning mechanism adopts a multi-segment cleaning brush staggered and tightly combined structure, which has good cleaning effect, convenient maintenance, and reduced maintenance costs. The cleaning process is fast, smooth, short in time and high in efficiency. This application sets a special shading avoidance device for the stop position of the cleaning brush after it stops working. When it stops, the cleaning brush can be located outside the power generation area of the photovoltaic module. When the incident angle of sunlight changes in the morning and evening, the power generation area of the photovoltaic module can still be completely closed. exposed to ensure power generation efficiency while protecting photovoltaic modules. The application has a high degree of automation and can replace manual cleaning to automatically clean the surface of the photovoltaic module. The application is not only suitable for cleaning a single photovoltaic module, but also suitable for cleaning a plurality of connected photovoltaic modules, is suitable for popularization and application, and has good practical value.

Description of drawings: technical scheme of the present invention is provided by following accompanying drawing and embodiment:

Figure 1 is a structural schematic diagram of a photovoltaic module cleaning robot;

Fig. 2 is a structural schematic diagram of a frame, a cleaning mechanism, a shading avoidance mechanism, and a walking mechanism;

Figure 3 is a schematic diagram of the attachment structure of the rack and photovoltaic modules;

Fig. 4 is a schematic diagram of the transmission structure of the traveling mechanism;

Fig. 5 is a structural schematic diagram of a cleaning mechanism;

Fig. 6 is a structural schematic diagram of the shading avoidance mechanism;

Fig. 7 is a schematic structural view of the cleaning brush;

Fig. 8 is a schematic diagram of a differential speed adjustment mechanism;

Fig. 9 is a schematic block diagram of an intelligent controller circuit.

Legend: 1. Cleaning mechanism, 2. Shading avoidance mechanism, 3. Traveling mechanism, 4. Photovoltaic module, 5. Intelligent controller, 6. Scheduling control terminal, 7. Avoidance motor, 8. Avoidance pulley, 9. Cleaning brush holder , 10. Cleaning brush position, 11. Cleaning brush, 12. Beam, 13. Slide rail, 14. Front limit wheel, 15. Traveling motor, 16. Traveling wheel, 17. Cleaning motor, 18. Vertical beam, 19. Front limit wheel driven wheel, 20. road wheel driving wheel, 21. road wheel driven wheel, 22. rear limit wheel, 23. front limit wheel driving wheel, 24. drive shaft, 25. cleaning brush shaft, 26. Sweeping brush slider, 27. Avoidance drive wheel, 28. Cleaning barrel, 29. Difference measuring rocker arm, 30. Leading signal detector, 31. Lag signal detector, 32. Forward and reverse control module, 33. Single-chip microcomputer, 34 .Left in-position probe, 35. Right in-position probe, 36. Left limit switch, 37. Right limit switch, 38. Switching power supply module.

Detailed ways:

The present invention is not limited by the following examples, and specific implementation methods can be determined according to the technical solutions of the present invention and actual conditions.

Embodiment: As shown in Figures 1-8, the photovoltaic module cleaning robot has a frame connected to the photovoltaic module, and the running mechanism 3 and the shading avoidance mechanism 2 installed on the frame are connected to the running mechanism 3 , the cleaning mechanism 1 that cleans the photovoltaic module on the shading avoidance mechanism 2, drives the traveling mechanism 3, the shading avoidance mechanism 2, the travel motor 15 of the cleaning mechanism 1, the avoidance motor 7 and the cleaning motor 17, the travel motor 15, The avoidance motor 7 and the cleaning motor 17 are connected with an intelligent controller 5, the preset control program in the intelligent controller 5, and the intelligent controller 5 is connected with the dispatching control terminal 6 through a wireless network to transmit data and control instructions. The intelligent controller 5 includes a single-chip microcomputer 33 , a forward and reverse control module 32 connected to the single-chip microcomputer 3 , and a switching power supply module 38 . Because there are many circuit connections, an expansion module is externally connected at the single-chip microcomputer 33 . Each avoidance motor 7 and travel motor 15 correspond to a forward and reverse control module 32, and are connected to their circuits. The forward and reverse control module 32 includes a forward rotation circuit and a reverse rotation circuit, both of which are connected to the single chip microcomputer 33 and the switching power supply module 38 . Leading signal detector 30, lagging signal detector 31, left probe 34 in place, right probe 35 in place, left side limit switch 36, right limit switch 37 are all connected with single-chip microcomputer 33 circuits.

As shown in Figures 1 and 2, the photovoltaic module stands obliquely on the ground, and the frame has a beam 12 and a vertical beam 18. The two vertical beams 18 are arranged obliquely and parallel above the photovoltaic module along the upper surface of the photovoltaic module, and the two ends protrude; 12 are respectively connected between the upper and lower ends of the two vertical beams 18, and are located outside the power generation area of the photovoltaic module. Two beams 12 and two vertical beams 18 form a rectangular frame. Left and right probes 34 and right probes 35 are respectively installed on the left and right sides of the two beams 12 and the up and down sides of the two vertical beams 18 .

As shown in Figures 2, 5, and 7, slide rails 13 are provided inside the two cross beams 12, and cleaning brush holders 9 are installed between the two slide rails 13, and cleaning brush holders 9 are arranged alternately on both sides of the cleaning brush holder 9, left and right. Brush position 10, cleaning brush position 10 is equipped with cleaning brush rotating shaft 25, is covered with cleaning tube 28 on cleaning brush rotating shaft 25, and cleaning tube 28 surfaces are arranged cleaning brush 11. The cleaning brush rotating shaft 25 is driven by the cleaning motor 17. The two ends in the two slide rails 13 are equipped with a left limit switch 36 and a right limit switch 37 respectively.

As shown in Figures 2, 3, and 4, the traveling mechanism is installed at each beam 12, which has a running wheel 16 that is in rolling contact with the upper and lower end surfaces of the photovoltaic module, and front and rear limiters that are in rolling contact with the front and rear end surfaces of the photovoltaic module. Wheel 14,4, travel wheel 16, front spacer wheel 14 are synchronously driven by travel motor 15. Travel motor 15 driving shafts are linked with another driving shaft 24, and front limiting wheel driving wheel 23 and road wheel driving wheel 20 are installed on described driving shaft 24, and described front limiting wheel driving wheel 23 and road wheel driving wheel 20 and front spacer wheel driven wheel 19 and road wheel driven wheel 21 engagement linkages that are installed on front spacer wheel 14, road wheel 16 rotating shafts.

As shown in Figures 2 and 6, the shading avoidance mechanism is installed at the slide rail 13 of each beam 12, which has a drive wheel 27 driven by the avoidance motor 7, and the avoidance drive wheel 27 is a double wheel groove structure. Two steel wire ropes whose outer ends are connected are wound in the two wheel grooves, and the connecting portion is equipped with a cleaning brush slide block 26, and the cleaning brush slide block 26 slides in the slide rail 13. Two cleaning brush sliders 26 are equipped with cleaning brush holder 9. The two steel wire ropes are respectively connected to the avoidance pulleys 8 arranged on the left and right sides of the avoidance drive wheel 27 in a rolling manner.

As shown in Figure 7, a difference measuring rocker 29 parallel to the beam 12 is installed at the lower part of the vertical beam 18 protruding outside the power generation area of the photovoltaic module. Device 30, hysteresis signal detector 31, both are connected with intelligent controller.

1. During the running of the rack, the stroke difference between the upper and lower beams of the rack is within the normal range, and the position of the difference measuring rocker arm 29 is between the leading signal detector 30 of the lower foot of GK1 and the lagging signal detector 31 of the lower foot of GK2 In the gap, the intelligent controller 5 controls the traveling motor 15 on the upper and lower crossbeams to maintain the uniform speed and stable operation of the upper and lower crossbeams on the frame foot, and does not output adjustment signals.

2. During the frame walking process, when the stroke of the lower beam of the frame is advanced, the position of the difference measuring rocker arm 29 enters the detection range of the lower foot leading signal detector 30 of GK1, and the intelligent controller 5 controls the lower beam 12 The running motor 15 on the top reduces the running speed of the lower beam, and the upper beam maintains the original running speed. After an adjustment process of time and distance, the stroke difference returns to within the specified deviation range, and the difference measuring rocker arm 29 exits the GK1 lower foot advance signal The detection range of the detector 30, the adjustment process ends.

3. During the frame walking process, when the stroke of the lower beam of the frame lags behind, the position of the difference measuring rocker arm 29 enters the detection range of the lower foot lagging signal detector 31 of GK2, and the intelligent controller 5 reduces the stroke of the upper beam. Running speed, the lower crossbeam maintains the original running speed, after an adjustment process of time and distance, the stroke difference returns to within the specified deviation range, the difference measuring rocker 29 exits the detection range of the GK2 lower foot lagging signal detector 31, and the adjustment process Finish.

As shown in Figures 1-9, when cleaning, the travel motor 15 and the cleaning motor 17 are turned on at the same time, and the travel motor 15 drives the frame to travel from one end of the photovoltaic module group to the other end at a constant speed. During the traveling process, the cleaning motor 17 drives the cleaning brush 11 to clean the surface of the photovoltaic module. When the rack reaches one end of the photovoltaic module, one vertical beam 18 is exposed outside the photovoltaic module, and the other vertical beam is located at the inner end of the outermost photovoltaic module, the left in-position probe 34 and the right in-position probe 35 installed on the rack Send a signal to the intelligent controller 5, and the traveling motor 15 stalls, and starts the avoidance motor 7 simultaneously. Avoid motor 7 to drive cleaning brush holder 9 to move to outer vertical beam 18, after cleaning brush holder 9 touches left side limit switch 36 or right side limit switch 37, cleaning brush holder 9 avoids to the outermost end, will Photovoltaic components are completely avoided, and at this time, the motor 7 is prevented from stopping to complete a cleaning process. When cleaning back and forth is required, the travel motor 15 drives the frame to reciprocate until the cleaning degree reaches the requirements of the photovoltaic module, and then stops.

The timing cleaning program can be preset in the CPU of the intelligent controller 5, and the traveling motor 15 and the cleaning motor 17 can be automatically started regularly to clean the photovoltaic modules according to actual needs. The intelligent controller 5 and the dispatch control terminal 6 can be connected by wireless remote control technology. After encountering wind and sand, the dispatch control terminal 6 can send a cleaning command to the intelligent controller 5 to clean the photovoltaic modules.

The above technical features constitute the best embodiment of the present invention, which has strong adaptability and best implementation effect, and non-essential technical features can be increased or decreased according to actual needs to meet the needs of different situations.

Claims (7)

1. A photovoltaic module cleaning robot, characterized in that: it has a frame that is bridged on the photovoltaic module, and a running mechanism and a shading avoidance mechanism installed on the frame are connected to the running mechanism and the shading avoidance mechanism. The cleaning mechanism for cleaning the photovoltaic modules drives the walking mechanism, the shading avoidance mechanism, the travel motor, the avoidance motor and the cleaning motor of the cleaning mechanism. The travel motor, the avoidance motor and the cleaning motor are connected with an intelligent controller, and the The control program is preset in the controller, and the intelligent controller is connected to the dispatching control terminal through a wireless network. 2. The photovoltaic module cleaning robot as claimed in claim 1, characterized in that: the frame has a beam and a vertical beam, and the two vertical beams are arranged obliquely and parallel above the photovoltaic module along the upper surface of the photovoltaic module, and the two ends protrude; They are respectively connected between the upper and lower ends of the two vertical beams and are located outside the power generation area of the photovoltaic module. The two beams and the two vertical beams form a rectangular frame. Left and right Probe in place, probe in place right. 3. The photovoltaic module cleaning robot according to claim 1, characterized in that: slide rails are arranged inside the two beams, and a cleaning brush holder is installed between the two slide rails, and the left and right sides of the cleaning brush holder are staggered There is a cleaning brush position, a cleaning brush shaft is installed inside the cleaning brush position, a cleaning cylinder is set on the cleaning brush rotation shaft, and a cleaning brush is arranged on the surface of the cleaning cylinder. There are left limit switch and right limit switch. 4. The photovoltaic module cleaning robot as claimed in claim 1, characterized in that: the walking mechanism is installed at each beam, which has a walking wheel that is in rolling contact with the upper and lower end surfaces of the photovoltaic module, and is in rolling contact with the front and rear end surfaces of the photovoltaic module The front and rear limit wheels, the travel wheel and the front limit wheel are synchronously driven by the travel motor, the drive shaft of the travel motor is linked with another drive shaft, and the drive shaft of the front limit wheel and the drive wheel of the travel wheel are installed on the drive shaft. Wheel, the front spacing wheel driving wheel and the road wheel driving wheel are engaged with the front spacing wheel driven wheel and the road wheel driven wheel which are installed on the front spacing wheel and the road wheel rotating shaft. 5. The photovoltaic module cleaning robot as claimed in claim 1, characterized in that: the shading avoidance mechanism is installed at the slide rail of each beam, which has an avoidance drive wheel driven by an avoidance motor, and the avoidance drive wheel is Double wheel groove structure, two steel wire ropes connected by outer ends are wound in the two wheel grooves, the cleaning brush slider is installed at the connection part, the cleaning brush slider slides in the slide rail, and the cleaning brush slider is installed between the two cleaning brush sliders. There is a cleaning brush holder, and the two steel wire ropes are respectively connected to the avoidance pulleys arranged on the left and right sides of the avoidance drive wheel for rolling. 6. The photovoltaic module cleaning robot as claimed in claim 1, characterized in that: a difference measuring rocker parallel to the beam is installed at the lower part of the vertical beam protruding out of the photovoltaic module power generation area, and the difference measuring rocker is up and down in front of the difference measuring rocker A leading signal detector and a lagging signal detector are respectively arranged on both sides, and the two are connected with an intelligent controller. 7. The photovoltaic module cleaning robot according to claim 1, 2, 3 or 6, characterized in that: the intelligent controller includes a single-chip microcomputer, a forward and reverse control module connected to the single-chip microcomputer, a switching power supply module, and each avoidance motor 1. The walking motor corresponds to a forward and reverse control module and is connected to its circuit. The forward and reverse control module includes a forward rotation circuit and a reverse rotation circuit. Both circuits are connected to the single-chip microcomputer and the switching power supply module. The device, left in-position probe, right in-position probe, left limit switch and right limit switch are all connected to the single-chip circuit.

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