CN105478388A - Hydraulic and self-adaptive cleaning equipment for photovoltaic module - Google Patents
Hydraulic and self-adaptive cleaning equipment for photovoltaic module Download PDFInfo
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- CN105478388A CN105478388A CN201610060270.0A CN201610060270A CN105478388A CN 105478388 A CN105478388 A CN 105478388A CN 201610060270 A CN201610060270 A CN 201610060270A CN 105478388 A CN105478388 A CN 105478388A
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- clean robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 87
- 230000000712 assembly Effects 0.000 claims abstract description 29
- 238000000429 assembly Methods 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000003028 elevating effect Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 10
- 230000008901 benefit Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 230000005570 vertical transmission Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses hydraulic and self-adaptive cleaning equipment for a photovoltaic module and solves the problem that a mechanism in the prior art cannot meet the requirement for fast cleaning of a photovoltaic module in a large-scale group photovoltaic plant. The hydraulic and self-adaptive cleaning equipment is mainly technically characterized by comprising two groups of cleaning assemblies mounted on a cleaning robot, wherein each cleaning assembly comprises a brush carrier assembly for cleaning the surface of a photovoltaic panel and a driving assembly for controlling posture adjustment of the brush carrier assembly, and the driving assembly comprises a lifting module for driving the brush carrier assembly to finish lifting motion in the vertical direction and a rotating module for driving the brush carrier assembly to rotate to adapt to the angle of the photovoltaic panel; a gantry assembly is further fixed on the cleaning robot, and an adjusting unit for horizontally driving the gantry assembly to get close to or far away from a photovoltaic panel assembly is arranged between the cleaning robot and the gantry assembly. The horizontal position of each cleaning assembly is adjusted by the adjusting unit added in the technical scheme, so that the requirement for efficient cleaning of the photovoltaic module in the large-scale group photovoltaic plant is met.
Description
Technical field
The present invention relates to a kind of cleaning device of photovoltaic power station component, especially a kind of high-effective dust-removing equipment towards the photovoltaic module installed with group form in large-sized photovoltaic power station.
Background technology
Solar energy, as a kind of green energy resource, with its never exhaustion, Environmental Safety, is widely used in every field without advantages such as region restrictions.In the practical application of solar energy power generating, photovoltaic module is as the most important unit of generating, and its power output directly affects by solar illumination intensity.After dust storm, dust, accumulated snow etc. fall the surface of photovoltaic module, reduce light transmittance, cause photoelectric transformation efficiency significantly to reduce, this problem is particularly serious in the central and west regions that dust storm is larger.Therefore, in order to keep the generating efficiency of photovoltaic plant, clean most important to photovoltaic components in photovoltaic plant, the cleaning of photovoltaic components in photovoltaic plant becomes photovoltaic plant and builds an indispensable key link.
The cleaning equipment of photovoltaic module, under research in recent years, clean from artificial hand-held brush holder the earliest, change some automatic cleaning apparatus into, these automatic cleaning apparatus can be divided into two classes according to its work characteristics: the first kind belongs to single group photovoltaic module cleaning equipment, it is installed in single group photovoltaic module on the surface, carry out timing to clean, such as Chinese patent " solar photovoltaic cell panel assembly surface cleaning device (CN102303025A) ", its rinse part moves back and forth on single component surface, spray high-pressure water vapor dedusting simultaneously, therefore this equipment is inapplicable in water-deficient area, simultaneously due to high cost, be difficult to promote in photovoltaic plant.Equations of The Second Kind belongs to group's photovoltaic module cleaning equipment, and it take mobile vehicle as carrier, to how group photovoltaic modulies surface is implemented clean in locomotive walking process, is the preferred option that photovoltaic components in photovoltaic plant cleans.For large-scale photovoltaic power stations more than tens and even hundreds of megawatt, photovoltaic module substantial amounts, site area is wide, therefore also more harsh to the requirement of group's photovoltaic module cleaning equipment.Generally, for the cleaning equipment of large-scale group photovoltaic module, there is the requirement that three general: first is operating efficiency, and namely can clean the photovoltaic module of much numbers in the unit interval, operating efficiency is higher, and economic benefit is larger; Second is intelligence degree, the i.e. ability of equipment safety automation work under complex environment, such as, can carry out self-adaptative adjustment for rough topographical surface, and can carry out perception, identification, judgement and adjustment to photovoltaic module surface, intelligence degree is higher, and artificial interference is fewer; 3rd is reliability standard, i.e. the degree of reliability of equipment in section sometime.Especially first and thirdly, do particularly important in the photovoltaic module dedusting work of large-scale group-wise.
Application number is disclose a kind of photovoltaic power station component remote-control hydraulic cleaning equipment in the application for a patent for invention (hereinafter referred to as prior art 1) of 201410319011.6, it is primarily of remote control cleaning cart and remote control cleaning mechanism composition, the support arm unit drives cleaning unit that cleaning mechanism wherein has a space five-freedom completes dedusting, and the space five-freedom of an arm unit is completed by the linkage of Driven by Hydraulic Cylinder.
Cleaning unit in prior art 1 achieves the angle of the adaptation photovoltaic panel of multi-angle and height, substantially automatic and intelligence two requirements can be realized, but, complicated linkage can reduce the reliable operation degree of whole cleaning unit greatly, because once a certain link breaks down, namely overall cleaning unit loses an even multiple free degree.In addition, in the cleaning of photovoltaic module group, for the photovoltaic module of different rows, cleaning cart has two kinds of track routes, or opens Aligning control, then enters in an identical manner in next row photovoltaic module and clean; Walk snakelike route, clean continuously.For the first route, although unlike the angle and direction adjusting cleaning unit, car needs walking idle stroke, and efficiency is lower; For the second route, the cleaning unit in prior art 1 needs rotation angle, and to adapt to the cleaning of the photovoltaic module being positioned at cleaning unit opposite side, efficiency is not high yet.
For the problem in prior art 1, application number is disclose a kind of vehicle-mounted cleaning systems in the patent of invention (prior art 2) of 201310251524.3, be different from prior art 1, be symmetrically installed with in its system can side direction launch brush mount component, like this, walk snakelike route between the photovoltaic module that the dolly being loaded with brush mount component can be arranged in group, the brush mount component work of the corresponding not homonymy of each headstock commutation, thus obtain than operating efficiency higher in prior art 1.
But, brush mount component in prior art 2 only has two frees degree of lifting and corner in space, like this, there is a larger problem when cleaning photovoltaic module: the position needing to control car is with near photovoltaic panel, then pilot brush frame component adjusts the height of photovoltaic panel and angle.But, photovoltaic module be generally the severe occasion of the geological environment such as desert, wilderness with arranging, in this case in order to alleviate the vibration of clean robot, what generally need the tyre surface of tire to arrange is very wide, to realize vibration damping, but, like this when adjusting the distance between car and photovoltaic panel, clean robot is become " heaviness ", when especially adjusting between two row photovoltaic panel assemblies, is very inconvenience.But, distance adjustment between car and photovoltaic panel is again necessary, this is because, brush mount component itself can only be elevated and rotate, and the control rotated is the range restriction being subject to hydraulic cylinder, thus, its adjustment angle generally can not more than 60 degree, otherwise the excessive phenomenon being difficult to drive of the overall dimensions of hydraulic cylinder can be caused, but, when spacing is unreasonable, this angle may be difficult to adapt to photovoltaic panel angle (photovoltaic panel towards fixed according to sun direct projection angle, to obtain maximum solar energy), thus, no matter be prior art 1 or 2, all be difficult to meet the continuous of group's photovoltaic panel assembly, reliable clean requirement.
Summary of the invention
For the deficiency that prior art exists, the object of the present invention is to provide a kind of by hydraulically powered, be directed to the photovoltaic module hydraulic self-adapting cleaning equipment that group arranges, have the advantages that the simple and snakelike continuous operation route that is that correspond to clean robot of syndeton efficiently works.
For achieving the above object, the invention provides following technical scheme: a kind of photovoltaic module hydraulic self-adapting cleaning equipment, include the two groups of cleaning assemblies be arranged on clean robot, described cleaning assemblies includes the brush holder module for clean photovoltaic panel surface, control the lifting module that described brush mount component completes vertical direction elevating movement, and drive described brush holder module to rotate the rotating module adapting to angle of photovoltaic panel, clean robot is also fixedly installed the door frame assembly for installing described two groups of cleaning assemblies, be provided with between described clean robot and door frame assembly for door frame assembly described in horizontal drive near or away from the adjustment unit of photovoltaic panel assembly
By adopting technique scheme, first, owing to being provided with two groups of cleaning assemblies on clean robot, thus, clean robot snakelike requirement clean continuously of shuttling back and forth between group-wise photovoltaic module is first met, and, be difficult between photovoltaic module, adjust position with the problem making cleaning assemblies press close to photovoltaic panel surface to solve clean robot in background technology, the adjustment unit set up can promote door frame assembly by left and right, make it to drive cleaning assemblies to move left and right on clean robot, with near or away from photovoltaic panel to be cleaned, thus eliminate the problem adjusting clean robot between the photovoltaic panel assembly of group, the adjustment on cleaning assemblies and photovoltaic panel surface is directly solved by the device on clean robot, the continuous of photovoltaic panel that this set form is extremely conducive in the photovoltaic plant of large-scale group setting cleans.
Further, clean robot is also provided with the door frame assembly for installing described cleaning assemblies, described door frame assembly includes and is fixedly installed on main body bottom block on clean robot and drives by described adjustment unit and drive cleaning assemblies relative to the door frame main body of clean robot movement.
Further, described adjustment unit includes the cross cylinder driving described door frame main body to move left and right on clean robot, and the cylinder barrel of described cross cylinder is fixed on clean robot, and its piston rod is fixed on described door frame assembly.
Further, described main body bottom block is fixedly installed horizontal guide rail along on the direction of door frame main body movement, described door frame main body is fixedly installed on slide block, and described skid is arranged on horizontal guide rail.
By adopting technique scheme, slided along horizontal guide rail by cross cylinder driving gate frame component, make door frame assembly with cleaning unit steadily movement on clean robot together, close or surperficial away from photovoltaic panel, be conducive to the steady location of cleaning assemblies in cleaning course.
The present invention is set to further: described lifting module includes and is fixed on motor on clean robot and links the screw pair arranged for driving the elevating movement of described brush holder module with described motor.
Further, the screw turns in described screw pair is supported on described door frame assembly, and described brush holder module and feed screw nut are fixed.
By adopting technique scheme, coordinated the drive form of motor by screw pair, not only can utilize the stable vulgar performance of motor and huge bearing capacity, and, the type of belt drive of screw pair is steady, motion control accurate, is convenient to the location accurately and reliably of cleaning assemblies.
The present invention is set to further: described motor level is fixed on clean robot, is provided with the deceleration reversing arrangement horizontally rotated on the leading screw that is passed to and vertically arranges of described motor between described motor and leading screw.
By adopting technique scheme, the parts such as external fluid and drive motors are needed due to motor, thus its relative position is to be fixed on clean robot as best, when motor level is fixed, in order to coordinate the vertical motion of screw pair, the rotation 90-degree rotation of motor can be passed in leading screw by the deceleration reversing arrangement set up, feed screw nut is driven to drive the lifting of brush holder module with the height adapting to photovoltaic module, and, the deceleration of deceleration reversing arrangement can make the rotating speed of motor reduce the driving torque increased screw pair, to drive the elevating movement of more heavy weight brush holder module.
The present invention is set to further: be also provided with unidirectional chain brake between described motor and deceleration reversing arrangement.
By adopting technique scheme; unidirectional chain brake can prevent brush holder module from improperly to drop under deadweight or other factor effects; when there is this improper motion in screw pair; unidirectional interlock carries out locking positioning to the output of motor, prevents the further motion of screw pair and protects motor.
The present invention is set to further: be provided with gear coupling between described chain brake and described screw pair.
By adopting technique scheme, position due to photovoltaic plant setting mostly is the position of geographical environment complexity, thus clean robot jolts unavoidably in cleaning course, by attempting the setting of shaft coupling, can cushion lifting module, preventing clean robot from jolting affects the normal work of brush holder module.
The present invention is set to further: described rotating module includes the dump ram be rotationally connected with between described brush holder module and lifting module.
By adopting technique scheme, be matched with aforesaid lifting module and adjustment unit, the angle that now only need adjust brush holder module can make it to fit on photovoltaic panel upper surface, by the form that dump ram is rotationally connected, simply realize the controlling angle of brush holder module, structure simply thus reliability increases.
Accompanying drawing explanation
Fig. 1 is three-dimensional connecting structure figure of the present invention;
Fig. 2 is the catenation principle figure of adjustment unit;
Fig. 3 is the schematic diagram of lifting module;
Fig. 4 is the schematic diagram of rotating module;
Fig. 5 is the arrangement figure of lifting module on cleaning machine human agent bottom block.
Accompanying drawing marks: 1, adjustment unit; 11, cross cylinder; 12, horizontal guide rail; 13, slide block; 2, door frame assembly; 21, door frame main body; 211, left supporting arm; 212, right supporting arm; 22, main body bottom block; 23, supporting base; 3, cleaning assemblies; 31, brush holder module; 311, brush holder; 312, installation carriage; 32, module is elevated; 321, motor; 322, chain brake; 323, deceleration commutator; 324, leading screw; 325, feed screw nut; 326; Gear coupling; 327, bearing block; 328, upright guide rail; 33, rotating module; 331, dump ram; 332, revolute pair.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
This specific embodiment is only explanation of the invention; it is not limitation of the present invention; those skilled in the art can make to the present embodiment the amendment not having creative contribution as required after reading this description, as long as but be all subject to the protection of Patent Law in right of the present invention.
As shown in fig. 1, include the door frame assembly 2 be fixedly installed on clean robot, the position of adjustment door frame assembly 2 on clean robot adjustment unit 1 and to be movably arranged on door frame assembly 2, for the cleaning assemblies 3 on clean photovoltaic panel surface.
In particular, cleaning assemblies 3 to be connected on clean robot and to move with clean robot by door frame assembly 2, and, door frame assembly 2 is provided with the clean robot left and right sides is provided with two groups of cleaning assemblies 3, often organize cleaning assemblies 3 all can work independently, the benefit of two groups of cleaning assemblies 3 is: in group-wise large-sized photovoltaic power station, no matter clean robot towards which direction moves, all there is one group of cleaning assemblies 3 near photovoltaic panel, can clean it, like this, in the cleaning course of the photovoltaic panel of whole group, clean robot is walked snakelike route in the group's photovoltaic panel assembly be arranged in rows, the direct of travel of each switching clean robot, cleaning assemblies 3 corresponding to different sides carries out cleaning, thus, as long as clean robot continue to pass through photovoltaic module group, namely carrying out continuously of cleaning can be realized, improve the cleaning efficiency of the group-wise photovoltaic module in large-sized photovoltaic power station.
The object that adjustment unit 1 is arranged controls the overall left side near clean robot of cleaning assemblies 3 or right side, and the position of the position of cleaning unit 3 and photovoltaic panel to be cleaned is adapted.Its concrete structure as shown in Figure 2, the slide block 13 that adjustment unit 1 includes cross cylinder 11, horizontal guide rail 12 and is arranged on horizontal guide rail 12.Door frame assembly 2 includes door frame main body 21, main body bottom block 22 and supporting base 23, wherein: main body bottom block 22 is fixedly installed on clean robot, supporting base 23 is fixed on main body bottom block 22, the cylinder barrel outer wall of cross cylinder 11 is fixedly supported upon on supporting base 23, the interlock of its piston rod is arranged in door frame main body 21, the action that the piston rod of cross cylinder 11 stretches out or retracts, the moving horizontally left or to the right of direct drive door frame main body 21, its move result be make the cleaning assemblies 3 of side near or away from photovoltaic panel to be cleaned.
As preferably, door frame main body 21 is erected on horizontal guide rail 12 by slide block 13, and, main body bottom block 22 leading with opposite house frame body 21 moving on clean robot along door frame main body 21 moving direction being fixedly installed two horizontal guide rails be parallel to each other 12, making it motion process steady.
Cleaning assemblies 3 shown in Fig. 1 includes three modules: brush holder module 31, lifting module 32 and rotating module 33, wherein, brush holder module 31 includes brush holder 311 and installation carriage 312, wherein, what brush holder 311 was movable be arranged on installation carriage 312 and move with the motion of installation carriage 312.Lifting module 32 and rotating module 33 control elevating movement and the rotation of installation carriage 312, with the height and the angle that make brush holder 311 be adapted to photovoltaic panel upper surface, coordinate and adjust with the right position of adjustment unit 1 opposite house frame component 2, make brush holder 311 can in level, vertically and be adapted to the pose of photovoltaic panel in angle three, thus realize the dedusting action of brush holder 311 pairs of photovoltaic panel upper surfaces.
As shown in Figure 3, include the motor 321 be fixedly installed on main body bottom block 22 and the screw pair driven by motor 321, motor 321 is subject to the driving of ambient pressure oil to the principle of lifting module 32, rotary motion is exported.Because motor 321 is arranged on main body bottom block 22, and the elevating movement of screw pair in the vertical direction drive installation dolly 312, thus, in order to adapt to the conversion of the direction of motion, between motor 321 and installation carriage 312, be provided with deceleration commutator 323, motor 321 horizontally rotated the vertical transmission being converted to screw pair.
As preferably, the exit of motor 321 is provided with chain brake 322, the operating principle of chain brake 322 is similar to unilateral locking device, and when motor 321 normal rotation, chain brake 322 is opened, and motor 321 drives feed screw nut secondary motion; When installation carriage 312 falls after rise under abnormal condition, motor 321 locked by chain brake 322, prevents the improper falling of installation carriage 312.
In addition, as preferably, between chain brake 322 and deceleration commutator 323, be provided with gear coupling 326, by the elastic buffer of gear coupling 326, ensure the robust motion of installation carriage 312.
The driving principle of lifting module 32 is described below: screw pair includes the leading screw 324 be installed between door frame main body 21 and installation carriage 312 and the feed screw nut 325 be fixedly installed on installation carriage 312, the rotary motion that motor 321 transmits out is passed on leading screw 324 by deceleration commutator 323 and makes it rotate, feed screw nut 325 is moved up and down along leading screw 324, thus drives the lifting of installation carriage 312.
As preferably, door frame main body 21 is provided with bearing block 327, leading screw 324 is supported between bearing block 327 and feed screw nut 325, screw mandrel 324 is balanced in rotation process, flexibly, avoids top whipping.
Further, the both sides of door frame main body 21 are provided with the upright guide rail 328 the same with horizontal guide rail 12, be matched with upright guide rail 328, installation carriage 312 is provided with the slide block of prefabricated adaptation, both lead to the elevating movement of installation carriage 312 in door frame main body 21 in cooperation.
With reference to Fig. 4, rotating module 33 is described in detail, rotating module 33 includes dump ram 331 and revolute pair 332, dump ram 331 is connected between brush holder 311 and installation carriage 312 by revolute pair 332, when dump ram 332 is protruding, brush holder 311 is relative to door frame main body 21 run-off the straight.
As preferably, as shown in Figure 5, in order to reduce the width of main body bottom block 22, the lifting module 32 on left supporting arm 211 also staggers mutually with all oblique being installed on main body bottom block 22 of the lifting module 32 on right supporting arm 212, reduces space occupancy rate like this.
Claims (10)
1. a photovoltaic module hydraulic self-adapting cleaning equipment, include the two groups of cleaning assemblies be arranged on clean robot, described cleaning assemblies includes the brush holder module for clean photovoltaic panel surface, control the lifting module that described brush mount component completes vertical direction elevating movement, and drive described brush holder module to rotate the rotating module adapting to angle of photovoltaic panel, it is characterized in that: clean robot is also fixedly installed the door frame assembly for installing described two groups of cleaning assemblies, be provided with between described clean robot and door frame assembly for door frame assembly described in horizontal drive near or away from the adjustment unit of photovoltaic panel assembly.
2. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 1, it is characterized in that: clean robot is also provided with the door frame assembly for installing described cleaning assemblies, described door frame assembly includes and is fixedly installed on main body bottom block on clean robot and drives by described adjustment unit and drive cleaning assemblies relative to the door frame main body of clean robot movement.
3. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 2, it is characterized in that: described adjustment unit includes the cross cylinder driving described door frame main body to move left and right on clean robot, the cylinder barrel of described cross cylinder is fixed on clean robot, and its piston rod is fixed on described door frame assembly.
4. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 3, it is characterized in that: described main body bottom block is fixedly installed horizontal guide rail along on the direction of door frame main body movement, described door frame main body is fixedly installed on slide block, and described skid is arranged on horizontal guide rail.
5. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 1, is characterized in that: described lifting module includes and is fixed on motor on clean robot and links the screw pair arranged for driving the elevating movement of described brush holder module with described motor.
6. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 5, is characterized in that: the screw turns in described screw pair is supported on described door frame assembly, and described brush holder module and feed screw nut are fixed.
7. the photovoltaic module hydraulic self-adapting cleaning equipment according to claim 5 or 6, it is characterized in that: described motor level is fixed on clean robot, be provided with the deceleration reversing arrangement horizontally rotated on the leading screw that is passed to and vertically arranges of described motor between described motor and leading screw.
8. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 7, is characterized in that: be also provided with unidirectional chain brake between described motor and deceleration reversing arrangement.
9. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 8, is characterized in that: be provided with gear coupling between described chain brake and described screw pair.
10. photovoltaic module hydraulic self-adapting cleaning equipment according to claim 1, is characterized in that: described rotating module includes the dump ram be rotationally connected with between described brush holder module and lifting module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060270.0A CN105478388A (en) | 2016-01-28 | 2016-01-28 | Hydraulic and self-adaptive cleaning equipment for photovoltaic module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060270.0A CN105478388A (en) | 2016-01-28 | 2016-01-28 | Hydraulic and self-adaptive cleaning equipment for photovoltaic module |
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| CN105478388A true CN105478388A (en) | 2016-04-13 |
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| CN201610060270.0A Pending CN105478388A (en) | 2016-01-28 | 2016-01-28 | Hydraulic and self-adaptive cleaning equipment for photovoltaic module |
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| CN107017830A (en) * | 2017-05-17 | 2017-08-04 | 天津温纳科技有限公司 | A kind of height adjustment photovoltaic panel clean robot |
| CN110369373A (en) * | 2019-08-01 | 2019-10-25 | 台州路桥博仁环保设备有限公司 | A kind of photovoltaic panel automatic cleaning apparatus |
| CN116511130A (en) * | 2023-04-23 | 2023-08-01 | 国机传感科技有限公司 | Dish brush type multi-working-position heliostat cleaning test device |
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