CN105904472A - Control method and device of mechanical arm for quickly approaching to solar panel - Google Patents
Control method and device of mechanical arm for quickly approaching to solar panel Download PDFInfo
- Publication number
- CN105904472A CN105904472A CN201610515244.2A CN201610515244A CN105904472A CN 105904472 A CN105904472 A CN 105904472A CN 201610515244 A CN201610515244 A CN 201610515244A CN 105904472 A CN105904472 A CN 105904472A
- Authority
- CN
- China
- Prior art keywords
- solar panel
- cleaning
- arm
- cleaning arm
- translation assembly
- Prior art date
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- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 145
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a control method of a mechanical arm for quickly approaching to a solar panel. The control method comprises the following steps of S1 detecting the distance between an intelligent cleaning vehicle and the solar panel, and adjusting the position of the intelligent cleaning vehicle if the distance between the intelligent cleaning vehicle and the solar panel is greater than a preset value, so that the distance between the intelligent cleaning vehicle and the solar panel is less than or equal to the preset value; S2 adjusting the angle of a cleaning arm, so that the cleaning arm is parallel to the solar panel; S3 adjusting the height of the cleaning arm, so that the cleaning arm is abutted with the solar panel. The invention further discloses a device of the mechanical arm for quickly approaching to the solar panel. According to the method provided by the invention, the cleaning arm which is used for cleaning the solar panel is axially rotated twice, so that the cleaning arm is parallel to the solar panel; after the cleaning arm is abutted with the solar panel, the solar panel can be efficiently cleaned by a cleaning device on the cleaning arm, thereby improving the light energy conversion efficiency of the solar panel.
Description
Technical field
The present invention relates to the cleaning device of solar panel, particularly relate to a kind of mechanical arm and quickly press close to solar panel
Control method and device.
Background technology
Solar energy power generating factory is the clean energy resource form of current spread, and its cell panel needs regular removing surface
Floating dust could effectively generate electricity.The most conventional solar panel cleaning way is manual cleaning, inefficiency and cleaning effect
The most poor, it is therefore necessary to research and develop special wash equipment and substitute manual work.Current existing solar panel wash equipment
Mainly having vehicle formula equipment and rail mounted to equip two classes, rail mounted equipment is high to place construction requirements, the most supporting relatively costly,
It is unfavorable for promoting, especially not there is in the place having local relief practicality, so vehicle formula manual cleaning is equipped for main
The types of equipment wanted.And vehicle formula manual cleaning to equip often cleaning performance bad, need repeatedly to clean, so work effect
Rate is relatively low.
Summary of the invention
It is an object of the invention to, it is provided that a kind of mechanical arm quickly presses close to the control method of solar panel, and employing this method can
So that cleaning arm is fitted with solar panel, solar panel can be carried out by cleaning arm more efficiently.Meanwhile,
Present invention also offers a kind of control device realizing preceding method.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that:
A kind of mechanical arm quickly presses close to the control method of solar panel, comprises the steps:
S1: the distance of detection intelligence cleaning Vehicle and solar panel, if the distance of intelligence cleaning Vehicle and solar panel is more than
Predetermined value, the span of described predetermined value is: 570 millimeters to 1190 millimeters, the span of described predetermined value is cleaning Vehicle
Job area；Adjust the position of intelligence cleaning Vehicle, make distance between the two less than or equal to described predetermined value；If it is clear
Wash the distance between arm and solar panel less than or equal to described predetermined value, entrance step S2；
S2: adjust the angle of cleaning arm, make cleaning arm parallel with solar panel；
S3: adjust the height of cleaning arm, makes cleaning arm fit with solar panel.
Wherein, described cleaning arm is provided with cleaning device, it is possible to removed by the impurity such as the dust on solar panel, concrete,
Clean device and can comprise hairbrush, water injector, dust exhaust apparatus etc..On the premise of ensureing not damage photovoltaic battery panel, cleaning arm
The highest with solar panel laminating degree, cleaning performance is the best.
In order to prevent cleaning arm from colliding with solar panel during rotating, described step S2 can also include following
Method: adjust the height of cleaning arm so that it is will not interfere with solar panel when rotating along vertical axes；Adjust cleaning arm
And the angle between horizontal plane, control cleaning arm, with vertical axes for rotary shaft axial-rotation, makes cleaning arm put down with solar panel
OK.
A kind of realize the device that aforementioned mechanical arm quickly presses close to the control method of solar panel, including bracing frame, translation assembly
And cleaning arm, cleaning arm is arranged on translation assembly；Bracing frame is provided with dragging track, and translation assembly is provided with pulley, sliding
Wheel matches with dragging track；Also including the first retractor device, one end of the first retractor device is fixing with bracing frame to be connected, another
Hold be connected fixing with described translation assembly.
Also including draw off gear, cleaning arm is arranged on translation assembly by draw off gear；Draw off gear includes carrier and second
Retractor device, carrier is hinged on translation assembly, and second retractor device one end is connected with translation assembly, the other end and carrier
Hinged, cleaning arm is arranged on carrier.Draw off gear, for making cleaning arm with the axle of vertical direction as rotary shaft, carries out angle
Adjust.
Aforesaid mechanical arm is quickly pressed close in the device of solar panel, also includes lowering or hoisting gear, and cleaning arm passes through lowering or hoisting gear
It is arranged on translation assembly.
Aforesaid mechanical arm is quickly pressed close in the device of solar panel, and cleaning arm includes connecting rod, cleaning case and angular adjustment
Device, one end of connecting rod is fixed on lowering or hoisting gear, and the other end and described cleaning case are hinged；Angle regulator one end and company
Extension bar is hinged, and the other end and cleaning case are hinged.Designing this structure is the angle in order to adjust between cleaning arm and horizontal plane, coordinates
Draw off gear makes cleaning arm parallel with solar panel place plane.
Aforesaid mechanical arm is quickly pressed close in the device of solar panel, and the first retractor device, the second retractor device and angle are adjusted
Regulating device is all hydraulic cylinder.
Aforesaid mechanical arm is quickly pressed close in the device of solar panel, and the two ends of cleaning arm are equipped with range sensor, distance
Sensor and control system electrical connection, angle regulator and lowering or hoisting gear all electrically connect with control system.When described Distance-sensing
Device feed back to the signal of telecommunication of described control system identical time, illustrate that cleaning arm is parallel to each other with solar panel, if distance
Sensor feedback differs to the signal of telecommunication of described control system, and control system controls angle regulator and adjusts the inclination angle of cleaning arm,
Until it is parallel to each other with solar panel.
Described control system can control the speed of service of angle regulator and lowering or hoisting gear, if cleaning arm and solaode
Distance between plate is relatively big, and control system controls angle regulator and lowering or hoisting gear and runs with speed faster, when cleaning arm with
When distance between solar panel is less than preset distance value, control system controls angle regulator and lowering or hoisting gear with slower
Speed press close to solar panel.Cleaning arm so can be made to fit with solar panel with comparatively faster speed, and
Cleaning arm will be caused more greatly due to inertia force to collide with solar panel, cause device damage.
Compared with prior art, the cleaning arm being used for cleaning solar energy cell plate is carried out twice axially revolving by the method that the present invention provides
Turning, making cleaning arm and solar panel is the position relationship being parallel to each other, and then lifts, enables cleaning arm and the sun
Can fit completely by cell panel, after cleaning arm is fitted with solar panel, the cleaning device on cleaning arm can be the most right
Solar panel is carried out, thus improves the light energy conversion efficiency of solar panel.Use conventional cleaning method and dress
Put the Generation Rate that solar panel can be made to improve 8%, and use methods and apparatus of the present invention that solar panel can be made to carry
The Generation Rate of high 15%～20%, descaling rate can reach more than 85%.
Accompanying drawing explanation
Fig. 1 is the structural representation of the off working state of the present invention；
Fig. 2 is the working state structure schematic diagram of the present invention；
Fig. 3 is the partial enlarged drawing of Fig. 2.
Reference: 1-pulley, 2-translates assembly, 3-dragging track, 4-bracing frame, 5-the first retractor device, and 6-second stretches
Compression apparatus, 7-carrier, 8-lowering or hoisting gear, 9-connecting rod, 10-cleaning case, 11-angle regulator, 12-draw off gear,
13-cleaning arm.
The present invention is further illustrated with detailed description of the invention below in conjunction with the accompanying drawings.
Detailed description of the invention
Embodiments of the invention 1: a kind of mechanical arm quickly presses close to the control method of solar panel, comprises the steps:
S1: detection cleaning arm and the distance of solar panel, if the distance of cleaning arm and solar panel is more than predetermined value,
Adjust the position of cleaning arm, make distance between the two less than or equal to described predetermined value；If cleaning arm and solaode
Distance between plate is less than or equal to described predetermined value, enters step S2；Cleaning arm should control with solar panel distance
In the range of suitably, could normal wash.The most closely it is easily damaged photovoltaic panel, too far from ensureing cleaning performance；
S2: adjust the angle of cleaning arm, make cleaning arm parallel with solar panel；
S3: adjust the height of cleaning arm, makes cleaning arm fit with solar panel.
Embodiment 2: a kind of mechanical arm quickly presses close to the control method of solar panel, comprises the steps:
S1: detection cleaning arm and the distance of solar panel, if the distance of cleaning arm and solar panel is more than predetermined value,
Adjust the position of cleaning arm, make distance between the two less than or equal to described predetermined value；If cleaning arm and solaode
Distance between plate is less than or equal to described predetermined value, enters step S2；Cleaning arm should control with solar panel distance
In the range of suitably, could normal wash.The most closely it is easily damaged photovoltaic panel, too far from ensureing cleaning performance；
S2: adjust the height of cleaning arm so that it is will not interfere with solar panel when rotating along vertical axes；Adjust and clean
Angle between arm and horizontal plane, control cleaning arm, with vertical axes for rotary shaft axial-rotation, makes cleaning arm and solar panel
Parallel.
S3: adjust the height of cleaning arm, makes cleaning arm fit with solar panel.
Embodiment 3: as shown in Figure 1, Figure 2 and Figure 3, a kind of mechanical arm realized described in above example quickly presses close to solar energy
The device of the control method of cell panel, including bracing frame 4, translation assembly 2 and cleaning arm 13, cleaning arm 13 is arranged on translation group
On part 2；Bracing frame 4 is provided with dragging track 3, and translation assembly 2 is provided with pulley 1, and pulley 1 matches with dragging track 3
Close；Also including the first retractor device 5, one end of the first retractor device 5 is fixing with bracing frame 4 to be connected, and the other end is flat with described
Move the fixing connection of assembly 2.Translation assembly 2 can drive cleaning arm 13 at dragging track 3 under the effect of the first retractor device 5
Carry out repeating in the path limited moves back and forth, and is not suitable on road surface replacing car by translation assembly 2 in the case of car body moves
The movement of body, and it is equally applicable to clean the solar panel of difficulty.
Also including draw off gear 12, cleaning arm 13 is arranged on translation assembly 2 by draw off gear 12；Folding structure 12 wraps
Including carrier 7 and the second retractor device 6, carrier 7 is hinged on translation assembly 2, the second retractor device 6 one end and translation
Assembly 2 is connected, and the other end and carrier 7 are hinged, and cleaning arm 13 is arranged on carrier 7.Under no clean state, cleaning arm
13 are contracted in cleaning Vehicle, can drive cleaning arm 13 90-degree rotation by draw off gear 12, make cleaning arm 13 at angle
Can be parallel to each other with solar panel under the effect of degree adjusting means 11.Also include that lowering or hoisting gear 8, cleaning arm 13 pass through
Lowering or hoisting gear 8 is arranged on translation assembly 2.After arm 13 to be cleaned is parallel to each other with solar panel, by controlling lifting dress
Put 8 drive cleaning arms 13 to decline, make cleaning arm 13 fit with solar panel.
Cleaning arm 13 includes connecting rod 9, cleaning case 10 and angle regulator 11, and one end of connecting rod 9 is fixed on lifting dress
Putting on 8, the other end and described cleaning case 10 are hinged；Angle regulator 11 one end and connecting rod 9 are hinged, and the other end is with clear
Tank-washer 10 is hinged.In the present embodiment, first retractor device the 5, second retractor device 6 and angle regulator 11 are all hydraulic pressure
Cylinder.The two ends of cleaning arm 13 are equipped with range sensor, range sensor and control system electrical connection, angle regulator 11
All electrically connect with control system with lowering or hoisting gear 8.
Embodiment 4: as shown in Figure 1, Figure 2 and Figure 3, a kind of mechanical arm realized described in above example quickly presses close to solar energy
The device of the control method of cell panel, including bracing frame 4, translation assembly 2 and cleaning arm 13, cleaning arm 13 is arranged on translation group
On part 2；Bracing frame 4 is provided with dragging track 3, and translation assembly 2 is provided with pulley 1, and pulley 1 matches with dragging track 3
Close；Also including the first retractor device 5, one end of the first retractor device 5 is fixing with bracing frame 4 to be connected, and the other end is flat with described
Move the fixing connection of assembly 2.Translation assembly 2 can drive cleaning arm 13 at dragging track 3 under the effect of the first retractor device 5
Carry out repeating in the path limited moves back and forth, and is not suitable on road surface replacing car by translation assembly 2 in the case of car body moves
The movement of body, and it is equally applicable to clean the solar panel of difficulty.Also including lowering or hoisting gear 8, cleaning arm 13 is by rising
Falling unit 8 is arranged on translation assembly 2.After arm 13 to be cleaned is parallel to each other with solar panel, by controlling lowering or hoisting gear
8 drive cleaning arm 13 to decline, and make cleaning arm 13 fit with solar panel.The two ends of cleaning arm 13 are equipped with Distance-sensing
Device, range sensor and control system electrical connection, angle regulator 11 and lowering or hoisting gear 8 all electrically connect with control system.
The operation principle of embodiment 3: the mechanical arm of the present invention is quickly pressed close to the control device of solar panel and be may be mounted at and change
On automobile after making (as depicted in figs. 1 and 2), it is also possible to be arranged on the car body of rail mounted, each side installation of car body
One, it is simple to during Vehicular turn, still can be carried out work.
During operation, first adjust the distance of cleaning Vehicle and solar panel, then make cleaning arm 13 by draw off gear 12
Rotate 90 degree, make cleaning case 10 relation the most parallel with solar panel by controlling angle regulator 11, by liter
Falling unit 8 regulates the height of cleaning arm 13, makes to be cleaned laminating of cleaning case 10 and solar panel, then runs clear
Tank-washer 10 cleaning equipment above, is carried out solar panel, owing to cleaning case is directly fitted with solar panel,
So cleaning equipment on cleaning case 10 can more directly, effectively the impurity such as the dust on solar panel are washed,
Thus improve the work efficiency of solar panel.If because of severe road surface reason cause cannot normal wash, complete in order to realize
Car body, without the effect of the normal wash at dead angle, can be stopped by face, then controls cleaning arm 13 by translation assembly 2 and moves forward and backward,
The solar panel specified is carried out.
Claims (8)
1. a mechanical arm quickly presses close to the control method of solar panel, it is characterised in that comprise the steps:
S1: detection cleaning Vehicle and the distance of solar panel, if the distance of cleaning Vehicle and solar panel is more than predetermined value,
Adjust the position of cleaning Vehicle, make distance between the two less than or equal to described predetermined value；If cleaning arm and solaode
Distance between plate is less than or equal to described predetermined value, enters step S2；
S2: adjust the angle of cleaning arm, make cleaning arm parallel with solar panel；
S3: adjust the height of cleaning arm, makes cleaning arm fit with solar panel.
A kind of mechanical arm the most according to claim 1 quickly presses close to the control method of solar panel, it is characterised in that
Described step S2 also includes following method:
Adjust the height of cleaning arm so that it is will not interfere with solar panel when rotating along vertical axes；Adjust cleaning arm with
Angle between horizontal plane, control cleaning arm, with vertical axes for rotary shaft axial-rotation, makes cleaning arm parallel with solar panel.
3. realize the device that the mechanical arm described in claim 1 or 2 quickly presses close to the control method of solar panel, its
Being characterised by, including bracing frame (4), translation assembly (2) and cleaning arm (13), cleaning arm (13) is arranged on translation assembly
(2) on；Bracing frame (4) is provided with dragging track (3), and translation assembly (2) is provided with pulley (1), pulley (1)
Match with dragging track (3)；Also include the first retractor device (5), one end of the first retractor device (5) and bracing frame (4)
Fixing connection, the other end is fixing with described translation assembly (2) to be connected.
Mechanical arm the most according to claim 3 quickly presses close to the device of solar panel, it is characterised in that also include receiving
Putting device (12), cleaning arm (13) is arranged in translation assembly (2) by draw off gear (12)；Folding structure (12)
Including carrier (7) and the second retractor device (6), carrier (7) is hinged in translation assembly (2), the second retractor device
(6) one end is connected with translation assembly (2), and the other end and carrier (7) are hinged, and cleaning arm (13) is arranged on carrier (7)
On.
Mechanical arm the most according to claim 4 quickly presses close to the device of solar panel, it is characterised in that also include rising
Falling unit (8), cleaning arm (13) is arranged in translation assembly (2) by lowering or hoisting gear (8).
Mechanical arm the most according to claim 5 quickly presses close to the device of solar panel, it is characterised in that cleaning arm
(13) including connecting rod (9), cleaning case (10) and angle regulator (11), one end of connecting rod (9) is fixed on liter
On falling unit (8), the other end and described cleaning case (10) are hinged；Angle regulator (11) one end and connecting rod (9)
Hinged, the other end and cleaning case (10) are hinged.
Mechanical arm the most according to claim 6 quickly presses close to the device of solar panel, it is characterised in that first stretches
Device (5), the second retractor device (6) and angle regulator (11) are all hydraulic cylinders.
Mechanical arm the most according to claim 4 quickly presses close to the device of solar panel, it is characterised in that cleaning arm
(13) two ends are equipped with range sensor, range sensor and control system electrical connection, angle regulator (11) and liter
Falling unit (8) all electrically connects with control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610515244.2A CN105904472B (en) | 2016-07-01 | 2016-07-01 | Control method and device for quickly attaching mechanical arm to solar cell panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610515244.2A CN105904472B (en) | 2016-07-01 | 2016-07-01 | Control method and device for quickly attaching mechanical arm to solar cell panel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105904472A true CN105904472A (en) | 2016-08-31 |
| CN105904472B CN105904472B (en) | 2023-11-17 |
Family
ID=56753816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610515244.2A Active CN105904472B (en) | 2016-07-01 | 2016-07-01 | Control method and device for quickly attaching mechanical arm to solar cell panel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105904472B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238093A (en) * | 2019-06-20 | 2019-09-17 | 内蒙古大学 | A kind of cleaning device and its application method for solar panel |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105904472B (en) | 2023-11-17 |
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