CN106269755A - A kind of running gear of photovoltaic array clean robot - Google Patents
A kind of running gear of photovoltaic array clean robot Download PDFInfo
- Publication number
- CN106269755A CN106269755A CN201510297042.0A CN201510297042A CN106269755A CN 106269755 A CN106269755 A CN 106269755A CN 201510297042 A CN201510297042 A CN 201510297042A CN 106269755 A CN106269755 A CN 106269755A
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- Prior art keywords
- frame
- photovoltaic array
- duplex
- power transmission
- transmission shaft
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- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000001360 synchronised effect Effects 0.000 claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims abstract description 12
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 2
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 238000010304 firing Methods 0.000 claims 1
- 238000003801 milling Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000008719 thickening Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
Landscapes
- Photovoltaic Devices (AREA)
- Manipulator (AREA)
Abstract
The running gear of a kind of photovoltaic array clean robot, including a frame；Article at least two, it is fixed on the roller being made up of guide wheel, 2 duplex rollers, power transmission shaft gripper shoe and 2 spacing schedules and ler spindle seat board row's assembly of frame, with photovoltaic panel frame for walking track；The driving wheel on the one power transmission shaft both sides isometric with photovoltaic panel drives both sides duplex roller, this power transmission shaft is driven by the reducing motor being fixed on frame by reducing motor seat board, transmission band Guan Bi parcel driving wheel and two duplex rollers, and formed the cornerite and trend needed, to cleaning device slot milling by some by pinch roller pressure break-in.Duplex roller and driving wheel are synchronous pulleys, and transmission band is to thicken rubber synchronous belt.Walking schedule assembly has one to be to be bolted to frame, the power transmission shaft that reducing motor stretches out to the left and right has one end to be divided into two sections, connect with concentric chuck/concentric tubes, power transmission shaft has while being to stretch out through the electromagnetic brake against reductor, it is provided with Hall element by electromagnetic brake, at guide wheel, is provided with proximity transducer.
Description
Technical field
The present invention relates to solar panel cleaning equipment, especially a kind of photovoltaic array cleaning machine
The running gear of people.
Background technology
The cleaning of solar panel array (hereinafter referred to as photovoltaic panel or photovoltaic array) is the biggest at present
All use giant caterpillar formula vehicle to stretch out mechanical arm while walking in the passageway of photovoltaic array and lift large-scale
Roller requires height to road surface, passageway at the up cleaning action of photovoltaic array, such walking arrangement, involves great expense, fortune
Distributed photovoltaic costly, and is sent out plate and cannot be gone up roof cleaning by row, and some photovoltaic panel clean robots are adopted
Stretching advance form with two suckers, the speed of travel is the slowest.
Summary of the invention
Technical task: the most how with the simplest, most economical method solve photovoltaic array clean robot with
2km/h speed is walked safely？The most how to adapt to go accurately on the various sizes of photovoltaic array of multi-form
Walk？The most how to solve the intelligent automatic walk problem of photovoltaic array clean robot on photovoltaic array？
The present invention solves the technological means of problem and includes:
One frame 8, described frame is at least exceeded a length of 100-150mm's of photovoltaic panel 10 by three two ends
The end bar rigidity fastening of stock and a length of 300mm-800mm forms " saying " glyph framework；
At least two walking schedule assemblies, described walking schedule assembly has two peripheries duplex at a distance of 150mm
Synchronous pulley 3002, duplex synchronous pulley 3002 draws straight chord plane to be affixed on light after wrapping up Timing Belt below
Volt plate 10 frame, is at least provided with the spacing schedule in side 3003 in two walking schedule assemblies, and it rolls
Face is affixed on the lateral surface of photovoltaic panel 10 frame of photovoltaic array, walks with photovoltaic panel 10 frame as track, as
Fruit is to tilt to install photovoltaic panel, and superincumbent spacing schedule tangles the upper side of photovoltaic panel and is unlikely to fall,
If the photovoltaic panel being horizontally mounted, it is unlikely to walking deviation photovoltaic sheet frame due to both sides all limited locations wheel
Frame, at least one end are provided with guide wheel 3001, as long as seat row forward extends out just may span across more than 300mm
The array pitch of 260mm；
One is provided with the power transmission shaft of driving wheel 7002 on the both sides isometric with photovoltaic panel that motor reducer worm gear passes
(7001), the bearing at described power transmission shaft two ends is fixed on the wallboard 3004 of frame 8 by bearing block, described in drive
Driving wheel is synchronous pulley；
Transmission band 3006 is Timing Belt, the driving wheel for synchronous pulley at Guan Bi parcel power transmission shaft two ends
(7002) and two duplex synchronous pulleys 3002, and by 4 pinch rollers 7003 press change move towards to form institute
State cornerite and trend and slot milling that cleaning device needs.
Described duplex roller 3002 and driving wheel 7002 are synchronous pulleys, and transmission band 3006 is that thickening rubber is same
Step band, it is ensured that the synchronization of both sides road wheel, adds the frictional force to photovoltaic panel framework.
Described duplex roller 3002 is that the axle of two rollers is connected by connecting plate 3012, the pin of connecting plate 3012
Be square loose fit with hole and wheel support 3013 Tong Bu with duplex hinged after be installed on roller mount row 3005,
Duplex synchronizes wheel support 3013 and rigidly fixes with roller mount row 3005, it is ensured that synchronize with maximum area
Contact with photovoltaic panel frame simultaneously.
The walking schedule at least a part of which of described drive system has one to be to be bolted to frame 8, unclamps this spiral shell
Bolt adjusts right position on described photovoltaic panel 10 framework and the both sides frame of corresponding on-the-spot photovoltaic panel 10
Tighten again, solve the adaptability of the photovoltaic panel to different length.
The power transmission shaft 7001 that the reductor of described drive system stretches out to the left and right has one end to be divided into two sections, with one heart
Chuck 7007/ concentric tubes 7003 connects, and flexible its length that changes, coordinate the tune of above-mentioned walking schedule
Whole, it is suitable for the different size of clean-in-place photovoltaic panel.
The power transmission shaft 7001 of described drive system has while being through the electromagnetic brake against reductor 7
(7004) stretch out, the other Hall element 7005 that is provided with of electromagnetic brake 7004, therefore can control system
Move and walk to slowly cross smoothly close to during photovoltaic panel frame.
It is provided with proximity transducer 3007 at the guide wheel 3001 of the walking schedule of described drive system, works as robot
Walk to the photovoltaic array end when can not get the signal fired back, by central controller instruction stop same
Time, make electromagnetic brake obtain electric braking.
Described frame and the fixing fitting being installed on it all use Welded, increase intensity and alleviate
Weight.
The present invention has the benefit that the running gear solving solar panel clean robot,
Robot can be made with the safety walking on photovoltaic array of 2km/h speed, it is possible to the photovoltaic board foot to plurality of specifications
Very little and the adaptation of photovoltaic array form, has left the space of abundance to cleaning device, can intelligence on photovoltaic array
Energyization is walked, and not only solves the automatic walk problem of the photovoltaic cleaning equipment of large-scale ground photo-voltaic power generation station,
Also solve the automatic walking of the photovoltaic cleaning equipment of distributed photovoltaic power generation station particularly roof photo-voltaic power generation station
Problem.
Accompanying drawing explanation
The side view of Fig. 1-an embodiment of the present invention
The accumbency front view of Fig. 2-an embodiment of the present invention
The high of Fig. 3-an embodiment of the present invention regards schematic diagram
The structure of the duplex synchronous pulley of Fig. 4-an embodiment of the present invention and duplex synchronous pulley support and position
Schematic diagram
The left side view of Fig. 5-Fig. 4
Symbol description in figure
3001, guide wheel；3002, duplex synchronous pulley；3003, the spacing schedule in side；
3004, power transmission shaft installs wallboard；3005, roller mount row；3006, Timing Belt
3007, proximity transducer；3008, driving wheel；3012, connecting plate
3013, duplex synchronous pulley support 7, reducing motor；7001, power transmission shaft；
7002, synchronous pulley driving wheel；7003, concentric tubes；7004, electromagnetic brake；
7005-Hall element；7006, reducing motor seat board；7007, concentric chuck；
8, frame；
Detailed description of the invention
This disclosure thus feature or all methods or during step, except mutually exclusive spy
Levy, beyond process, all can combine by any way.
For ease of explanation, being used herein such as "left", "right" term is for shown in explanatory diagram
Parts or feature relative to another parts or the relation of feature, in addition to shown in figure,
On " ", D score, "front", "rear" term refer to that parts are at solar panel array or title
The position of the tilting photovoltaic panel of certain string in photovoltaic array.
Preferred embodiment a: frame 8, described frame is at least a length of beyond photovoltaic panel 10 by three two ends
The stock of 100-150mm and the end bar rigidity fastening of a length of 300mm-800mm form " saying " font frame
Frame；
At least two walking schedule assemblies, described walking schedule assembly has two peripheries same at a distance of the duplex of 150mm
Step belt wheel 3002, duplex synchronous pulley 3002 draws straight chord plane to be affixed on photovoltaic after wrapping up Timing Belt below
Plate 10 frame, is at least provided with the spacing schedule in side 3003, its rolling surface in two walking schedule assemblies
Being affixed on the lateral surface of photovoltaic panel 10 frame of photovoltaic array, walking is with photovoltaic panel 10 frame as track, described
Walking schedule assembly by being placed in the guide wheel 3001 of end, rolling surface be affixed on 2 duplexs of photovoltaic panel 10 frame
Roller 3002, power transmission shaft are installed wallboard 3004 and are fixed on roller mount row 3005 and form assembly and be fixed on frame
8, wherein 2 duplexs synchronize wheel and at least 1 are provided with the spacing schedule in side 3003 outside it, and its rolling surface is affixed on
The lateral surface of photovoltaic array photovoltaic panel frame, walking is with photovoltaic panel 10 frame as track, if tilting peace
Dress photovoltaic panel, superincumbent spacing schedule tangles the upper side of photovoltaic panel and is unlikely to fall, if level
The photovoltaic panel installed, is unlikely to walking deviation photovoltaic panel framework due to both sides all limited locations wheel；
One both sides isometric with photovoltaic panel are provided with the power transmission shaft 7001 of driving wheel 7002, and driving wheel 7002 drives
Both sides duplex roller 3002, described power transmission shaft 7001 is fixed on frame 8 by by reducing motor seat board 7006
Reducing motor 7 drive, transmission band 3006 Guan Bi parcel driving wheel 7002 and two duplex rollers 3002, and
The cornerite and trend needed is formed, to cleaning device slot milling by pinch roller pressure break-in by some.
Described duplex roller 3002 and driving wheel 7002 are synchronous pulleys, and transmission band 3006 is that thickening rubber is same
Step band, it is ensured that the synchronization of both sides road wheel, adds the frictional force to photovoltaic panel framework.
Described duplex roller 3001 is that two rollers 3011 are connected with connecting plate 3012, connecting plate 3012
Pin and hole be square loose fit and wheel support 3013 Tong Bus with duplex hinged after be installed on roller mount and arrange
3005, duplex synchronizes wheel support 3013 and rigidly fixes with roller mount row 3005, it is ensured that 4 rollers are arranged light
Contact while volt edges of boards frame.
The walking schedule at least a part of which of described drive system has one to be to be bolted to frame 8, unclamps this spiral shell
Bolt adjusts right position on described photovoltaic panel 10 framework and the both sides frame of corresponding on-the-spot photovoltaic panel 10
Tighten again, solve the adaptability of the photovoltaic panel to different length.
The power transmission shaft 7001 that the reductor of described drive system stretches out to the left and right has one end to be divided into two sections, with one heart
Chuck 7007/ concentric tubes 7003 connects, and flexible its length that changes, coordinate the tune of above-mentioned walking schedule
Whole, it is suitable for the different size of clean-in-place photovoltaic panel.
The power transmission shaft 7001 of described drive system has while being through the electromagnetic brake against reductor (7)
(7004) stretch out, the other Hall element 7005 that is provided with of electromagnetic brake 7004, therefore can control system
Move and walk to slowly cross smoothly close to during photovoltaic panel frame.
It is provided with proximity transducer 3007 at the guide wheel 3001 of the walking schedule of described drive system, works as robot
Walk to the photovoltaic array end when can not get the signal fired back, by central controller instruction stop same
Time, make electromagnetic brake obtain electric braking.
Described frame and the fixing fitting being installed on it all use Welded, increase intensity and subtract
Weight amount.
The method of the present invention is not limited to aforesaid detailed description of the invention, and the solution of the present invention expands to any
The new feature not disclosed in this manual or any new combination.
Claims (8)
1. its feature of the running gear of a photovoltaic array clean robot includes:
One frame (8), described frame is at least exceeded a length of 100-150mm's of photovoltaic panel 10 by three two ends
The end bar rigidity fastening of stock and a length of 300mm-800mm forms " saying " glyph framework；
At least two walking schedule assemblies, described walking schedule assembly has two peripheries same at a distance of the duplex of 150mm
Step belt wheel 3002, draws straight chord plane to be affixed on light after duplex synchronous pulley (3002) parcel Timing Belt below
Volt plate (10) frame, is at least provided with the spacing schedule in side (3003) in two walking schedule assemblies,
Its rolling surface is affixed on the lateral surface of photovoltaic panel 10 frame of photovoltaic array, and at least one end is provided with guide wheel
(3001)；
One is provided with the biography of driving wheel (7002) on the both sides isometric with photovoltaic panel that motor reducer worm gear passes
Moving axis (7001), the bearing at described power transmission shaft two ends is fixed on the wallboard of frame 8 by bearing block
(3004), described driving wheel is synchronous pulley；
Transmission band (3006) is Timing Belt, the driving wheel for synchronous pulley at Guan Bi parcel power transmission shaft two ends
(7002) and two duplex synchronous pulleys (3002), and changed trend by 4 pinch roller (7003) pressures
Form cornerite and trend that described cleaning device needs.
The running gear of a kind of photovoltaic array clean robot the most according to claim 1 is characterized in that: institute
Stating double linked wheel (3002) and driving wheel (7002) is synchronous pulley, transmission band (3006) is to thicken rubber
Timing Belt.
The running gear of a kind of photovoltaic array clean robot the most according to claim 1 is characterized in that: institute
The axle stating duplex synchronous pulley (3002) is connected by 1 connecting plate (3012), the pin of connecting plate (3012)
Be square loose fit with hole and wheel support Tong Bu with duplex (3013) hinged after be installed on roller mount row
(3005), duplex synchronous pulley support (3013) rigidly fixes with roller mount row (3005).
The running gear of a kind of photovoltaic array clean robot the most according to claim 1 is characterized in that: institute
The walking schedule at least a part of which stating drive system has one to be to be bolted to frame (8), unclamps this spiral shell
Bolt adjust right position on described photovoltaic panel (10) framework and the two of corresponding on-the-spot photovoltaic panel (10)
Limit frame is tightened again.
The running gear of a kind of photovoltaic array clean robot the most according to claim 1 is characterized in that: institute
Stating the power transmission shaft (7001) that the reductor of drive system stretches out to the left and right has one end to be divided into two sections, with folder with one heart
Head (7007)/concentric tubes (7003) connects, and flexible its length of change.
The running gear of a kind of photovoltaic array clean robot the most according to claim 1 is characterized in that: institute
The power transmission shaft (7001) stating drive system has while being through the electromagnetic brake against reductor (7)
(7004) stretching out, electromagnetic brake (7004) is other is provided with Hall element (7005), therefore permissible
Control braking and walk to slowly cross smoothly close to during photovoltaic panel frame.
The running gear of a kind of photovoltaic array clean robot the most according to claim 1 is characterized in that: institute
Guide wheel (3001) place of the walking schedule stating drive system is provided with proximity transducer (3007), works as machine
While the signal that People's Bank of China to the photovoltaic array end can not get firing back is stopped by central controller instruction,
Electromagnetic brake is made to obtain electric braking.
The running gear of a kind of photovoltaic array clean robot the most according to claim 1 is characterized in that: institute
State frame and the fixing fitting that is installed on it all uses Welded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510297042.0A CN106269755A (en) | 2015-05-26 | 2015-05-26 | A kind of running gear of photovoltaic array clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510297042.0A CN106269755A (en) | 2015-05-26 | 2015-05-26 | A kind of running gear of photovoltaic array clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106269755A true CN106269755A (en) | 2017-01-04 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510297042.0A Pending CN106269755A (en) | 2015-05-26 | 2015-05-26 | A kind of running gear of photovoltaic array clean robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111468356A (en) * | 2020-04-27 | 2020-07-31 | 山东科技大学 | Automatic film coating device for solar photovoltaic panel |
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| JPH02207880A (en) * | 1989-02-08 | 1990-08-17 | Kanto Auto Works Ltd | Automatic cleaner of window glass |
| JP3074905U (en) * | 2000-07-17 | 2001-01-30 | 昇三 菅原 | Cleaning robot for wiping glass for photovoltaic power generation equipment modules |
| US20100175741A1 (en) * | 2009-01-13 | 2010-07-15 | John Danhakl | Dual Axis Sun-Tracking Solar Panel Array |
| US20110137458A1 (en) * | 2008-12-26 | 2011-06-09 | Masujiro Hisatani | Cleaning robot system and method of controlling same |
| WO2011113555A2 (en) * | 2010-03-15 | 2011-09-22 | Sener, Ingenieria Y Sistemas, S.A. | Solar field cleaning system and cleaning method used by said system |
| US20120048345A1 (en) * | 2010-08-30 | 2012-03-01 | Michael Wood | Array of photovoltaic assemblies |
| CN102671875A (en) * | 2012-05-25 | 2012-09-19 | 陕西长岭光伏电气有限公司 | Solar PV array cleaning system and cleaning method thereof |
| CN202621475U (en) * | 2012-03-09 | 2012-12-26 | 北京金风科创风电设备有限公司 | Device for cleaning photovoltaic cell panel |
| CN102974557A (en) * | 2012-11-14 | 2013-03-20 | 上海工程技术大学 | Photovoltaic battery panel pack cleaning device based on monorail travel unit |
| KR20130055126A (en) * | 2011-11-18 | 2013-05-28 | 주식회사 아이티파워 | Robot apparatus for cleaning solar cell panel |
| CN103878130A (en) * | 2014-02-26 | 2014-06-25 | 镇江润德节能科技有限公司 | Device and method for cleaning multiple rows of photovoltaic cell panel groups |
| JP2014116581A (en) * | 2012-11-15 | 2014-06-26 | Minhao Co Ltd | Photovoltaic power generation apparatus |
| CN204799649U (en) * | 2015-05-26 | 2015-11-25 | 杨景华 | Running gear of photovoltaic array clean robot |
-
2015
- 2015-05-26 CN CN201510297042.0A patent/CN106269755A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02207880A (en) * | 1989-02-08 | 1990-08-17 | Kanto Auto Works Ltd | Automatic cleaner of window glass |
| JP3074905U (en) * | 2000-07-17 | 2001-01-30 | 昇三 菅原 | Cleaning robot for wiping glass for photovoltaic power generation equipment modules |
| US20110137458A1 (en) * | 2008-12-26 | 2011-06-09 | Masujiro Hisatani | Cleaning robot system and method of controlling same |
| US20100175741A1 (en) * | 2009-01-13 | 2010-07-15 | John Danhakl | Dual Axis Sun-Tracking Solar Panel Array |
| WO2011113555A2 (en) * | 2010-03-15 | 2011-09-22 | Sener, Ingenieria Y Sistemas, S.A. | Solar field cleaning system and cleaning method used by said system |
| US20120048345A1 (en) * | 2010-08-30 | 2012-03-01 | Michael Wood | Array of photovoltaic assemblies |
| KR20130055126A (en) * | 2011-11-18 | 2013-05-28 | 주식회사 아이티파워 | Robot apparatus for cleaning solar cell panel |
| CN202621475U (en) * | 2012-03-09 | 2012-12-26 | 北京金风科创风电设备有限公司 | Device for cleaning photovoltaic cell panel |
| CN102671875A (en) * | 2012-05-25 | 2012-09-19 | 陕西长岭光伏电气有限公司 | Solar PV array cleaning system and cleaning method thereof |
| CN102974557A (en) * | 2012-11-14 | 2013-03-20 | 上海工程技术大学 | Photovoltaic battery panel pack cleaning device based on monorail travel unit |
| JP2014116581A (en) * | 2012-11-15 | 2014-06-26 | Minhao Co Ltd | Photovoltaic power generation apparatus |
| CN103878130A (en) * | 2014-02-26 | 2014-06-25 | 镇江润德节能科技有限公司 | Device and method for cleaning multiple rows of photovoltaic cell panel groups |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111468356A (en) * | 2020-04-27 | 2020-07-31 | 山东科技大学 | Automatic film coating device for solar photovoltaic panel |
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Application publication date: 20170104 |