CN106424056A - Cleaning equipment and photovoltaic module cleaning system - Google Patents

Cleaning equipment and photovoltaic module cleaning system Download PDF

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Publication number
CN106424056A
CN106424056A CN201610995884.8A CN201610995884A CN106424056A CN 106424056 A CN106424056 A CN 106424056A CN 201610995884 A CN201610995884 A CN 201610995884A CN 106424056 A CN106424056 A CN 106424056A
Authority
CN
China
Prior art keywords
cleaning
driving means
scavenging machine
photovoltaic panel
walking mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610995884.8A
Other languages
Chinese (zh)
Inventor
何春涛
尹立胜
赵思波
王龙
梁中堂
蒋邦友
马林
朱文平
曲新春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Pinnet Technologies Co Ltd
Original Assignee
Hangzhou Pinnet Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Pinnet Technologies Co Ltd filed Critical Hangzhou Pinnet Technologies Co Ltd
Priority to CN201610995884.8A priority Critical patent/CN106424056A/en
Publication of CN106424056A publication Critical patent/CN106424056A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B11/00Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
    • B08B11/04Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10Cleaning arrangements
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

Abstract

The invention discloses cleaning equipment and a photovoltaic module cleaning system. The cleaning equipment comprises a cleaning machine, a moving wharf, guide rails and a control system. The moving wharf is used for bearing the cleaning machine and controlled by the control system to advance along the guide rails. The cleaning machine is controlled by the control system to be capable of moving on the moving wharf. The photovoltaic module cleaning system comprises array photovoltaic panels, the array photovoltaic panels are in an m*n matrix, and m and n are each a positive integer. The guide rails are located on one side of the array photovoltaic panels. The moving wharf is located above the guide rails. The cleaning machine is loaded on a bearing frame of the moving wharf and does back and forth movement on the array photovoltaic panels through a walking mechanism. The cleaning equipment and the photovoltaic module cleaning system are simple and compact in structure, high in automation degree and cleaning efficiency and stable in operating, and the problems that in current manual cleaning, time and labor are consumed, and efficiency is low are solved.

Description

Cleaning equipment and photovoltaic module cleaning systems
Technical field
The present invention relates to photo-voltaic power generation station cleaning equipment, especially a kind of cleaning equipment and photovoltaic module cleaning systems.
Background technology
The main generating equipment of solar photo-voltaic power generation station is solar energy photovoltaic panel, and the generated energy of solar energy photovoltaic panel depends on Intensity in incident sunlight.And array photovoltaic panel is all outdoor installation, the dust storm of nature, dust, industrial pollutants etc. cover Cover in battery plate surface, the absorption of illumination can be largely affected, according to statistics, loss amount can account for solar energy gross generation 5-8% is even more many.So that often in due course dust cleaning is carried out to solaode plate surface, so as to subtract Few dust stratification, improves power generation.General photovoltaic plant area is big, at present mostly using manual cleaning, its efficiency is low, cycle length, Costly.Therefore design a kind of efficiently, the cleaning equipment of automatization will have actual application value, industry development is had and its Significance.
Content of the invention
For the shortcoming of prior art, the invention provides a kind of cleaning equipment and photovoltaic module cleaning systems.
For achieving the above object, the present invention adopts the technical scheme that cleaning equipment, including:
Scavenging machine;
Movable dock, for carrying the scavenging machine, is flexibly connected between the scavenging machine;
Guide rail, is slidably connected with the movable dock;And
Control system, for controlling the motion of the scavenging machine and the movable dock.
In one embodiment of the invention, the control system includes electric supply installation, control drum, and the electric supply installation is for sliding Tactile line, the control drum is fixed on the movable dock, is wound with cable, one end of the cable on the control drum Connect with the current output terminal of the trolley, the other end of the cable and the cleaning mechatronics.
In one embodiment of the invention, the control drum includes electrical control gear, the electrical control gear and institute State the signal of telecommunication connection of cleaning driving means.Electrical control gear electricity according to the speed of the scavenging machine and described in Bit andits control The folding and unfolding of cable.
In one embodiment of the invention, the scavenging machine includes:Frame, cleaning head, cleaning driving means, mobile foot, institute State cleaning head, clean driving means and mobile foot is each attached in the frame, the mobile foot and the cleaning driving means Electrical connection, the cleaning driving means are electrically connected with the control drum.The cleaning driving means drive the mobile foot fortune Dynamic.
In one embodiment of the invention, the movable dock includes:Loading frame, first driving means, the first walking mechanism, The harbour driving means are all fixedly connected with the loading frame with the first walking mechanism, the first driving means and the confession Electric installation is electrically connected, and first walking mechanism electrically connected with the first driving means, first walking mechanism with described Slide connects.
In one embodiment of the invention, the control system also includes limit switch, and the limit switch is fixedly mounted on On the movable dock, the limit switch is connected with the first driving means signal of telecommunication, for controlling the described first driving The operating of device;The limit switch is connected with the cleaning driving means signal of telecommunication, for controlling the cleaning driving means Operating.
In one embodiment of the invention, first walking mechanism includes road wheel, side wheels, the road wheel with lateral Wheel is all contacted with the guide rail surface and is slidably connected, and the road wheel is in transmission connection with the first driving means, the row Walk wheel and the guide rail overhead surface is located at, the road wheel is fixedly connected with the loading frame by U-shaped support, the road wheel Connected by U-shaped bracket bearing;The side wheels are located at the both sides of the guide rail, and the side wheels are by link and the dress Carrier is fixedly connected, and the side wheels are rotated with the link and are connected.
A kind of photovoltaic module cleaning systems, including array photovoltaic panel, the array photovoltaic panel for m*n matrix, m, n is Positive integer, the guide rail is located at the side of the array photovoltaic panel, and the movable dock is located at the top of the guide rail, described clear The machine of sweeping is loaded on the carrier of the movable dock, the inclination angle of the angle of inclination of the carrier and the array photovoltaic panel Degree is identical, and the scavenging machine does back and forth movement by walking mechanism in the array photovoltaic panel.
In one embodiment of the invention, the height of the frame of the scavenging machine is more than the photovoltaic panel height, the walking Mechanism is along the boundary slip of the photovoltaic panel.
The invention has the advantages that:
The present invention constitutes a kind of cleaning equipment by scavenging machine, movable dock, guide rail and control system, the device structure letter Single compact, cost is low, application scenario is extensive.The scavenging machine is mounted with the movable dock, and the movable dock exists In the presence of stopping means control, on guide rail, suitable position stops, and then scavenging machine is under control of the control system in array Walk in photovoltaic panel, realize the cleaning to photovoltaic panel.
Further, when scavenging machine moves to the other end of array photovoltaic panel, cleaning is sent a signal to by limit switch Machine, scavenging machine is back on movable dock along array photovoltaic panel, and now the limit switch on movable dock is triggered, and signal sends To the first driving equipment of movable dock, transport to direct of travel along guide rail in the presence of the first walking mechanism so as to movable dock Dynamic.When movable dock walking is to next one array photovoltaic panel to be cleaned, stop arriving suitable position by limit switch, right Corresponding array photovoltaic panel carries out the cleaning of above-mentioned round action.
By constantly repeating above-mentioned cleaning action, cleaned with realizing the high-efficient automatic to photo-voltaic power generation station, save people Power cost, improves work efficiency, improves generated energy, so as to obtain economic benefit and ecological benefits.
Description of the drawings
Fig. 1 is a kind of axonometric chart of the cleaning equipment of the present invention;
Fig. 2 is the front view of Fig. 1 of the present invention;
Fig. 3 is the left view of Fig. 1 of the present invention;
Fig. 4 is a kind of structural representation of photovoltaic module cleaning systems of the present invention.
1st, scavenging machine;2nd, movable dock;3rd, guide rail;200th, loading frame;4th, fixture block;500th, array photovoltaic panel;21st, the first electricity Machine;22nd, reduction box;23rd, U-shaped support;24th, road wheel;25th, link;26th, side wheels;27th, U-type groove;41st, trolley;42、 Drum;44th, cable;100th, frame;12nd, driving means are cleaned;14th, directive wheel.
Specific embodiment
With reference to embodiment and accompanying drawing (1 to 4), the invention will be further described.
Embodiment 1
The present invention involved in the present invention adopts the technical scheme that cleaning equipment, including scavenging machine 1, movable dock 2, leads Rail 3 and control system, the movable dock 2 is used for carrying the scavenging machine 1, and described in the control lower edge in the control system Guide rail 3 is advanced, the scavenging machine 1 under the control of the control system can with move in the movable dock 2.
The movable dock 2 includes loading frame 200, first driving means, the first walking mechanism, and the scavenging machine 1 is consolidated Be placed on the loading frame 200, loading frame 200 be in certain angle of inclination, the angle of inclination and array photovoltaic panel 500 Unanimously.Scavenging machine 1 can block jail on the loading frame 200 by fixture block 4.The first driving means include to be in transmission connection First motor 21 and reduction box 22, during work, first motor 21 connects after electricity and drives reduction box 22, and reduction box 22 drives the again One walking mechanism is moved on guides 3.In the present embodiment, first walking mechanism includes U-shaped support 23, road wheel 24, connects Frame 25, side wheels 26 are connect, the U-shaped support 23 and link 25 are all fixedly mounted on the loading frame 200, the road wheel 24 are connected with 23 bearing of U-shaped support, and the road wheel 24 is located in the U-type groove 27 of U-shaped support 23, the U of 27 bottom of U-type groove Type support 23 serves the effect for supporting loading frame 200, and the road wheel 24 is located at 3 overhead surface of the guide rail, rolls along guide rail 3 Dynamic.The side wheels 26 are rotated with the link 25 and are connected, and the side wheels 26 are close to the lateral surface of the guide rail 3, described Side wheels 26 play guide effect, it is to avoid the sideslip in traveling of movable dock 1.
The control system includes electric supply installation, control drum, limit switch, and the electric supply installation is trolley 41, to slide The direction that tactile line 41 extends along guide rail 3 is arranged on 3 side of guide rail, and the control drum is fixed on the loading of the movable dock 2 On frame 200.The control drum includes electrical control gear, drum 42, and the electrical control gear is fixed with the drum 42 Connection.Cable 44 is wound with the drum 42, and one end of the cable 44 is connected with the current output terminal of the trolley 41, described The other end of cable 44 is electrically connected with the scavenging machine 1, i.e. the power supply of scavenging machine 1 comes from the cable for winding on control drum 44, cable 11 is automatically put down from drum 42 with the movement of scavenging machine 1, so as to ensure that in scavenging machine 1 away from movement Also effectively can be powered during harbour 2.The intelligent folding and unfolding of the cable 44 is the electrical control gear according to the scavenging machine 1 Speed and drum 42 described in Bit andits control rotation realize.The limit switch at least include the first limit switch, second Limit switch, limit switch can be fixedly mounted on the carrier 200;First limit switch is used for controlling the described first driving dress The operating that puts, the second limit switch is connected with the cleaning driving means signal of telecommunication, for controlling the cleaning driving means Operating.Limit switch can be infrared induction limit switch, for determine the position relationship between scavenging machine 1 and carrier 200 and The position on guides 3 of movable dock 2, so as to realize the control to scavenging machine 1 and movable dock 2.
Scavenging machine described in the present embodiment includes frame 100, cleaning head, cleans driving means 12, mobile foot, the cleaning 11, driving means 12 are cleaned and mobile foot is each attached in the frame 100.The cleaning driving means 12 and the cable 44 electrical connections are realized cleaning the power supply of driving means 12, and the cleaning driving means 12 drive the mobile foot and array photovoltaic panel Relative slip between 500.The mobile foot includes travel wheel and directive wheel 14, and directive wheel 14 is used for leading direction of travel To travel wheel is used for rolling along array photovoltaic panel 500.Cleaning head is also by the drive disk assembly being fixed in frame 100 further Action is carried out, realizes the cleaning to dust etc..The cleaning head can be hairbrush, curtain fabric strips or other can realize cleaning Purpose structure.
Embodiment 2
A kind of photovoltaic module cleaning systems of the cleaning equipment in use embodiment 1, the array photovoltaic panel 500 for m* N matrix, m, n is positive integer, is illustrated that the matrix of m=1, n=3 in Fig. 4.During work, the guide rail 3 is placed on described The side of array photovoltaic panel 500, the movable dock 2 is placed on the top of the guide rail 3, and the scavenging machine 1 is loaded in institute State on the carrier 200 of movable dock 2, the angle of inclination of the carrier 200 will be with the inclination angle of the array photovoltaic panel 500 Degree is basically identical, cleaner so in order to cleaned, is unlikely to again to hinder the operation of scavenging machine.Angle of inclination allows certain Tolerance, when there is angle tolerance, needing the height by appropriate adjustment carrier 200, and then the height of scavenging machine 1 is carried out Appropriate adjustment, is not blocked with ensureing to run.The scavenging machine 1 is in 500 upper surface of array photovoltaic panel, and the cleaning head 10 is firm It is close to " airborne dust " surface of array photovoltaic panel 500 well, the walking mechanism is arranged on along the edge of the photovoltaic panel 500, work When making, travel wheel 13 is rolled along the edge, to airborne dust " dust on surface cleans.The scavenging machine is by walking mechanism in institute State in array photovoltaic panel and do back and forth movement.
The repetition cleaning action of the present invention generally " movable dock addressing berth cleaning head come and go cleaning action The next mooring point cleaning head of movable dock traveling comes and goes cleaning action ", i.e., when scavenging machine 1 completes a upper array photovoltaic panel When 500 cleaning is back on carrier 200, movable dock 2 receives the signal of telecommunication from the second limit switch and starts edge Guide rail 3 is walked to next mooring point, when walking to correct position, stop motion under the control action of the first limit switch, Now, scavenging machine 1 obtains wireless signal from the first limit switch, starts disengaging movable dock and moves to array photovoltaic panel 500, and Walk along array photovoltaic panel 500, while cleaning its surface by cleaning head, machine to be cleaned 1 moves to array photovoltaic panel 500 During the other end, by the second limit switch to signal to driving means are cleaned, clean driving means drive scavenging machine reversely along The walking of array photovoltaic panel 500 is returned on the carrier 200 of movable dock 2.Now, the second limit switch quilt on movable dock 2 Trigger and to signal to first driving means, first driving means start, drive the first walking mechanism to berth to next along guide rail Point is advanced, that is, the movable dock for loading scavenging machine is moved to next array photovoltaic panel, repeats above-mentioned action.
The present invention devises a kind of photovoltaic module cleaning systems of new mode, and simple and compact for structure, application scenarios are extensive. One scavenging machine can be cleaned to a lot of array photovoltaic panel, and efficiency high, high degree of automation save human cost, with When can timely remove dust stratification, eliminate impact of the dust stratification to built photovoltaic power station power generation amount to greatest extent.
Above-mentioned specific embodiment is used only to illustrate the present invention, rather than is to limit the invention, in the present invention Objective and scope of the claims in, any replacement for not paying creative work that the present invention is made and change, Fall within the protection domain of patent of the present invention.

Claims (9)

1. a kind of cleaning equipment, it is characterised in that include:
Scavenging machine;
Movable dock, for carrying the scavenging machine, is flexibly connected between the scavenging machine;
Guide rail, is slidably connected with the movable dock;And
Control system, for controlling the motion of the scavenging machine and the movable dock.
2. cleaning equipment as claimed in claim 1, it is characterised in that the control system includes electric supply installation, control drum, The electric supply installation is trolley, and the control drum is fixed on the movable dock, is wound with electricity on the control drum Cable, one end of the cable is connected with the current output terminal of the trolley, the other end of the cable and the cleaning mechatronics.
3. cleaning equipment as claimed in claim 2, it is characterised in that the control drum includes electrical control gear, described Electrical control gear is connected with the cleaning driving means signal of telecommunication.
4. cleaning equipment as claimed in claim 2, it is characterised in that the scavenging machine includes:Frame, cleaning head, cleaning are driven Dynamic device, mobile foot, the cleaning head, clean driving means and mobile foot is each attached in the frame, the mobile foot with The cleaning driving means electrical connection, the cleaning driving means are electrically connected with the control drum.
5. the cleaning equipment as described in Claims 2 or 3 or 4, it is characterised in that the movable dock includes:Loading frame, first Driving means, the first walking mechanism, the first driving means are all fixedly connected with the loading frame with the first walking mechanism, institute State first driving means to electrically connect with the electric supply installation, first walking mechanism is electrically connected with the first driving means, First walking mechanism is connected with the slide.
6. cleaning equipment as claimed in claim 5, it is characterised in that the control system also includes limit switch, the limit Bit switch is fixedly mounted on the movable dock, and the limit switch is connected with the first driving means signal of telecommunication, is used for Control the operating of the first driving means;The limit switch is connected with the cleaning driving means signal of telecommunication, for controlling The operating for cleaning driving means.
7. cleaning equipment as claimed in claim 5, it is characterised in that first walking mechanism includes road wheel, side wheels, The road wheel is all contacted with the guide rail surface with side wheels and is slidably connected, the road wheel and the first driving means It is in transmission connection, the road wheel is located at the guide rail overhead surface, the road wheel is fixed with the loading frame by U-shaped support Connection, the road wheel is connected by U-shaped bracket bearing;The side wheels are located at the both sides of the guide rail, and the side wheels are led to Cross link to be fixedly connected with the loading frame, the side wheels are rotated with the link and are connected.
8. a kind of photovoltaic module cleaning systems using above-mentioned cleaning equipment, it is characterised in that including array photovoltaic panel, the battle array Row photovoltaic panel for m*n matrix, m, n is positive integer, and the guide rail is located at the side of the array photovoltaic panel, the movement code Head is located at the top of the guide rail, and the scavenging machine is loaded on the carrier of the movable dock, the inclination of the carrier Angle is identical with the angle of inclination of the array photovoltaic panel, and the scavenging machine is done in the array photovoltaic panel by walking mechanism Back and forth movement.
9. cleaning systems as claimed in claim 8, it is characterised in that the height of the scavenging machine is more than the array photovoltaic panel Highly, the walking mechanism is moved along the edge of the array photovoltaic panel.
CN201610995884.8A 2016-11-11 2016-11-11 Cleaning equipment and photovoltaic module cleaning system Pending CN106424056A (en)

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Application Number Priority Date Filing Date Title
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Cited By (15)

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CN106938269A (en) * 2017-04-24 2017-07-11 天津温纳科技有限公司 Intelligent cleaning system
CN107040199A (en) * 2017-05-03 2017-08-11 苏州富锐联自动化设备有限公司 Can Intelligent adjustment clean angle section the automatic operational system of solar photovoltaic assembly
CN107052012A (en) * 2017-04-25 2017-08-18 山东豪沃电气有限公司 A kind of solar panel cleans and uses intelligent mobile conveying device
CN107070392A (en) * 2017-05-03 2017-08-18 苏州富锐联自动化设备有限公司 The automatic operational system of solar photovoltaic assembly with intelligent ferry bus
CN107081320A (en) * 2017-05-03 2017-08-22 苏州富锐联自动化设备有限公司 The automatic operational system of high stable retentivity solar photovoltaic assembly
CN107088535A (en) * 2017-05-03 2017-08-25 苏州富锐联自动化设备有限公司 The automatic operational system of solar photovoltaic assembly
CN107812732A (en) * 2017-11-29 2018-03-20 济南纽兰智能科技有限公司 One kind tiling photovoltaic plant Intelligent sweeping machine device people
CN107962054A (en) * 2017-11-23 2018-04-27 浙江国自机器人技术有限公司 Interchangeable plate operation cleaning robot applied to photovoltaic array changes plate method
WO2018086081A1 (en) * 2016-11-11 2018-05-17 杭州品联科技有限公司 Cleaning apparatus, and cleaning system for photovoltaic assembly
CN108760768A (en) * 2018-04-17 2018-11-06 中国人民解放军海军工程大学 Thorax automatically scanning detects trolley in a kind of study of EM rail-gun launcher
CN109047086A (en) * 2018-08-02 2018-12-21 南京师范大学 A kind of photovoltaic battery plate sweeping robot carrier and method for carrying
CN109454029A (en) * 2018-11-01 2019-03-12 北京万通易居环保设备科技有限公司 A kind of photovoltaic intelligent clean robot and its track ferry device
CN110076171A (en) * 2019-05-30 2019-08-02 天津温纳科技有限公司 Side-stand type photovoltaic panel sweeping robot track
CN111151486A (en) * 2020-01-21 2020-05-15 陕西科技大学 Portable solar photovoltaic power generation board cleaning device
CN115338163A (en) * 2022-05-24 2022-11-15 浙江七度科技股份有限公司 Automatic photovoltaic system who cleans

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WO2018086081A1 (en) * 2016-11-11 2018-05-17 杭州品联科技有限公司 Cleaning apparatus, and cleaning system for photovoltaic assembly
CN106938269A (en) * 2017-04-24 2017-07-11 天津温纳科技有限公司 Intelligent cleaning system
CN107052012A (en) * 2017-04-25 2017-08-18 山东豪沃电气有限公司 A kind of solar panel cleans and uses intelligent mobile conveying device
CN107040199A (en) * 2017-05-03 2017-08-11 苏州富锐联自动化设备有限公司 Can Intelligent adjustment clean angle section the automatic operational system of solar photovoltaic assembly
CN107070392A (en) * 2017-05-03 2017-08-18 苏州富锐联自动化设备有限公司 The automatic operational system of solar photovoltaic assembly with intelligent ferry bus
CN107081320A (en) * 2017-05-03 2017-08-22 苏州富锐联自动化设备有限公司 The automatic operational system of high stable retentivity solar photovoltaic assembly
CN107088535A (en) * 2017-05-03 2017-08-25 苏州富锐联自动化设备有限公司 The automatic operational system of solar photovoltaic assembly
CN107962054A (en) * 2017-11-23 2018-04-27 浙江国自机器人技术有限公司 Interchangeable plate operation cleaning robot applied to photovoltaic array changes plate method
CN107812732B (en) * 2017-11-29 2023-11-21 郑州德瑞智能科技有限公司 Intelligent sweeping robot for tiled photovoltaic power station
CN107812732A (en) * 2017-11-29 2018-03-20 济南纽兰智能科技有限公司 One kind tiling photovoltaic plant Intelligent sweeping machine device people
CN108760768A (en) * 2018-04-17 2018-11-06 中国人民解放军海军工程大学 Thorax automatically scanning detects trolley in a kind of study of EM rail-gun launcher
CN109047086A (en) * 2018-08-02 2018-12-21 南京师范大学 A kind of photovoltaic battery plate sweeping robot carrier and method for carrying
CN109047086B (en) * 2018-08-02 2023-08-18 南京师范大学 Solar photovoltaic panel cleaning robot carrier and carrying method
CN109454029B (en) * 2018-11-01 2020-12-11 北京万通易居环保设备科技有限公司 Photovoltaic intelligent cleaning robot and track ferry device thereof
CN109454029A (en) * 2018-11-01 2019-03-12 北京万通易居环保设备科技有限公司 A kind of photovoltaic intelligent clean robot and its track ferry device
CN110076171A (en) * 2019-05-30 2019-08-02 天津温纳科技有限公司 Side-stand type photovoltaic panel sweeping robot track
CN111151486A (en) * 2020-01-21 2020-05-15 陕西科技大学 Portable solar photovoltaic power generation board cleaning device
CN111151486B (en) * 2020-01-21 2023-09-12 国电投许昌综合智慧能源有限公司 Portable solar photovoltaic power generation board cleaning device
CN115338163A (en) * 2022-05-24 2022-11-15 浙江七度科技股份有限公司 Automatic photovoltaic system who cleans
CN115338163B (en) * 2022-05-24 2023-12-05 浙江七度科技股份有限公司 Automatic photovoltaic system who cleans

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