CN106725114A - A kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning - Google Patents
A kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning Download PDFInfo
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- CN106725114A CN106725114A CN201611250168.3A CN201611250168A CN106725114A CN 106725114 A CN106725114 A CN 106725114A CN 201611250168 A CN201611250168 A CN 201611250168A CN 106725114 A CN106725114 A CN 106725114A
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- big
- photovoltaic module
- big frame
- multiple row
- cleaning
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
Abstract
The present invention relates to a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, include robot body, robot body includes big frame, displacement auxiliary wheel is provided with big frame, lateral displacement drive device is additionally provided with big frame, little framework is installed on big frame, length travel drive device is installed in little framework, cleaning device is provided with big frame, the side of big frame is provided with water leg, sparge pipe is installed in little framework, water leg is connected by water supply component with sparge pipe, little framework periphery is provided with housing, energy supply component is provided with housing, energy supply component is by control cabinet and lateral displacement drive device, length travel drive device, the control end of cleaning device is connected.Thus, self-powered is capable of achieving, and with energy storage battery, without providing external power source.Intelligent remote control can be realized, can worked at night, meet unattended operating needs, changeable anhydrous cleaning cleans both of which with water.
Description
Technical field
The present invention relates to a kind of clean robot, more particularly to a kind of intelligence suitable for big matrix multiple row photovoltaic module cleaning
Robot can be changed.
Background technology
The combining with green energy is promoted the use of, and theCourse of PV Industry trend becomes better and better.The cleaning journey on photovoltaic module surface
Spend has very big influence to generatings of photovoltaic system, is cleaned for photovoltaic module, promote urgent need develop it is a kind of efficiently,
The robot of intelligence.The cleaning of particularly big matrix multiple row photovoltaic module, it is difficult to be cleaned with conventional clean robot.
Specifically, photovoltaic battery panel dust stratification causes generating efficiency relatively low, and the solar radiation quantity of cell panel is bigger, system hair
Electricity is higher, and the dust, debris in air are got over and be liable to stick to battery surface, and accumulation for a long time can substantially reduce cell panel generating
Efficiency.The shortcoming of the hand sweeping of existing cleaning mode bag and mechanical sweeper, wherein hand sweeping includes：1) cleaning period is long,
Often clean once within 1-2 month；2) cleanliness factor after cleaning is difficult to control to；3) high cost.
The shortcoming of wheeled (crawler type) cleaning machine includes：1) operating personnel are needed；2) can only be carried out clearly in level terrain
Sweep operation；3) cleaning period is long, and general 1-2 weeks once；4) use cost is high.
Current photovoltaic Automatic vehicle for cleaning road is most to use battery as power source, while plus being electric power storage with solar energy photovoltaic panel
Charge in pond.The target of photovoltaic Automatic vehicle for cleaning road this kind of product is to realize photovoltaic plant photovoltaic panel automated cleaning, unattended duty, but
If power source employs battery and solar energy photovoltaic panel and coordinates this scheme will to produce a drawback, the photovoltaic panel of itself
Because long-term unmanned cleaning dust accretions, slowly influence the efficiency for charging a battery, phenomenon unable to make ends meet finally occurs.
Prior art CN201520736332.6, there is provided a kind of intelligent photovoltaic scavenging machine cleaning apparatus for self, including fixation
It is provided with the automatically cleaning framework of photovoltaic module one end, the automatically cleaning framework relative with photovoltaic Board position on photovoltaic scavenging machine
The clean body answered.The clean body is Clean Brush for cleaning, and the Clean Brush for cleaning is fixed on automatically cleaning framework, the Clean Brush for cleaning
Length is adapted with photovoltaic panel length on photovoltaic scavenging machine.The clean body is cleaning brush roll, and the cleaning brush roll is rotatable
It is connected on automatically cleaning framework, the cleaning brush roll is driven using active electric machine structure or passive mechanical structure drives.
Also, the active electric machine structure includes brush roll motor, the cleaning brush roll is connected to brush roll motor
Output shaft on.The passive mechanical structure includes the travelling gear, driving rack, drive and the transmission belt that cooperate, institute
State on the photovoltaic scavenging machine that driving rack is fixed on by photovoltaic panel, the travelling gear is connected by rotating shaft with automatically cleaning frame member
Connect, the other end of the rotating shaft is fixed with drive, and the drive is connected by transmission belt with cleaning brush roll.
Furthermore, the existing scheme can only be dry-cleaned, it is impossible to be washed.Meanwhile, either using dry-cleaning or washing,
There is certain cleaning dead angle, therefore to the effect on driving birds is not good of photovoltaic module cleaning, part vestige shape is easily left on assembly surface
Into shadow spot, influence photovoltaic module is used.
In view of above-mentioned defect, the design people is actively subject to research and innovation, a kind of many suitable for big matrix to found
The intelligent robot of row photovoltaic module cleaning, makes it have more the value in industry.
The content of the invention
In order to solve the above technical problems, it is an object of the invention to provide a kind of suitable for big matrix multiple row photovoltaic module cleaning
Intelligent robot.
A kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning of the invention, includes robot master
Body, it is characterised in that：The robot body includes big frame, and displacement auxiliary wheel is provided with the big frame, described big
Lateral displacement drive device is additionally provided with framework, little framework is installed on the big frame, be provided with the little framework vertical
To displacement drive, cleaning device is provided with the big frame, the side of the big frame is provided with water leg, described small
Sparge pipe is installed, the water leg is connected by water supply component with sparge pipe, and the little framework periphery is provided with shell on framework
Body, is provided with energy supply component on the housing, the energy supply component is by control cabinet and lateral displacement drive device, length travel
Drive device, the control end of cleaning device are connected.
Further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein, institute
Rheme is moved auxiliary wheel and includes change gear and lower change gear, and the upper change gear is located at big frame top, and the lower change gear is located at big frame
Frame lower section.
Further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein,
The lateral displacement drive device includes main horizontal drive motor and secondary horizontal drive motor, the main horizontal drive motor position
In big frame lower section, the secondary horizontal drive motor is located at big frame top, and transverse direction is connected with the main horizontal drive motor
Driving wheel, is also distributed with horizontal driven pulley on the big frame.
Further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein,
The length travel drive device includes vertical drive motor, and zigzag tread patterns wheel, institute are connected with the vertical drive motor
State and be also equipped with little framework longitudinal driven pulley.
Further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein,
The cleaning device is fur brush cleaner, includes hair brush motor, and the hair brush motor is connected with little framework, the hair brush motor
On be connected with brush member.
Further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein,
The brush member is provided with multiple, in can rolling condition, be vertically mounted in little framework.
Further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein,
The water supply component includes filter, and the filter is arranged in water leg, and water pump is connected with the filter, described
Supply channel is connected with water pump.
Further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein,
The energy supply component is power supply photovoltaic panel.
Yet further, above-mentioned a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, wherein,
Remote control terminal is connected with the control cabinet.
By such scheme, the present invention at least has advantages below：
1st, power supply photovoltaic panel is relied on, self-powered is capable of achieving, and with energy storage battery, without providing external power source.
2nd, intelligent remote control can be realized, can be being worked at night, meet unattended operating needs, save labour cost
With, reduce labour intensity.
3rd, changeable anhydrous cleaning cleans both of which with water.
4th, the operation frequency freely sets, and can periodically be cleaned according to different place environment.
5th, robot cleans firmly uniform, does not result in that cell piece is hidden to be split.
6th, used for high latitude area, robot can also remove photovoltaic module surface accumulated snow.
Described above is only the general introduction of technical solution of the present invention, in order to better understand technological means of the invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the scheme of installation of intelligent robot.
Fig. 2 is the side structure schematic diagram that intelligent robot is combined with photovoltaic module.
Fig. 3 is the structural representation of intelligent robot.
Fig. 4 is the side structure schematic diagram of intelligent robot.
The implication of each reference is as follows in figure.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the invention is described in further detail.Hereinafter implement
Example is not limited to the scope of the present invention for illustrating the present invention.
Such as a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning of Fig. 1 to 4, robot is included
Main body 300, unusual part is：For the ease of robot is installed on photovoltaic module 100, and it is easy to robot to complete
Comprehensive cleaning, it is to avoid cleaning dead angle occur, the robot body 300 of use includes big frame 312, on big frame 312
It is provided with displacement auxiliary wheel.Meanwhile, lateral displacement drive device is additionally provided with big frame 312.Also, in order to realize upper bottom left
Right movement, is provided with little framework 313 on big frame 312, length travel drive device is provided with little framework 313.The present invention
Cleaning device is provided with big frame 312, the side of big frame 312 is provided with water leg 500, is provided with little framework 313
Sparge pipe 360, water leg 500 is connected by water supply component with sparge pipe 360.So, the presence of water leg 500 is relied on, can
Meet auxiliary water spray during use, improve the cleaning performance of drying period.Consider from the utilization of resources, can also be by water leg
500 carry out rainwater-collecting, aid in cleaning using rainwater.From the point of view of with reference to routine use, in order to possess the design of integration, while
Avoid external dust from invading robot interior, housing 311 is installed in the periphery of little framework 313.From the point of view of drive control, housing
Be provided with energy supply component on 311, energy supply component by control cabinet 400 and lateral displacement drive device, length travel drive device,
The control end of cleaning device is connected.Furthermore, in order to possess the preferable storage during non-usage, photovoltaic module 100 is not influenceed
Routine use, the side of photovoltaic module 100 also can be set parking leg 700, parking can be carried out to robot body 300 and referred to
Lead, receive.
From the point of view of with reference to the preferably implementation method of the present invention one, for the arrangement of photovoltaic module 100 of postponing, the shifting stablized
It is dynamic, and will not be come off from photovoltaic module 100, the displacement auxiliary wheel of use includes change gear 320 with lower change gear 321, upper extension
Wheel 320 is located at the top of big frame 312, and lower change gear 321 is located at the lower section of big frame 312.With this, appropriate clamping and guiding work is played
With.
From the point of view of further, cleaning, the transverse direction of use are coordinated in order to realize independently driving and possessing preferably travel rate
Displacement drive includes main horizontal drive motor 390 with secondary horizontal drive motor 391.Main horizontal drive motor 390 is located at
The lower section of big frame 312, secondary horizontal drive motor 391 is located at the top of big frame 312.Meanwhile, connected on main horizontal drive motor 390
There is laterally driven wheel 330, horizontal driven pulley 331 is also distributed with big frame 312.
Meanwhile, the length travel drive device that the present invention is used includes vertical drive motor 334, vertical drive motor
Zigzag tread patterns wheel 332 is connected with 334, longitudinal driven pulley 333 is also equipped with little framework 313.
From the point of view of further, in order to effectively remove the dust of attachment, and at the dead angle such as assembling gap to photovoltaic module 100
Can also effectively be cleaned, the cleaning device for using is fur brush cleaner.Specifically, it includes hair brush motor 351, hair
Brush motor 351 is connected with little framework 313, and brush member 350 is connected with hair brush motor 351.In such manner, it is possible to make brush member
350 order about underdrive dedusting in hair brush motor 351.Meanwhile, in order to lift the cleaning effect of multizone, the hair that the present invention is used
Brush assemblies 350 can be provided with multiple, in can rolling condition, be vertically mounted in little framework 313.
In order to effectively be sent water to aid in, possess washing or spraying effect, the water supply component of use includes filtering
Device 380, can so avoid particulate matter from entering supply channel and the surface of photovoltaic module 100 is scratched in cleaning, or influence water pump
370 normal works.Meanwhile, filter 380 is arranged in water leg 500, and water pump 370, water pump 370 are connected with filter 380
On be connected with supply channel.In such manner, it is possible to meet continual stable water supply.Thereby, it is possible to realize changeable anhydrous cleaning
Both of which is cleaned with water.Under anhydrous cleaning mode, cleaning operation is started to uptake according to wind direction machine meeting automatic running.
Under water cleaning mode, using water leg, it is combined with tap water supply using rainwater is collected, saving water resource.
From the point of view of actually used, in order to reduce the Energy in use of robot, energy supply component of the present invention is confession
Electric light lies prostrate plate 200.So, can have troubled be powered using solar energy, without additionally matching extra supply line.Together
When, it is contemplated that the particularity that photovoltaic module 100 is installed, in order to realize remote control, can be connected with control cabinet 400 long-range
Control end 600.Certainly, consider that preferable control device of wireless constitutes remote control terminal 600 from the convenience of control.
Operation principle of the invention is as follows：Cleaned by the remote control robot of remote control terminal 600, during this period, can
Whether according to the rainy selection dry-cleaning of weather or washing, rainy day can be using dry-cleaning.The presence of water leg 500 is relied on, can be received
Collection rainwater.Without the rainy day, during using washing, water pump 370 is extracted out water by filter 380 from water leg 500, input water spray
Pipe 360, photovoltaic module 100 is sprayed onto by water.
During cleaning, main horizontal drive motor 390 is operated simultaneously with secondary horizontal drive motor 391, drives laterally driven wheel
330 operatings, laterally driven wheel 330 drives horizontal driven pulley 331.Thus, make horizontal driven pulley 331 same with laterally driven wheel 330
Shi Yundong, drives the overall operation of cleaning machine human agent 300.
Meanwhile, the operating of hair brush motor 351 in little framework 313 drives brush member 350 to rotate together, and dust is swept to clear
Clean robot traffic direction.In cleaning process, sparge pipe 360, water is sprayed onto into photovoltaic module 100 strengthens cleaning performance.
After a line component automated cleaning terminates, vertical drive motor 334 drives zigzag tread patterns wheel 332, by little framework 313
Part, comprising the part of brush member 350, runs to next line and continues to clean.Now main horizontal drive motor 390 laterally drives with secondary
Dynamic motor 391 drives the overall inverted running of cleaning machine human agent 300.
Finally, after waiting the cleaning of all photovoltaic modulies 100 to finish, clean robot is returned on parking leg 700.Meanwhile,
Between during the day, power supply is charged using solar energy with photovoltaic panel 200 to the battery of clean robot.Control cabinet 400 possesses prison
The module of accumulator electric-quantity is controlled, when accumulator electric-quantity is too low, its information, clean robot can be shown in remote control terminal 600
Will not operation, it is to avoid when clean robot operation partway, accumulator electric-quantity deficiency causes clean robot to be shut down, and influences light
Volt component 100 absorbs solar energy.
After being can be seen that by above-mentioned character express and with reference to accompanying drawing using the present invention, gather around and have the following advantages：
1st, power supply photovoltaic panel is relied on, self-powered is capable of achieving, and with energy storage battery, without providing external power source.
2nd, intelligent remote control can be realized, can be being worked at night, meet unattended operating needs, save labour cost
With, reduce labour intensity.
3rd, changeable anhydrous cleaning cleans both of which with water.
4th, the operation frequency freely sets, and can periodically be cleaned according to different place environment.
5th, robot cleans firmly uniform, does not result in that cell piece is hidden to be split.
6th, used for high latitude area, robot can also remove photovoltaic module surface accumulated snow.
The above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill
For the those of ordinary skill in art field, on the premise of the technology of the present invention principle is not departed from, can also make it is some improvement and
Modification, these are improved and modification also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning, includes robot body (300), its
It is characterised by：The robot body (300) includes big frame (312), and displacement auxiliary is provided with the big frame (312)
Wheel, is additionally provided with lateral displacement drive device on the big frame (312), little framework is provided with the big frame (312)
(313), it is provided with the little framework (313) in length travel drive device, the big frame (312) and is provided with sanitizer cartridge
Put, the side of the big frame (312) is provided with water leg (500), and sparge pipe (360) is provided with the little framework (313),
The water leg (500) is connected by water supply component with sparge pipe (360), and little framework (313) periphery is provided with housing
(311) energy supply component, is provided with the housing (311), the energy supply component is driven by control cabinet (400) with lateral displacement
Device, length travel drive device, the control end of cleaning device are connected.
2. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 1, it is special
Levy and be：The displacement auxiliary wheel includes change gear (320) and lower change gear (321), and the upper change gear (320) is positioned at big frame
(312) top, the lower change gear (321) is positioned at big frame (312) lower section.
3. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 1, it is special
Levy and be：The lateral displacement drive device includes main horizontal drive motor (390) with secondary horizontal drive motor (391), institute
Main horizontal drive motor (390) is stated positioned at big frame (312) lower section, the secondary horizontal drive motor (391) is positioned at big frame
(312) top, is connected with laterally driven wheel (330) on the main horizontal drive motor (390), on the big frame (312) also
Horizontal driven pulley (331) is distributed with.
4. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 1, it is special
Levy and be：The length travel drive device includes vertical drive motor (334), connects on the vertical drive motor (334)
Zigzag tread patterns wheel (332) is connected to, longitudinal driven pulley (333) is also equipped with the little framework (313).
5. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 1, it is special
Levy and be：The cleaning device is fur brush cleaner, includes hair brush motor (351), the hair brush motor (351) and little framework
(313) it is connected, brush member (350) is connected with the hair brush motor (351).
6. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 5, it is special
Levy and be：The brush member (350) is provided with multiple, in can rolling condition, be vertically mounted in little framework (313).
7. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 1, it is special
Levy and be：The water supply component includes filter (380), and the filter (380) is arranged in water leg (500), described
Water pump (370) is connected with filter (380), supply channel is connected with the water pump (370).
8. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 1, it is special
Levy and be：The energy supply component is power supply photovoltaic panel (200).
9. a kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning according to claim 1, it is special
Levy and be：Remote control terminal (600) is connected with the control cabinet (400).
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| CN201611250168.3A CN106725114A (en) | 2016-12-29 | 2016-12-29 | A kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning |
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| CN201611250168.3A CN106725114A (en) | 2016-12-29 | 2016-12-29 | A kind of intelligent robot suitable for big matrix multiple row photovoltaic module cleaning |
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| CN107367889A (en) * | 2017-08-03 | 2017-11-21 | 深圳市贝优通新能源技术开发有限公司 | A kind of intelligent projector equipment of the erasable based on Internet of Things |
| CN107626632A (en) * | 2017-10-31 | 2018-01-26 | 深圳利尔阳光科技有限公司 | Intelligent PV glass panel cleaning equipment |
| CN113182227A (en) * | 2021-04-29 | 2021-07-30 | 南京航空航天大学 | Intelligent cleaning robot for photovoltaic panel with two degrees of freedom |
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| CN107367889A (en) * | 2017-08-03 | 2017-11-21 | 深圳市贝优通新能源技术开发有限公司 | A kind of intelligent projector equipment of the erasable based on Internet of Things |
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