A kind of photovoltaic panel cleaning robot
The present invention relates to photovoltaic generation corollary equipment field, and in particular to a kind of photovoltaic panel cleaning robot.
Expanding economy will necessarily be along with huge energy resource consumption.Conventional energy resource（Coal, oil, natural gas etc.）Be
Formed in the earth's crust through millions upon millions of years, these energy can not possibly regenerate in a short time.Contradiction also turns between the energy and social development
The reason for one of principal contradiction, behind such as the 4th Mideast Asian war, the Iran-Iraq war and the Gulf War in modern age is all to the energy
The contention of ownership.
The energy problem of growing tension is directed to, countries in the world have put into huge strength and studied, with to energy
The further investigation in source, regenerative resource has progressed into the sight of people.And as the photoelectricity in regenerative resource, because of its technology
Simply, small investment and environment amenable characteristic are of increased attention.
Photovoltaic panel is present technology most ripe optoelectronic device, and it is that a kind of exposure will produce direct current in the sun
TRT, the thin body solid photovoltaic cell being made up of almost all with semiconductor material (such as silicon) constitutes.Due to not having
The part of activity, therefore can be with long-time operation without causing any loss.Different shape can be made in photovoltaic panel, again can be with
It is connected with each other to produce more electric power, balcony and building surface can be used, or even be used as window, skylight or masking device
The today largely used in photovoltaic panel, its efficiency is also of concern.Research discovery, the height of light transmission
Low is to influence one of key factor of its efficiency.That is the clean level of photovoltaic panel is capable of the generating of direct photovoltaic panel
Efficiency.In China within the border, the equipment of photovoltaic generation is mainly present in high in light application time length, intensity in the form of photovoltaic plant
Central and west regions, but this some areas is had a contest apart from desert, is easily attacked by sand and dust, in air the content of sand and dust compared with
It is high.Huge flushing dose and frequently cleaning frequency is urgent problem.
The content of the invention
The present invention is intended to provide a kind of cleaning speed is fast and the photovoltaic panel cleaning robot that can be reused to water
The present invention is adopted the following technical scheme that：
A kind of photovoltaic panel cleaning robot, including chassis, a pair of deflecting rollers on chassis, a pair of universal wheels and help
Hand, in addition to slewing equipment, adjusting apparatus, cleaning device, water supply installation and control device.
The slewing equipment includes the revolving support being fixedly mounted on chassis, the work being bolted on revolving support
Platform, the turning motor being fixedly mounted on chassis and the swiveling gear on turning motor output shaft；The swiveling gear
With revolving support engagement.
The adjusting apparatus includes lifting unit, rotating part and pars contractilis.
The lifting unit includes fixed elevating lever A, one end insertion elevating lever A elevating lever B and hydraulic pressure on the table
Push rod A；The hydraulic push rod A is located in elevating lever A, and its one end and elevating lever A are hinged, and the other end and elevating lever B are hinged.
The rotating part includes rotating servo motor, reductor and the cantilever being fixed on speed reducer output shaft；The rotation
Rotating motor and reductor are fixedly mounted on elevating lever B；The output end of the electric rotating machine and the input connection of reductor.
The pars contractilis includes being fixed on the baffle plate in cantilever, telescopic arm and hydraulic push rod B in one end insertion cantilever；Institute
Hydraulic push rod B one end and panel hinge is stated, the other end is hinged with telescopic arm.
The cleaning device includes move portion, spray portion and the first cleaning part and the second cleaning part.
The move portion include be fixed on telescopic arm movable plate, be fixed on movable plate guide rail, be fixed on guide rail
Sliding block that the rack and guide rail of side are slidably connected, the mobile motor for being fixed on sliding block side and installed in mobile motor output
Carrier wheel on axle；Carrier wheel and the rack engagement；The sliding block is provided with cleaning panel.
The spray portion includes the shower being located on cleaning panel and the shower nozzle being distributed on shower.
First cleaning part includes being located at the support A cleaned on panel, the cleaning roller being located on support A and is fixed on
The the first cleaning motor cleaned on panel；The first cleaning motor is connected with cleaning roller by shaft coupling.
Second cleaning part includes the support B being fixed on cleaning panel, at least one turn being sleeved on support B
Axle, it is fixed on the cleaning wheel of rotating shaft one end, is fixed on the driven sprocket of the rotating shaft other end, be fixedly mounted on support B second
Cleaning motor, the drive sprocket and driving chain that are fixedly mounted on the second cleaning motor output shaft；The driving chain with from
Movable sprocket and drive sprocket are engaged.
The water supply installation includes water tank, is located at the accumulator tank received on water tank, is located at water side and the water pump received on water tank；
The input of the water pump and water side connection, output end are connected with shower.
The control device includes single-chip microcomputer and control panel.
It is used as further solution：Optical signal generator and optical signal receiver are installed on the cleaning panel.
It is used as further solution：The optical signal generator and optical signal receiver are tiltedly set in cleaning panel updip
It is used as further solution：The minimum angle of the signal generator and optical signal receiver and cleaning panel
It is identical.
It is used as further solution：The cleaning panel is provided with pressure sensor.
It is used as further solution：The quantity at least two of the pressure sensor and it is arranged symmetrically in cleaning surface
It is used as further solution：The two ends of the guide rail are mounted on anticollison block.
It is used as further solution：The workbench is provided with battery.
What the present invention was produced has the beneficial effect that：
Photovoltaic plant can set photovoltaic panel as much as possible to reach the space availability ratio of maximum in limited space,
A small amount of passage is only left in advance to use for daily tour and maintenance.These reserved passageway are universal narrower, large-scale cleaning equipment without
Method carries out operation；Artificial operation needs staff to hold the work such as bucket, scrubbing cloth, and for the larger photovoltaic face of area
Plate, in addition it is also necessary to prepare the instruments such as vertical ladder, height adjusting stool, operating rate is slow, inefficiency.The small volume of the present invention, it is convenient to turn,
All standing can be carried out to photovoltaic plant, and one man operation can complete washing and cleaning operation.Staff only needs to adjust this
Position between invention and photovoltaic panel, remaining work just can be automatically performed.It so can significantly lift operating efficiency and clear
Wash frequency, make photovoltaic panel operating efficiency maintain it is one higher within the scope of.
Present invention employs manually operate the mode that is combined with mechanically actuated.Staff is responsible for the movement of equipment, and
Cleaning part then uses automation mechanized operation completely.The advantage of this set is equipment can be greatly lowered（With full-automation
Equipment is compared）Cost and follow-up maintenance difficulties, by input and output control at one it is rational within the scope of.Work simultaneously
Personnel can facilities for observation at any time running situation, be adjusted in time, it is ensured that the present invention and the safety of photovoltaic panel.
The cleaning of the present invention using first rinsing, clean, finally dry again by the way of.Water pump extracts defeated after clear water from water tank
Shower is sent to, is then sprayed by the shower nozzle being distributed on shower.The clear water of ejection carries certain pressure, and shower nozzle
There is angle with photovoltaic panel, the particulate matters such as the sandstone on photovoltaic panel upper surface can be washed out, prevented in follow-up scouring
Particulate matter scratches photovoltaic panel surface in the moving process with cleaning roller in journey；With cleaning panel movement, roller with
Photovoltaic panel contacts and photovoltaic panel is cleaned；Last cleaning wheel contacts with photovoltaic panel and it is cleaned and wiped
It is dry, it is water stain on removal photovoltaic panel, and counter plate carries out last time scouring, further improves the cleannes of panel.It is above-mentioned
Washing and cleaning operation required for part cleaning reaching the standard grade property of panel set, i.e., can once complete all cleaning steps, be not required to
Repeat, faster, cleaning efficiency is higher for cleaning speed.
In practice, the setting angle of each piece of photovoltaic panel is not near identical, and the photovoltaic panel in same power station is installed
The parameter difference such as height and setting angle is bigger, and the present invention has angle regulation function, there is good adaptability to this.By rising
The lifting unit of bar A, elevating lever B and hydraulic push rod A compositions drops, and elevating lever B can be past in hydraulic push rod A promotion along elevating lever A
It is multiple mobile, adjust the height of cleaning device；The rotating part being made up of rotating servo motor, reductor and cantilever, cantilever can be with
The rotation of reductor rotating shaft and rotate, adjustment cleaning part and photovoltaic panel the depth of parallelism；By baffle plate, telescopic arm and hydraulic push rod B
The pars contractilis of composition, hydraulic push rod B can push telescopic arm and be moved along cantilever, adjustment cleaning device and photovoltaic panel between away from
From；By above-mentioned height, the adjustment of angle and distance, the scope of application of the invention expands significantly.
In cleaning process, if cleaning device is not parallel with photovoltaic panel, easily cause cleaning device and photovoltaic panel it
Between pressure it is uneven, make the pressure between cleaning roller or cleaning wheel and photovoltaic panel excessive or too small, do not reach optimal
Cleaning performance.The present invention applies to the principle of mirror-reflection among leveling, and cleaning device is adjusted to by operating personnel first
With photovoltaic panel less parallel, then start adjust automatically, the optical signal generator on cleaning panel lights, and is irradiated to light
Mirror-reflection occurs after on underlying surface plate, at the same time, cleaning device still to parallel with photovoltaic panel direction rotation, when positioned at
Clean the optical signal receiver on panel to receive after signal, illustrate that cleaning device is parallel with photovoltaic panel, cleaning device stops turning
It is dynamic.
Meanwhile, the present invention can constantly adjust the pressure between cleaning device and photovoltaic panel in cleaning process.Pass through
Pressure sensor on cleaning panel, while cleaning device is contacted with photovoltaic panel surface, pressure sensor is same
When contact, and pressure value is transferred back into the preset value for the pressure that is stored with control system, control system, can be according to passback
The comparison of value and preset value adjusts the distance between cleaning device and photovoltaic panel, and then the pressure of adjustment therebetween in time,
Reach to big cleaning performance.
Brief description of the drawings
Fig. 1 is the present invention（Without cleaning device）Structural representation；
Fig. 2 is the structural representation of the cleaning device of the present invention；
Fig. 3 is the structural representation of the second cleaning part of the present invention；
Fig. 4 is the track of the present invention and the annexation schematic diagram of anticollison block；
Fig. 5 is the structural representation of the control device of the present invention；
Wherein：1 chassis, 11 deflecting rollers, 12 universal wheels, 13 handrails, 21 revolving supports, 22 workbench, 23 turning motors, 24 revolutions
Gear, 31 elevating lever A, 32 elevating lever B, 33 hydraulic push rod A, 41 rotating servo motors, 42 reductors, 43 cantilevers, 51 baffle plates, 52
Telescopic arm, 53 hydraulic push rod B, 61 movable plates, 62 guide rails, 63 racks, 64 sliding blocks, 65 mobile motors, 66 carrier wheels, 67 cleanings
Panel, 71 showers, 72 shower nozzles, 81 support A, 82 cleaning rollers, 83 first cleaning motors, 84 shaft couplings, 91 support B, 92 turns
Axle, 93 cleaning wheels, 94 driven sprockets, 95 second cleaning motors, 96 drive sprockets, 97 driving chains, 101 water tanks, 102 are reclaimed
Groove, 103 water sides, 104 water pumps, 111 single-chip microcomputers, 112 control panels, 113 optical signal generators, 114 optical signal receivers, 14
Pressure sensor, 15 anticollison blocks, 16 batteries.
The present invention is further described with reference to Fig. 1-5.
The present invention is adopted the following technical scheme that：A kind of photovoltaic panel cleaning robot, including chassis 1, on chassis 1
A pair of deflecting rollers 11, a pair of universal wheels 12 and handrail 13, in addition to slewing equipment, adjusting apparatus, cleaning device, water supply installation
And control device；
The slewing equipment includes being fixedly mounted on the One On The Chassis revolving support 21, the work being bolted on revolving support 21
Make platform 22, be fixedly mounted on the One On The Chassis turning motor 23 and the swiveling gear 24 on the output shaft of turning motor 23；Institute
State swiveling gear 24 and revolving support 21 is engaged；
The adjusting apparatus includes lifting unit, rotating part and pars contractilis；
The lifting unit include being fixed on elevating lever A31 on workbench 22, one end insertion elevating lever A31 elevating lever B32 and
Hydraulic push rod A33；The hydraulic push rod A33 is located in elevating lever A31, and its one end and elevating lever A31 are hinged, the other end and lifting
Bar B32 is hinged；
The rotating part includes rotating servo motor 41, reductor 42 and the cantilever 43 being fixed on the output shaft of reductor 42；Institute
State electric rotating machine 41 and reductor 42 is fixedly mounted on elevating lever B32；The output end and reductor of the electric rotating machine 41
42 input connection；
The pars contractilis includes being fixed on the baffle plate 51 in cantilever 43, telescopic arm 52 and hydraulic push rod in one end insertion cantilever 43
B53；One end of the hydraulic push rod B54 is hinged with baffle plate 51, and the other end is hinged with telescopic arm 52；
The cleaning device includes move portion, spray portion and the first cleaning part and the second cleaning part；
The move portion include be fixed on telescopic arm 52 movable plate 61, be fixed on movable plate 61 guide rail 62, be fixed on
Sliding block 64 that the rack 63 and guide rail 62 of guide rail side are slidably connected, the mobile motor 65 for being fixed on the side of sliding block 64 and install
Carrier wheel 66 on the output shaft of mobile motor 65；The carrier wheel 66 and rack 63 are engaged；The sliding block 64 is provided with
Clean panel 67；
The spray portion includes the shower 71 being located on cleaning panel 67 and the shower nozzle 72 being distributed on shower 71；
First cleaning part includes being located at the support A81 cleaned on panel 67, the cleaning roller 82 being located on support A81 and consolidated
It is scheduled on the first cleaning motor 83 on cleaning panel 67；The first cleaning motor 83 is connected with cleaning roller 82 by shaft coupling 84
Second cleaning part includes the support B91 being fixed on cleaning panel 67, at least one turn being sleeved on support B91
Axle 92, the cleaning wheel 93 for being fixed on the one end of rotating shaft 92, the driven sprocket 94 for being fixed on the other end of rotating shaft 92, it is fixedly mounted on support
The second cleaning motor 95, the drive sprocket 96 and driving chain that are fixedly mounted on the output shaft of the second cleaning motor 95 on B91
97；The driving chain 97 is engaged with driven sprocket 94 and drive sprocket 96；
The water supply installation includes water tank 101, the accumulator tank 102 being located on water tank 101, is located at the water side received on water tank 101
103 and water pump 104；The input of the water pump 104 and water side 103 are connected, and output end is connected with shower 71；
The control device includes single-chip microcomputer 111 and control panel 112.
It is used as further solution：Optical signal generator 113 is installed on the cleaning panel 53 and optical signal connects
Receive device 114.
It is used as further solution：The optical signal generator 113 and optical signal receiver 114 are in cleaning panel 53
On be obliquely installed.
It is used as further solution：The signal generator 12 and optical signal receiver 114 and clean panel 53
Minimum angle is identical.
It is used as further solution：The cleaning panel 67 is provided with pressure sensor 14.
It is used as further solution：The quantity at least two of the pressure sensor 14 and it is arranged symmetrically in cleaning
On panel 67.
It is used as further solution：The two ends of the guide rail 62 are mounted on anticollison block 15.
It is used as further solution：Also include the battery 16 being located on workbench 22.
It is first that battery 16 is fully charged before use, water is full of in water tank 101, job site is then shifted onto.The present invention
Small volume, it is lightweight, in narrow access path colleague and the cooperation by deflecting roller 11 and universal wheel 12, Neng Goufang can be turned
Turning around or turning just, flexibility is more preferably.Deflecting roller 11 uses the form of universal wheel or universal drive shaft and assembling tyre.
The present invention is sent to appropriate adjustment chassis 1 and photovoltaic panel base before the photovoltaic panel for needing to clean by staff
Parallel degree.Then the operating key of the control turning motor 23 on control panel 112 is pressed, control turning motor 23 is clockwise
Rotate or rotate counterclockwise, further the adjustment present invention and the parallel degree of photovoltaic panel base, ensure that the two is parallel as far as possible.
Then button is changed, the operating key that control hydraulic push rod A33 is elongated or shortened, adjustment cleaning device and photovoltaic is pressed
The relative altitude of panel.Elongating or shortening for hydraulic push rod A33 is that, by hydraulic pressure stand control, during elongation, hydraulic station is acted, by hydraulic pressure
Oil pressure enters hydraulic push rod A33, hydraulic push rod A33 elongations；During shortening, hydraulic oil is drawn back into hydraulic station, hydraulic push rod A33 elongation contractings
It is short.
Then the parallel degree of cleaning device and photovoltaic panel is adjusted.Press and rotating servo electricity is controlled on control panel 112
The operating key of machine 41, by controlling to adjust the rotation direction of servomotor 41, and then adjusts the flat of cleaning device and photovoltaic panel
Continue to change button, change onto control hydraulic push rod B53 operating key.Hydraulic station is acted, and hydraulic oil is inputted
Hydraulic push rod B53, hydraulic push rod B53 extend, and promote cleaning device to be moved to the direction close to photovoltaic panel.
When cleaning device is close to photovoltaic panel, pressure sensor 14 can touch photovoltaic panel and feed back pressure signal
Return control system.Control system upon receipt of the signals, control hydraulic push rod B53 no longer extend, i.e., cleaning device no longer to by
The direction motion of nearly photovoltaic panel.Now control system control turning motor 23 is rotated, and adjustment cleaning device exists with photovoltaic panel
The depth of parallelism in horizontal direction.When symmetrically arranged two pressure sensors 14 pass signal back on cleaning panel 67
During to control system and identical return value, turning motor 23 is not in action；Turning motor 23 is possible in the process to rotate
The return path signal of pressure sensor 14 that Shi Shouxian is contacted with photovoltaic panel disappears, the now same stopping of turning motor 23 action, liquid
Push rod B53 actions are pressed, cleaning device is pushed to a certain pressure sensor 14 by signal return to the direction close to photovoltaic panel
To control system, now hydraulic push rod B53 stoppings action, turning motor 23 is acted, and repeats this process to cleaning device and photovoltaic
Panel is parallel in the horizontal direction.
In horizontal direction after the completion of depth of parallelism adjustment, start to adjust the depth of parallelism on vertical direction.Optical signal generator 113
Signal is sent, mirror-reflection occurs on photovoltaic panel for signal to cleaning panel.If now cleaning panel and photovoltaic panel
Parallel, optical signal receiver 114 should be able to receive signal, when not receiving signal, and rotating servo motor 41, which is rotated, to be driven
Cleaning device is rotated, and further the parallel degree of adjustment therebetween is until optical signal receiver 114 receives signal.Adjust herein
In whole process, the numerical value that pressure sensor 14 passes control system back is likely larger than preset value, and if cleaning device and photovoltaic
Pressure between panel is bigger than normal, and photovoltaic panel may be damaged if continuation, the now stopping of rotating servo motor 41 action, hydraulic pressure
Push rod B53 is acted, and cleaning device is moved to pressure to the direction away from photovoltaic panel and is recovered to stop after normal value.Now servo
The continuation of motor 41 is acted, and drives cleaning device to turn to parallel with photovoltaic panel, the return value of such as pressure sensor 14 is remained above
Preset value, then repeat the process, until the two is parallel.
Finally adjust the distance between cleaning device and photovoltaic panel.Now the two has reached predetermined parallel scope
Interior, hydraulic push rod B53 actions make cleaning device be moved to the direction close to photovoltaic panel；Pressure sensor 14 returns pressure value
Control system is reached, when return value reaches clear pressure preset, hydraulic push rod B53 stoppings action, adjustment process is completed.
Cleaning process starts, and water pump 104 extracts clear water from water tank 101 and is sent in shower 71, Ran Houjing first
The shower nozzle 72 being distributed on shower 71 is crossed to be sprayed onto on photovoltaic panel.The water of ejection has certain pressure, can rinse out light
Bulky grain, leaf or other debris on underlying surface plate.Then the first cleaning motor 83 starts to rotate, and is driven by shaft coupling 84
Cleaning roller 82 is rotated, and cleaning roller 82 is set and high-speed rotation parallel to photovoltaic panel, can further remove photovoltaic panel
On fine particle, improve its clean level.The second last cleaning motor 95 is rotated, and drives the active being arranged on its output shaft
Sprocket wheel 96 is rotated, and drive sprocket 96 drives the driven sprocket 94 being attached thereto to rotate by driving chain, and driven sprocket 94 drives
Rotating shaft 92 rotates and then drives cleaning wheel 93 to rotate.Cleaning wheel 93 is vertically to be set with photovoltaic panel, can dry absorption light
Moisture on underlying surface plate simultaneously improves its clean level again.The clear water sprayed from shower nozzle 72 flows along photovoltaic panel, finally
Drop into accumulator tank 102, water tank 101 is entered by accumulator tank 102.The utilization rate of water can so be improved.
Herein it should be noted that the cleaning content of above three part is to carry out, simply when most starting cleaning simultaneously
It is different with the time of contact of photovoltaic panel, and the cleaning content of three parts carries out successively.At the same time, mobile motor 65 is moved
Make, drive cleaning panel 67 to be moved along the direction of guide rail 62, clean whole photovoltaic panel.
In photovoltaic plant, closely located its installation parameter of photovoltaic panel is substantially identical.That is clear
The adjustment of multiple directions is needed when washing first piece.When cleaning second piece with later photovoltaic panel, it is only necessary to adjustment cleaning dress
Pressure value this parameter between photovoltaic panel is put, can so shorten adjustment time, operating efficiency is improved.
The pressure sensor 14 being mentioned above can use model PT124B-210 strain-type pressure transmitter；Light is believed
Number generator 113 can use such as model FU650AD20-BC10（BD10）As long as laser generator or other kinds of
The generator of optical signal can be produced；Optical signal receiver 114 can use photo resistance（Convert optical signals to telecommunications
Number）Or work is away from similar sensor；Single-chip microcomputer can use 80C51.Above-mentioned electric original paper and the model provided are only supplied
With reference to, be not intended as the present invention unique selection.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations, although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that, it still may be used
To be modified to the technical scheme described in previous embodiment, or equivalent substitution is carried out to which part technical characteristic, and
These modifications are replaced, and the essence of appropriate technical solution is departed from the spirit and model of technical scheme of the embodiment of the present invention