CN107544505A - A kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system - Google Patents
A kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system Download PDFInfo
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- CN107544505A CN107544505A CN201710884671.2A CN201710884671A CN107544505A CN 107544505 A CN107544505 A CN 107544505A CN 201710884671 A CN201710884671 A CN 201710884671A CN 107544505 A CN107544505 A CN 107544505A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 21
- 238000003032 molecular docking Methods 0.000 title claims abstract description 19
- 238000004140 cleaning Methods 0.000 claims abstract description 14
- 238000010276 construction Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 38
- 230000008713 feedback mechanism Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 244000309464 bull Species 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000003466 welding Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to field of new energy technologies, a kind of more particularly to weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system, rail construction unit is hanged including bikini not on the same line, intelligent lane-change is plugged into unit, electromagnetic actuation unit is provided between the Intelligent connection unit and cleaning unit and power supply signal docks unit, and electromagnetism lock positioning unit and signal feedback unit are provided between the Intelligent connection unit and photovoltaic panel.It is characteristic of the invention that Stability Analysis of Structures, weatherability is high, practical.
Description
Technical field
The invention belongs to field of new energy technologies, more particularly to a kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change to connect
Refute system.
Background technology
During the use of photovoltaic panel, due to long in extraneous standing time, photovoltaic panel upper surface can be covered with dust all over, by
The reduction of light energy absorption effect can be caused in the covering of dust, it is all clear using clean robot progress generally to solve problems
Sweep, due to the photovoltaic panel that actual field is installed because the limited length of landform is inconsistent, and the cost of photovoltaic sweeping robot in itself
It is higher, the total input for the project that adds is installed in relatively short photovoltaic panel, Duo Tai robots are run after also increasing simultaneously
The O＆M cost of phase.In terms of intelligent robot control system, due to sweeping robot possessed function in the market compared with
It is few, it is impossible to when meeting the actual demand of user, particularly user and distant erecting bed, sweeping robot can not realize with
User's remote interaction, inconvenience can be brought to user, and add O＆M cost.
Occurs a kind of sweeping robot intelligence lane-change system in the market, this system possesses sweeping robot and changed substantially
Road function, but following 5 shortcomings be present：
First, the moving track of this lane-change system is installed on the ground, but this scheme does not account for the actual use feelings at scene
Condition, vehicle passage is unusually crossed due to often being left between photovoltaic panel in the wild, does not possess implementation using the mounting means of ground rail
Condition.
Second, the support of this lane-change system is two parallel plate rail road supports, in the wild in the case of actual motion, due to
The risk of derailing will occurs in this system of the interference of strong wind, is had a great influence by wind-force and is unable to stable operation.
3rd, the mechanical stop position that this system stop position is made up of using being provided with orbit triangle groove, walk
Dolly self gravitation realizes the stop of aliging with photovoltaic panel, and in actual moving process, the sandy soil on ground will serious shadow
The precision of triangle groove location is rung, and side will occurs with not having locking mechanism after photovoltaic panel stopping in dolly under the influence of external force
It is sliding, system operation precision can not be met.
4th, the dolly of this system docked with sweeping robot after without locking mechanism, after dolly docks with sweeping robot,
Because the vibrations produced in moving process are also easy to produce the situation of dolly and robot off line, power off dolly.
5th, this system is fitted without two extreme end limit sensors, can not be returned after carriage walking to extreme position or
Stop, potential safety hazard being present.
The content of the invention
The present invention provides a kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system, to solve above-mentioned background skill
Itd is proposed in art it is unstable, function is not complete the problem of.
Technical problem solved by the invention is realized using following technical scheme：
A kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system, including the outstanding rail of bikini not on the same line
Construction unit, intelligent lane-change are plugged into unit, cleaning unit, photovoltaic panel, and the intelligent lane-change is plugged between unit and cleaning unit
Provided with electromagnetic actuation mechanism and power supply signal docking mechanism, the intelligent lane-change, which is plugged into, is provided with electromagnetism between unit and photovoltaic panel
Lock detent mechanism and signal feedback mechanism；
The bikini, which hangs rail construction unit, to be included installation pedestal on the ground, the column installed on pedestal, installs on column
Hitch, two parallel orbits fixed on hitch, the c-type track installed on column；
Intelligent lane-change unit of plugging into includes body, the motor installed on body, the shaft coupling of motor connection, connection
Rail wheel, the limit spacing sensor of body both sides installation, the electromagnetic actuation mechanism and the power supply signal pair of axle device driving
Connection mechanism is arranged on body, on electromagnetism lock detent mechanism and signal feedback mechanism the installation body；
The cleaning unit include be arranged on photovoltaic panel rack housing, be separately positioned on housing lower surface opposite end and
Round end be located at the vertical electric rotating machine of photovoltaic panel rack upper end side surface, be arranged on housing lower surface be located at photovoltaic panel placement
Frame opposite end upper surface several horizontal rotation motor, be sleeved on and rotate horizontally motor and vertical electric rotating machine round end
Driving wheel, the groove for being arranged on housing lower surface midline position semicircle shape, it is opened in the circular groove of opposite end in groove, is embedded in respectively
Bearing in the circular groove of both ends is sleeved on the bull stick that the electric rotating machine round end other end is inserted into bearing with electric rotating machine, one end
With the brush wheel being sleeved on bull stick.
Beneficial effects of the present invention are：
1 present invention on the ground and does not leave enough height, does not influence car using suspension type rail, the setting of track
By the way that and because track set location is higher, the sandstone on ground do not interfere with the passing through property of track.
The running track that 2 present invention use is more reliable and more stable for the three-point type hanging structure that is not arranged on the same straight line,
Influenceed smaller, will not be produced in docking operation because of the inaccurate situation of wind-force factor sensor contraposition by side force.
3 detent mechanisms of the present invention that stop is first being detected the relative position of photovoltaic panel by signal feedback mechanism, to level
After really, being stopped by system control movable motor and electromagnetism lock detent mechanism is opened, realization is accurately positioned and mechanical locking,
It is relatively reliable on precision and stability.
4 cars of the present invention of plugging into sweeping robot docking mechanism with including electromagnetic actuation mechanism and confession
Electric signal docking mechanism, after the completion of power supply signal docking, system control electromagnet obtains electric adhesive, effectively prevent due to shaking
Existing offline condition.
Brief description of the drawings
Fig. 1 is the facing structure figure of the present invention；
Fig. 2 is the side block diagram of the present invention；
Fig. 3 is electromagnetic actuation mechanism of the invention, power supply signal docking mechanism, electromagnetism lock detent mechanism, signal feedback machine
Structure partial view；
Fig. 4 is the driver element partial view of the present invention；
In figure：1st, body；2nd, electromagnetism lock detent mechanism；3rd, signal feedback mechanism；4th, walk track B；5th, rail wheel；6th, hang
Mechanism；7th, limit spacing sensor；8th, walk track A；9th, c-type track；10th, rail wheel；11st, column；12nd, power supply signal docks
Mechanism；13rd, electromagnetic actuation mechanism；14th, pedestal；15th, motor.
Embodiment
A kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system, including not bikini on the same line
Outstanding rail construction unit, intelligent lane-change are plugged into unit, cleaning unit, photovoltaic panel, and intelligent lane-change is plugged between unit and cleaning unit
Provided with electromagnetic actuation mechanism 13 and power supply signal docking mechanism 12, intelligent lane-change, which is plugged into, is provided with electromagnetism between unit and photovoltaic panel
Lock detent mechanism 2 and signal feedback mechanism 3；
Bikini, which hangs rail construction unit, to be included installation pedestal 14 on the ground, the column installed on pedestal 14, installs on column
Hitch 6, two parallel orbits fixed on hitch 6（Walk track A8, walking track B4）, install on column
C-type track 9；
Intelligent lane-change unit of plugging into includes body 1, the motor installed on body 1, the shaft coupling of motor connection, shaft coupling
Rail wheel 10, the limit spacing sensor 7 of the both sides of body 1 installation, electromagnetic actuation mechanism 13 and the power supply signal pair of device driving
Connection mechanism 12 is arranged on body 1, and electromagnetism lock detent mechanism 2 and signal feedback mechanism 3 are installed on body 1；
Cleaning unit include be arranged on photovoltaic panel rack housing, be separately positioned on housing lower surface opposite end and rotation
End positioned at photovoltaic panel rack upper end side surface vertical electric rotating machine, be arranged on housing lower surface and be located at photovoltaic panel rack phase
To both ends upper surface several horizontal rotation motor, be sleeved on and rotate horizontally the driving of motor and vertical electric rotating machine round end
Take turns, be arranged on the groove of housing lower surface midline position semicircle shape, be opened in the circular groove of opposite end in groove, be inlaid in two respectively
Bearing in the circular groove of end is sleeved on bull stick and set that the electric rotating machine round end other end is inserted into bearing with electric rotating machine, one end
Brush wheel on bull stick.
Electromagnetic actuation mechanism and power supply signal docking mechanism be, intelligent lane-change lane-change unit of plugging into docks with cleaning unit
Set docking mechanism afterwards, plugged into when sweeping robot is moved to intelligent lane-change lane-change at unit, power supply signal docking mechanism
It is in contact rear system control electromagnet and obtains electric, produce suction, intelligent lane-change lane-change unit of plugging into is fixed with cleaning unit.It is complete
Into after fixation, intelligent lane-change plug into unit load sweeping robot to next row photovoltaic panel walk.
Electromagnetism lock detent mechanism and signal feedback mechanism be, when the intelligent lane-change welding system for loading cleaning unit run to
At next row photovoltaic panel, signal feedback mechanism detect intelligent lane-change welding system alignd with photovoltaic panel after system control electromagnetism lock
Mechanism obtains electric, movable motor stopping, and electromagnetism lock is opened realizes that accurate mechanical locking is determined by intelligent lane-change welding system with photovoltaic panel
Position.After the completion of positioning, sweeping robot obtains signal and carries out this row photovoltaic panel cleaning task and return.
System is circulated with this, until march to track extreme position, intelligent lane-change lane-change unit of plugging into detects the limit
Track starting point is back to after signal, starts a new round and cleans.
Weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system is made using technical scheme, is realized
One sweeping robot just can clean multiple rows of photovoltaic panel, and the stability of system authority is higher, and weatherability is stronger, in the wild pole
Under end ring border also can normal work, and intelligent level is higher.
Embodiments of the invention are described in detail above, but the content is only presently preferred embodiments of the present invention,
Be not to be regarded as limit the present invention practical range, any changes and modifications in accordance with the scope of the present application,
All should still it belong within the patent covering scope of the present invention.
Claims (1)
- A kind of 1. weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system, it is characterised in that：Hang rail construction unit including bikini not on the same line, intelligent lane-change is plugged into unit, cleaning unit, photovoltaic panel, The intelligent lane-change, which is plugged into, is provided with electromagnetic actuation mechanism and power supply signal docking mechanism, the intelligence between unit and cleaning unit Energy lane-change, which is plugged into, is provided with electromagnetism lock detent mechanism and signal feedback mechanism between unit and photovoltaic panel；The bikini, which hangs rail construction unit, to be included installation pedestal on the ground, the column installed on pedestal, installs on column Hitch, two parallel orbits fixed on hitch, the c-type track installed on column；Intelligent lane-change unit of plugging into includes body, the motor installed on body, the shaft coupling of motor connection, connection Rail wheel, the limit spacing sensor of body both sides installation, the electromagnetic actuation mechanism and the power supply signal pair of axle device driving Connection mechanism is arranged on body, on electromagnetism lock detent mechanism and signal feedback mechanism the installation body；The cleaning unit include be arranged on photovoltaic panel rack housing, be separately positioned on housing lower surface opposite end and Round end be located at the vertical electric rotating machine of photovoltaic panel rack upper end side surface, be arranged on housing lower surface be located at photovoltaic panel placement Frame opposite end upper surface several horizontal rotation motor, be sleeved on and rotate horizontally motor and vertical electric rotating machine round end Driving wheel, the groove for being arranged on housing lower surface midline position semicircle shape, it is opened in the circular groove of opposite end in groove, is embedded in respectively Bearing in the circular groove of both ends is sleeved on the bull stick that the electric rotating machine round end other end is inserted into bearing with electric rotating machine, one end With the brush wheel being sleeved on bull stick.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884671.2A CN107544505A (en) | 2017-09-26 | 2017-09-26 | A kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884671.2A CN107544505A (en) | 2017-09-26 | 2017-09-26 | A kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system |
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| Publication Number | Publication Date |
|---|---|
| CN107544505A true CN107544505A (en) | 2018-01-05 |
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| CN201710884671.2A Pending CN107544505A (en) | 2017-09-26 | 2017-09-26 | A kind of weather resistant photovoltaic panel sweeping robot intelligence lane-change docking system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109560766A (en) * | 2018-11-09 | 2019-04-02 | 苏州瑞得恩光能科技有限公司 | A kind of robot dispatching method |
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| JPH0778297A (en) * | 1993-09-07 | 1995-03-20 | Koito Ind Ltd | Cleaning method for photoelectronic vehicle sensor |
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| CN106388709A (en) * | 2016-10-18 | 2017-02-15 | 杭州元永贞智能科技有限公司 | Suspending type toilet cleaning robot |
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2017
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Patent Citations (9)
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| US20170194898A1 (en) * | 2016-01-05 | 2017-07-06 | Ecoppia Scientific Ltd. | Solar panel cleaning system capable of cleaning a plurality of solar arrays |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109560766A (en) * | 2018-11-09 | 2019-04-02 | 苏州瑞得恩光能科技有限公司 | A kind of robot dispatching method |
| WO2020094145A1 (en) * | 2018-11-09 | 2020-05-14 | 苏州瑞得恩光能科技有限公司 | Robot scheduling method |
| CN109560766B (en) * | 2018-11-09 | 2020-05-22 | 苏州瑞得恩光能科技有限公司 | Robot scheduling method |
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Application publication date: 20180105 |