CN107855303A - A kind of photovoltaic plant Intelligent sweeping machine device people - Google Patents
A kind of photovoltaic plant Intelligent sweeping machine device people Download PDFInfo
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- CN107855303A CN107855303A CN201711433457.1A CN201711433457A CN107855303A CN 107855303 A CN107855303 A CN 107855303A CN 201711433457 A CN201711433457 A CN 201711433457A CN 107855303 A CN107855303 A CN 107855303A
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- China
- Prior art keywords
- photovoltaic panel
- drive
- wheel
- photovoltaic
- brush roll
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- 238000010408 sweeping Methods 0.000 title claims abstract description 72
- 230000005540 biological transmission Effects 0.000 claims abstract description 92
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- 230000015572 biosynthetic process Effects 0.000 claims description 52
- 238000005755 formation reaction Methods 0.000 claims description 52
- 238000009434 installation Methods 0.000 claims description 16
- 230000007704 transition Effects 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 9
- 230000001960 triggered effect Effects 0.000 description 6
- 238000010248 power generation Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002000 scavenging effect Effects 0.000 description 3
- 230000004323 axial length Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009165 androgen replacement therapy Methods 0.000 description 1
- 238000011001 backwashing Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
- H02S10/20—Systems characterised by their energy storage means
-
- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
-
- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E70/00—Other energy conversion or management systems reducing GHG emissions
- Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin
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- Photovoltaic Devices (AREA)
Abstract
The invention discloses a kind of photovoltaic plant Intelligent sweeping machine device people, belongs to tiltedly paving formula photovoltaic panel clearing apparatus field, and technical problems to be solved are how to provide a kind of self-powered clearing apparatus for carrying out automatic cleaning to tiltedly paving photovoltaic panel on time；Its structure include frame, the rotatable brush roll that is assemblied in frame and power transmission shaft, be assemblied in power transmission shaft both ends rotatable road wheel and the drive device that is arranged in frame, also include be arranged in frame power supply module, limit sensors and be assemblied in frame bottom guiding mechanism, drive device can be by driving drive axis to realize that road wheel walking and directive wheel are walked, and can realize that brush roll cleans by driving brush roll to rotate；Limit sensors can drive road wheel to be walked in preset strokes by being realized in head end and the tail end triggering of preset strokes；Power supply module is used to provide power supply for above-mentioned drive device, limit sensors and controller.
Description
Technical field
The present invention relates to oblique paving formula photovoltaic panel clearing apparatus field, specifically a kind of photovoltaic plant Intelligent sweeping machine device
People.
Background technology
Tiltedly paving mounting means photo-voltaic power generation station is installed on ground, according to the photovoltaic generation of a large amount of mounting arrangements of certain orientation
Component, photovoltaic electrification component are the TRTs that a kind of exposure will produce direct current in the sun, pass through header box, inversion
The equipment such as device, transformer can export substantial amounts of electric power, and be connected to the grid power supply, or provide heat light and power electricity for factory building or house
Source.Tiltedly paving mounting means photo-voltaic power generation station can base area it is block-shaped and design of land, the plurality of rows of East and West direction layout are identical defeated
Go out most of the photovoltaic array of voltage class, each array setting height(from bottom) between 3 meters to 5 meters, about 18 to 20 meters or so of width,
Each about 3 meters to 5 meters spacing of array time interval, the rear end equipments such as inverter, transformer are output electrical power to by header box, will
Output power accesses power network or directly used.Tiltedly the photovoltaic battery panel of paving mounting means photo-voltaic power generation station installation easily by dust and
Pollutant covers, and about 20% generating efficiency can be reduced by the photovoltaic battery panel that dust and pollutant cover, so roofing flush system
Photo-voltaic power generation station needs periodically to remove dust to ensure efficiently to generate electricity.The clearing apparatus of photo-voltaic power generation station photovoltaic panel is tiltedly spread at present
Mainly there are sweeping robot formula, vehicular scavenging machine, sprinkling truck backwashing manner, these schemes have single clearing apparatus work model
Enclose small, efficiency is low, cross-domain installation out-of-flatness photovoltaic battery panel ability, adapts to photovoltaic plant condition ability, and electricity consumption water intaking is tired
Difficulty, use the problem of artificial more, cleaning effect is bad, and equipment investment is larger.
The photovoltaic panel and light of installation out-of-flatness can be may span across in tiltedly paving formula photovoltaic plant facility installation by how providing one kind
Photovoltaic array, high-efficiency cleaning photovoltaic battery panel are self-powered and periodically autonomous complete photovoltaic cell according to setting is automatic without with water
The automatic cleaning device of plate cleaning, it is the technical issues that need to address.
The content of the invention
The technical assignment of the present invention is the deficiency for more than, there is provided a kind of photovoltaic plant Intelligent sweeping machine device people, to solve
How to provide a kind of on time to the problem of tiltedly paving photovoltaic panel carries out the self-powered clearing apparatus of automatic cleaning.
The technical assignment of the present invention is realized in the following manner：
A kind of photovoltaic plant Intelligent sweeping machine device people, including frame, the rotatable brush roll that is assemblied in frame and power transmission shaft,
The drive device for being assemblied in the rotatable road wheel at the both ends of power transmission shaft and being arranged in frame, brush roll and power transmission shaft are put down
Row arrangement, in addition to be arranged in frame power supply module, limit sensors and be assemblied in frame bottom Guiding machine
Structure, the length of the roll shaft of brush roll are adapted with the length of the incline direction of photovoltaic panel, and guiding mechanism includes being located relatively at hairbrush
The directive wheel of the axial both sides of roller, walk on the lateral surface for the facade that directive wheel can be corresponding in photovoltaic panel；Driving
Device can be walked by driving drive axis to realize that road wheel is walked with directive wheel, and can be by driving brush roll to rotate
Realize that brush roll cleans；Limit sensors can drive road wheel pre- by being realized in head end and the tail end triggering of preset strokes
If walked in stroke；Drive device and limit sensors are connected to controller, and power supply module is used for for above-mentioned drive device, limit
Level sensor and controller provide power supply.
The sweeping robot is located in the photovoltaic panel tiltedly spread, drives brush body to rotate by drive device and photovoltaic panel is carried out
Clean, drive axis is driven by drive device to realize that top surface of the road wheel along photovoltaic panel is walked, directive wheel is along light
The facade walking of plate is lied prostrate, so as to realize the cleaning to photovoltaic panel.Wherein, preset strokes are that the walking of default sweeping robot is clear
Scope is swept, such as single photovoltaic panel is cleaned, then preset strokes are the length direction walking in single tiltedly paving photovoltaic panel, such as right
The photovoltaic panel square formation being made up of multiple photovoltaic panel continuous arrangements is cleaned, then preset strokes are in the length side of photovoltaic panel square formation
To walking.
Further, drive device includes motor, drive transmission device and guide transmission gear, motor and control
Device connection processed, and the middle part of frame is arranged on, motor is by driving transmission guiding mechanism and brush roll and transmission shaft driven
Connection, power transmission shaft are connected by guide transmission gear with the directive wheel positioned at brush roll wherein side, and drive transmission device can
Power transmission shaft and brush roll is driven to rotate, brush roll coordinates with guide transmission gear to drive directive wheel to walk.
During installation, the top end of photovoltaic panel, the directive wheel position of opposite side are located at brush roll drive connection side directive wheel
In the bottom of photovoltaic panel.Drive facade of the directive wheel along photovoltaic panel to walk by drive device, be easy to sweeping robot oblique
Stabilized walking in the photovoltaic panel of paving.
Further, drive transmission device includes driving gear, driven gear, sprocket wheel chain drive I and sprocket chain
Strip transmission mechanism II, driving gear is assemblied on the output shaft of motor, and driven gear is spindle rotationally arranged in frame simultaneously
Engaged with driving gear, driving gear is connected by sprocket wheel chain drive I and brush roll, and driven gear passes through sprocket wheel
Chain drive II is connected with transmission shaft driven, and driving gear rotates with the mating band electric brush roller of sprocket wheel chain drive I
The cleaning of brush body is realized, driven gear coordinates the row for realizing road wheel and directive wheel with sprocket wheel chain drive II
Walk.
Further, the diameter of driving gear be less than driven gear diameter, the middle sprocket of sprocket wheel chain drive I it is straight
Footpath is consistent, and the diameter of the middle sprocket of sprocket wheel chain drive II is consistent.The setting realizes the speed change of power transmission shaft and brush roll, from
And the rotating speed of brush roll is faster than the rotating speed of power transmission shaft, then cleans frequency and be higher than walking frequency, it is cleaner so as to what is cleaned.
Further, guide transmission gear includes the orthogonal conical tooth being mainly made up of drive bevel gear and driven wheel of differential
Wheel, drive bevel gear are rotatably mounted at the end of power transmission shaft, driven wheel of differential be rotatably mounted on directive wheel and with
Directive wheel is coaxially disposed.
Further, power transmission shaft totally two, two power transmission shafts are located relatively at the both sides of brush roll；Driven gear totally two,
Two driven gears are rotatably mounted in frame and common positioned at the both sides of driving gear, sprocket wheel chain drive II
Two, each sprocket wheel chain drive II is connected between corresponding driven gear and power transmission shaft；Orthogonal taper
Gear totally two, each orthogonal angular wheel are connected to corresponding power transmission shaft and are oriented between road wheel.
Further, at least one supporting plate is provided with frame, support is simultaneously divided into by above-mentioned supporting plate parallel arranged
Multiple installation sections；Brush roll is mainly to be sequentially connected the detachable hairbrush formed by multiple hairbrush roll segments being coaxially disposed
Roller, each power transmission shaft are mainly to be sequentially connected the detachable power transmission shaft formed by multiple propeller sections being coaxially disposed；Each
Installation is each equipped with brush body section and two propeller sections in section, and two propeller sections are located relatively at the both sides of brush body section,
Brush body section in two neighboring installation section is connected by coupling sleeve, and the coupling sleeve passes through corresponding supporting plate, phase
Two coaxial propeller sections in adjacent two installations section pass through corresponding by power wheel axis connection, the power wheel shaft
Supporting plate；Secondary row travelling wheels are each equipped with each power wheel shaft.
Further, power supply module includes photovoltaic panel generator unit, battery and power supply management control unit, power management
Control unit is connected with photovoltaic panel generator unit, battery and controller respectively, and photovoltaic panel generator unit and battery can
Power supply is provided for drive device, limit sensors and controller, and the power priority of photovoltaic panel electrification component is more than battery
Power priority, photovoltaic panel electrification component for battery can provide power supply during road wheel park.Pass through photovoltaic panel
Generator unit is directly powered for sweeping robot, realizes self-service power supply, and saves the energy, while is provided with battery conduct
Stand-by power supply, when illumination is not strong, the working condition of sweeping robot can be ensure that by storage battery power supply.
Further, positioned at photovoltaic panel square formation top width edge frame be photovoltaic panel square formation top border guide rail, position
Width edge frame in photovoltaic panel square formation bottom is the Bottom Border guide rail of photovoltaic panel square formation, per two adjacent photovoltaic panel square formations
Top border guide rail between and the Bottom Border guide rail per two adjacent photovoltaic panel square formations between be equipped with transition and lead
Rail, the top border guide rail of above-mentioned photovoltaic panel square formation and the staggered composition top walking track of corresponding transition guide,
The Bottom Border guide rail of photovoltaic panel square formation and the staggered composition bottom walking track of corresponding transition guide, above-mentioned top
Walking track and bottom walking track match somebody with somebody that be combined into can be for the walking track of road wheel across photovoltaic panel square formation walking.Road wheel exists
Laterally walked on walking track, avoid road wheel from taking the area of photovoltaic panel, whole photovoltaic panel can be cleaned, meanwhile, lead to
Crossing cross track realizes across the photovoltaic panel square formation walking of sweeping robot, is easy to the photovoltaic to being made up of multiple photovoltaic panel square formations
Plate array is cleaned.
Further, in addition to stop and release mechanism, stop and release mechanism include parking panel and being arranged on to park stopping on panel
Position sensor and brush stroke are put, brush stroke is arranged on the top for parking panel by L-type armed lever, and brush stroke can be to being moved to
The photovoltaic panel in photovoltaic panel electrification component below is cleaned；Above-mentioned stop and release mechanism totally two, two stop and release mechanisms are relative
Positioned at the head end and tail end of preset strokes.It is used to park sweeping robot at stop and release mechanism, avoids sweeping robot from taking photovoltaic
The area of plate, the service efficiency of photovoltaic panel, and the cleaning to whole photovoltaic panel are influenceed, meanwhile, can be to light on stop and release mechanism
Photovoltaic panel is cleaned in volt plate generator unit, ensure that the generating efficiency of photovoltaic panel generator unit.
A kind of photovoltaic plant Intelligent sweeping machine device people of the present invention has advantages below：
1st, the length of the roll shaft of brush roll is adapted with the length of the incline direction of photovoltaic panel, so as to Intelligent sweeping machine device people's single
Stroke can be cleaned to whole photovoltaic panel, and without coming and going, while the axial both sides of brush roll are provided with frame
Directive wheel, the sweeping robot can walk in inclined photovoltaic panel under the cooperation of directive wheel and road wheel, meanwhile, directive wheel
By drive device as power drive, compared with directive wheel passive type is walked, it can be ensured that the stable walking of sweeping robot；
2nd, motor drives driving gear to rotate, and driving gear drives the driven gear engaged to rotate, meanwhile, driving tooth
Wheel drives brush roll to rotate and cleaned with realizing by sprocket wheel chain drive, and driven gear passes through sprocket wheel chain drive band
Dynamic drive axis passes through a driving electricity to realize the walking of road wheel and directive wheel that is, under the cooperation of drive transmission device
Machine can realize the rotation of brush roll and power transmission shaft, save motor configuration, while in view of the engagement of driving gear and driven gear,
The rotation direction of brush roll and the rotation direction reversed of power transmission shaft, and can be real by changing the diameter of driving gear and driven gear
The regulation of the rotating speed of existing brush roll and power transmission shaft and speed change；
3rd, the diameter of driving gear is less than the diameter of driven gear, so as to the rotating speed of the rotating ratio power transmission shaft of brush roll, so as to clear
Sweep speed and be more than the speed of travel, it is ensured that photovoltaic panel is cleaned up；
4th, for brush roll to be mainly sequentially connected the detachable brush roll formed by multiple hairbrush roll segments, power transmission shaft is mainly by more
Individual propeller section is sequentially connected the detachable power transmission shaft of composition, splices using existing shorter brush roll and power transmission shaft
Into the longer power transmission shaft of axial length and brush roll, it is not necessary to extra production again, save cost；
5th, power supply module includes photovoltaic panel electrification component and battery, when sweeping robot is in docked state, photovoltaic panel hair
Electrical component charges for battery, and sweeping machine man-hour preferentially provides power supply by photovoltaic panel electrification component, when photovoltaic panel is sent out
Powered during electric unit capacitance deficiency by battery for sweeping robot, it is achieved thereby that uninterrupted power supply, and save electric energy；
6th, walking track is formed by the width edge rim fits of transition guide and photovoltaic panel, the walking track runs through multiple photovoltaics
Plate square formation, it is available for across the photovoltaic panel square formation walking of sweeping robot to clean whole photovoltaic plate array；
7th, stop and release mechanism being respectively provided with the head end and tail end of preset strokes, sweeping robot, which is parked in, to be parked on panel, so as to
Whole photovoltaic panel is cleaned, meanwhile, cleaning bar is provided with parking panel row, by cleaning bar in photovoltaic generation unit
Photovoltaic panel is cleaned, and ensures that photovoltaic generation unit efficiently utilizes.
Brief description of the drawings
The present invention is further described below in conjunction with the accompanying drawings.
Accompanying drawing 1 is a kind of structural representation of photovoltaic plant Intelligent sweeping machine device people of embodiment 1；
Accompanying drawing 2 is the structural representation of drive transmission device in a kind of photovoltaic plant Intelligent sweeping machine device people of embodiment 1；
Accompanying drawing 3 is the structural representation of guide transmission gear in a kind of photovoltaic plant Intelligent sweeping machine device people of embodiment 1；
Accompanying drawing 4 is the structural representation of photovoltaic panel square formation and track of walking in a kind of photovoltaic plant Intelligent sweeping machine device people of embodiment 2
Figure；
Accompanying drawing 5 is the structural representation of stop and release mechanism in a kind of photovoltaic plant Intelligent sweeping machine device people of embodiment 3；
Accompanying drawing 6 is the top plan view structure of stop and release mechanism and photovoltaic panel in a kind of photovoltaic plant Intelligent sweeping machine device people of embodiment 3
Schematic diagram；
In figure：1st, frame, 2, power transmission shaft, 3, road wheel, 4, brush roll, 5, directive wheel, 6, supporting plate, 7, secondary row travelling wheels, 8,
Motor, 9, power supply module, 10, drive transmission device, 11, guide transmission gear, 12, tip transitions guide rail, 13, bottom mistake
Cross guide rail, 14, photovoltaic panel, 15, photovoltaic panel square formation, 16, head end stop and release mechanism, 17, tail end stop and release mechanism；
101st, driven gear, 102, driving gear, 103, sprocket wheel chain drive II, 104, sprocket wheel chain drive I；
111st, drive bevel gear, 112, driven wheel of differential；
141st, the top border guide rail of photovoltaic panel square formation, 142, the Bottom Border guide rail of photovoltaic panel square formation；
161st, head end stop and release mechanism parks panel, and 162, the armed lever of head end stop and release mechanism, 163, the hairbrush of head end stop and release mechanism
Bar；
171st, tail end stop and release mechanism parks panel, and 172, the armed lever of tail end stop and release mechanism, 173, the hairbrush of tail end stop and release mechanism
Bar.
Embodiment
A kind of photovoltaic plant Intelligent sweeping machine device people of the present invention is made with reference to Figure of description and specific embodiment following
Explain.
Embodiment 1：
As shown in accompanying drawing 1, accompanying drawing 2 and accompanying drawing 3, a kind of photovoltaic plant Intelligent sweeping machine device people of the invention, including frame 1 and
Brush roll 4, power transmission shaft 2, guiding mechanism, limit sensors and the drive device being assemblied in frame 1, frame 1 are rectangular-shape
Framework, the axial length of brush roll 4 is consistent with the length of the incline direction of inclined photovoltaic panel 14, and the brush roll 4 is rotatably assembled
The medial end portions in frame 1, power transmission shaft 2 are rotatably mounted in frame 1, and power transmission shaft 2 is set with the spacing parallel arranging of brush roll 4, hair
The both ends of brush roll 4 are equipped with rotatable road wheel 3, and road wheel 3 can walk along the top surface of photovoltaic panel 14；Guiding mechanism includes
The directive wheel 5 of the axial both sides of brush roll 4 is located relatively at, the facade that directive wheel 5 can be corresponding in photovoltaic panel 14
Walked on lateral surface；Drive device is connected with power transmission shaft 2 and brush roll 4 respectively, and hair is realized by driving brush roll 4 to rotate
The cleaning of brush roll 4, the walking of road wheel 3 and directive wheel 5 is realized by driving power transmission shaft 2 to be driven；Limit sensors can be default
The head end of stroke and the tail end of preset strokes are triggered, and so as to realize that road wheel 3 stops walking, avoid Intelligent sweeping machine device people
Walking is beyond the scope of photovoltaic panel 14 limited；Drive device and limit sensors are connected with controller, and power supply module 9 is driving
Device, limit sensors and controller provide power supply.
Wherein, a supporting plate 6 is provided with frame 1, support is divided into two installing zones, brush roll 4 by the supporting plate 6
To be sequentially connected the detachable brush roll 4 formed by two 4 sections of brush rolls being coaxially disposed, each power transmission shaft 2 is by two
The propeller section being coaxially disposed is sequentially connected the detachable power transmission shaft of composition；Hairbrush roll segment is each equipped with each installation section
With two propeller sections, two propeller sections are located relatively at the both sides of hairbrush roll segment, and two hairbrush roll segments installed in sections are led to
Coupling sleeve connection is crossed, coupling sleeve passes through supporting plate 6, and two power transmission shafts 2 installed in sections pass through power wheel axis connection, power wheel
Axle passes through supporting plate 6, and secondary row travelling wheels 7 are each equipped with each power wheel shaft.
Drive device includes motor 8, drive transmission device 10 and guide transmission gear 11, and motor 8 is arranged on
At supporting plate 6, for motor 8 by driving rotating mechanism to be connected with brush roll 4 and power transmission shaft 2, motor 8 passes through drive
Dynamic transmission mechanism 10 drives brush roll 4 and power transmission shaft 2 to rotate, power transmission shaft 2 by guide transmission gear 11 with positioned at brush roll 4 its
The directive wheel 5 of middle side connects, and the power transmission shaft 2 of rotation drives directive wheel 5 to walk by guide transmission gear 11.
Specifically, drive transmission device 10 includes driving gear 102, driven gear 101, sprocket wheel chain drive I 104
With sprocket wheel chain drive II 103, driving gear 102 is assemblied on the output shaft of motor 8, driven gear 101 totally two
Individual, two driven gears 101 are rotatably mounted in supporting plate 6 and positioned at the both sides of driving gear 102, two driven gears
101 engage with driving gear 102；Driving gear 102 is connected by sprocket wheel chain drive I 104 and brush roll 4,
The sprocket wheel chain drive I 104 includes drive sprocket, driven sprocket and chain, and drive sprocket is rotatably mounted at support
It is coaxially disposed on plate 6 and with driving gear 102, driven sprocket is rotatably mounted in brush roll 4, and chain is connected to swivel-chain
Between wheel and driven sprocket；Sprocket wheel chain drive II 103 totally two, each driven gear 101 passes through a sprocket wheel chain
Transmission mechanism II 103 and corresponding power transmission shaft 2 connect, sprocket wheel chain drive II 103 include drive sprocket, driven sprocket and
Chain, drive sprocket are rotatably mounted in supporting plate 6 and are coaxially disposed with corresponding driving gear 102, and driven sprocket can
What is rotated is assemblied on corresponding power transmission shaft 2, and chain drive is connected between drive sprocket and driven sprocket.The driving driver
In structure 10, driving gear 102 and driven gear 101 rotate backward, and the diameter of driving gear 102 is less than driven gear 101
Diameter, the diameter of the middle sprocket of sprocket wheel chain drive I 104 is consistent, the diameter one of the middle sprocket of sprocket wheel chain drive II 103
Cause, be more than the rotating speed of power transmission shaft 2 so as to the rotating speed of brush roll 4, and then in the process of walking, the quick rotation of brush roll 4, clean frequency
Rate is larger.
Guide transmission gear 11 includes the orthogonal conical tooth being mainly made up of drive bevel gear 111 and driven wheel of differential 112
Wheel, orthogonal angular wheel totally two, the drive bevel gear 111 of each orthogonal angular wheel are rotatably mounted at power transmission shaft 2
One of end, the driven wheel of differential 112 of each orthogonal angular wheel be rotatably mounted at corresponding on directive wheel 5 and with
Directive wheel 5 is coaxially disposed；Two orthogonal angular wheels are located at the same side.
Limit sensors totally two, respectively head end limit sensors and tail end limit sensors, head end limit sensors
It is touch sensor with tail end limit sensors, head end limit sensors are arranged on the head end of frame 1, and can be default
The head end of stroke is triggered, and tail end limit sensors are arranged on the tail end of frame 1, and can be touched in the tail end of preset strokes
Hair.In the present embodiment, the sweeping robot cleans to the photovoltaic panel square formation 15 formed of being arranged successively by multiple photovoltaic panels 14,
Preset strokes is go and back running along the head end and tail end of photovoltaic panel square formation 15, for ease of being triggered in the tail end of photovoltaic panel square formation 15
Tail end limit sensors, then tail end limit switch is set with tail end limit sensors corresponding position in the tail end of photovoltaic panel square formation 15,
Meanwhile for ease of triggering head end limit sensors in the head end of photovoltaic panel square formation 15, it is at the head end of photovoltaic panel square formation 15 and first
Hold limit sensors corresponding position that head end limit switch is set.In actual applications, photoelectric sensor can be selected in limit sensors
Or the existing other kinds of sensor such as Hall sensor or color sensor, for ease of in the head end and tail end pair of preset strokes
Limit sensors are triggered, and can set corresponding trigger switch or trigger member in the head end and tail end of preset strokes.
Power supply module 9 includes photovoltaic panel generator unit, battery and power supply management control unit, power supply management control unit
Be connected respectively with photovoltaic panel generator unit, battery and controller, photovoltaic panel generator unit respectively with motor 8, spacing biography
Sensor, controller are connected with battery, and battery is connected with motor 8, limit sensors and controller respectively, power management
Control unit is connected with photovoltaic panel generator unit, battery and controller respectively.Photovoltaic panel generator unit is generated electricity by photovoltaic panel
And power supply is delivered to motor 8, limit sensors and controller, power supply is provided for the work of sweeping robot, meanwhile, light
Volt plate generator unit is connected with battery, and power supply caused by photovoltaic panel 14 can be sent to battery and charged for battery；Power supply
Management control unit can monitor and obtain at any time the capacitance in photovoltaic panel generator unit and battery, while power management controls
Unit connects with controller, the power distribution of regulation and control photovoltaic panel generator unit and battery is coordinated with controller, specifically：Clear
Sweep in the robot course of work, preferentially provide electricity by photovoltaic panel generator unit for motor 8, limit sensors and controller
Source, it is that motor 8, limit sensors and controller carry by battery when the generated energy deficiency of photovoltaic panel generator unit
Power supply source；When sweeping robot is in docked state, charged by photovoltaic panel generator unit for battery.
A kind of photovoltaic plant Intelligent sweeping machine device people of the present embodiment is used for by multiple oblique paving photovoltaic panels 14 continuously arranged
The photovoltaic panel square formation 15 of composition is cleaned, and during installation, is located at photovoltaic panel 14 with the side directive wheel 5 of guiding mechanism drive connection
Top end, opposite side directive wheel 5 is located at the bottom end of photovoltaic panel 14, and working method is：Under control of the controller, according to predetermined
Cleaning time interval start sweeping robot photovoltaic panel is cleaned, specifically, under control of the controller start driving electricity
Machine 8, motor 8 drive power transmission shaft 2 and brush roll 4 to rotate by drive transmission device 10, and power transmission shaft 2, which rotates, drives road wheel
3 and directive wheel 5 walk, stably walked in the photovoltaic panel square formation 15 tiltedly spread so as to the sweeping robot, while the hair rotated
Brush roll 4 cleans to photovoltaic panel 14, and when the tail end of robot ambulation to photovoltaic panel square formation 15, tail end limit sensors touch
Hair, then sweeping robot is stopped, and waits next cleaning time, in cleaning works next time, the sweeping robot row
When walking to the head end of photovoltaic panel square formation 15, the triggering of head end limit sensors, then sweeping robot is stopped, and waits next clear
Flyback time, so circulation come and go；
In the case where limit sensors and controller coordinate, after detecting that sweeping robot is in docked state, in controller and power supply
Under management control unit coordinates, the capacitance of battery is detected, power supply caused by photovoltaic panel generator unit is delivered to battery,
For battery electric power storage.
The setting of above-mentioned cleaning time interval can be pre-set by program, can also be coordinated by remote control and controller real
The startup and stopping of existing sweeping robot, artificially regulation cleans time interval at any time.
The photovoltaic plant Intelligent sweeping machine device people of the present invention can also be used for cleaning the photovoltaic panel of tiling.Its work side
Formula is consistent with the above-mentioned cleaning method to tiltedly paving photovoltaic panel.
Embodiment 2：
As shown in Figure 4, the present embodiment is the further improvement on the basis of embodiment 1, the present embodiment and the difference of embodiment 1
For：Width edge frame positioned at the top of photovoltaic panel square formation 15 is the top border guide rail 141 of photovoltaic panel square formation, positioned at photovoltaic panel side
The width edge frame of 15 bottoms of battle array is the Bottom Border guide rail 142 of photovoltaic panel square formation, the top per two adjacent photovoltaic panel square formations
Transition is equipped between Bottom Border guide rail 142 between end edge frame guide rail 141 and per two adjacent photovoltaic panel square formations
Guide rail, the top border guide rail 141 of above-mentioned photovoltaic panel square formation and corresponding tip transitions guide rail 12, which are matched somebody with somebody, is combined into top row
Walk track, the Bottom Border guide rail 142 of photovoltaic panel square formation and corresponding bottom transition guide 13 are walked with being combined into bottom row
Track, above-mentioned top walking track and bottom walking track match somebody with somebody the walking for being combined into and being walked for across the photovoltaic panel square formation 15 of road wheel 3
Track.The walking track runs through multiple photovoltaic panel square formations 15, realizes the photovoltaic plate array to being made up of multiple photovoltaic panel square formations 15
Cleaning.
A kind of photovoltaic plant Intelligent sweeping machine device people of the present embodiment is used for being made up of multiple photovoltaic panel square formations 15 tiltedly spread
Photovoltaic plate array cleaned, during installation, the top of photovoltaic panel 14 is located at the side directive wheel 5 of guiding mechanism drive connection
Place, opposite side directive wheel 5 are located at the bottom end of photovoltaic panel 14, and working method is consistent with embodiment 1.
Embodiment 3：
As shown in accompanying drawing 5 and accompanying drawing 6, the present embodiment is the further improvement on the basis of embodiment 2, the present embodiment and embodiment
2 are distinguished as：Stop and release mechanism is additionally provided with the outside of photovoltaic plate array, stop and release mechanism includes parking panel and being arranged on stopping
Stand sensor and the brush stroke on panel are put, brush stroke is arranged on the top for parking panel, brush stroke by L-type armed lever
The top for parking panel is arranged on by armed lever, for entering to the photovoltaic panel 14 being moved in photovoltaic panel generator unit below
Row cleans；Above-mentioned stop and release mechanism totally two, two stop and release mechanisms are oppositely arranged on the head end and tail end of preset strokes.The default row
Journey is that sweeping robot is walked in the length direction of photovoltaic plate array.
Wherein, two stop and release mechanisms are respectively positioned at the head end stop and release mechanism 16 of photovoltaic plate array head end and positioned at photovoltaic panel
The tail end stop and release mechanism 17 of array tail end, head end stop and release mechanism park the inclined photovoltaic panel square formation 15 that is laid on of panel 161
First side, and the panel 161 of parking of head end stop and release mechanism contacts connection, the arm of head end stop and release mechanism with the photovoltaic panel 14 positioned at head end
Totally two, bar 162, the armed lever 162 of two head end stop and release mechanisms is respectively positioned on the one end parked away from photovoltaic plate array on panel, first
Hold the axial direction of the brush stroke 163 of stop and release mechanism parallel with the length direction for parking panel, stop when sweeping robot is travelled to head end
When parking on panel 161 of laying mechanism, the brush stroke 163 of head end stop and release mechanism can be carried out to photovoltaic panel in photovoltaic generation unit 14
Clean；Similarly, tail end stop and release mechanism parks the inclined caudal for being laid on photovoltaic panel square formation 15 of panel 171, and tail end is parked
The panel 171 of parking of mechanism contacts connection with the photovoltaic panel 14 positioned at tail end, the armed lever 172 of tail end stop and release mechanism totally two, and two
The armed lever 172 of individual tail end stop and release mechanism is respectively positioned on one end parked away from photovoltaic plate array on panel 171 of tail end stop and release mechanism,
The axial direction of the brush stroke 173 of tail end stop and release mechanism is parallel with the length direction for parking panel 171 of tail end stop and release mechanism, works as cleaning
For robot ride to tail end stop and release mechanism when parking on panel 171, the brush stroke 173 of tail end stop and release mechanism can be to photovoltaic generation
Photovoltaic panel 14 is cleaned in unit.
Stand sensor is touch sensor, is arranged on the corresponding predetermined position for parking panel, works as scavenging machine
Device people runs to triggering stand sensor when parking predeterminated position on panel, then sweeping robot, which is parked in, parks panel
On.
Brush stroke is used to be that photovoltaic panel 14 is cleaned in photovoltaic panel generator unit, then is installing stop and release mechanism and stopping
Being set on laying mechanism during brush stroke should be matched with corresponding sweeping robot so that sweeping robot is travelled to stop and release mechanism
When, photovoltaic panel is located at the lower section of brush stroke in photovoltaic panel generator unit.
A kind of photovoltaic plant Intelligent sweeping machine device people of the present embodiment is used for being made up of multiple photovoltaic panel square formations 15 tiltedly spread
Photovoltaic plate array cleaned, during installation, the top of photovoltaic panel 14 is located at the side directive wheel 5 of guiding mechanism drive connection
Place, opposite side directive wheel 5 are located at the bottom end of photovoltaic panel 14, and working method is：Under control of the controller, according to predetermined cleaning
Time interval starts sweeping robot and photovoltaic panel is cleaned, and specifically, starts motor 8 under control of the controller, drives
Dynamic motor 8 drives power transmission shaft 2 and brush roll 4 to rotate by drive transmission device 10, and power transmission shaft 2, which rotates, to be driven road wheel 3 and lead
To wheel 5 walking, so as to the sweeping robot stably the photovoltaic plate array tiltedly spread it is up walk, while rotate brush roll 4 it is right
Photovoltaic panel 14 is cleaned, and when the tail end of robot ambulation to photovoltaic plate array, tail end limit sensors trigger, then scavenging machine
Device people walks on to tail end stop and release mechanism 17, is parked in sweeping robot corresponding on panel in walking process, brush stroke pair
Photovoltaic panel 14 is cleaned in photovoltaic panel generator unit；After sweeping robot, which is run to, parks predeterminated position on panel, park
Position sensor is triggered, then sweeping robot is parked, and waits next cleaning time, in cleaning works next time, the cleaning
When robot is back to the head end of photovoltaic plate array, the triggering of head end limit sensors, then sweeping robot walks on to head end
Stop and release mechanism 16, parked in sweeping robot corresponding on panel in walking process, brush stroke is to light in photovoltaic panel generator unit
Volt plate 14 is cleaned；After sweeping robot, which is run to, parks predeterminated position on panel, stand sensor-triggered, then clearly
Robot park is swept, waits next cleaning time, so circulation comes and goes；
In the case where stand sensor and controller coordinate, after detecting that sweeping robot be in docked state, controller with
Under power supply management control unit coordinates, the charge capacity of battery is detected, power supply caused by photovoltaic panel generator unit is delivered to storage
Battery, it is battery electric power storage.
The photovoltaic plant Intelligent sweeping machine device people of the present embodiment can also be used for cleaning the photovoltaic panel of tiling, wherein stopping
Panel parallel placement is put, its working method is consistent with the above-mentioned cleaning method to tiltedly paving photovoltaic panel.
By embodiment above, the those skilled in the art can readily realize the present invention.But should
Work as understanding, the present invention is not limited to above-mentioned embodiment.On the basis of disclosed embodiment, the technical field
Technical staff can be combined different technical characteristics, so as to realize different technical schemes.Except the technology described in specification
It is the known technology of those skilled in the art outside feature.
Claims (10)
1. a kind of photovoltaic plant Intelligent sweeping machine device people, including frame, the rotatable brush roll and the transmission that are assemblied in frame
Axle, be assemblied in power transmission shaft both ends rotatable road wheel and the drive device that is arranged in frame, brush roll and transmission
Axle is arranged in parallel, it is characterised in that the power supply module that also includes being arranged in frame, limit sensors and is assemblied in frame
The guiding mechanism of bottom, the length of the roll shaft of brush roll are adapted with the length of the incline direction of photovoltaic panel, guiding mechanism bag
Include the directive wheel for the axial both sides for being located relatively at brush roll, the outside for the facade that directive wheel can be corresponding in photovoltaic panel
Walked on face；
Drive device can be walked by driving drive axis to realize that road wheel is walked with directive wheel, and can be by driving hair
Brush roll, which rotates, realizes that brush roll cleans；
Limit sensors can drive road wheel in preset strokes expert by being realized in head end and the tail end triggering of preset strokes
Walk；
Drive device and limit sensors are connected to controller, and power supply module is used for for above-mentioned drive device, limit sensors
Power supply is provided with controller.
2. a kind of photovoltaic plant Intelligent sweeping machine device people according to claim 1, it is characterised in that drive device includes driving
Dynamic motor, drive transmission device and guide transmission gear, motor is connected with controller, and is arranged on the middle part of frame, is driven
For dynamic motor by driving transmission guiding mechanism to be connected with brush roll and transmission shaft driven, power transmission shaft passes through guide transmission gear and position
Directive wheel in brush roll wherein side connects, and drive transmission device can drive power transmission shaft and brush roll to rotate, brush roll with
Guide transmission gear, which coordinates, to drive directive wheel to walk.
A kind of 3. photovoltaic plant Intelligent sweeping machine device people according to claim 2, it is characterised in that drive transmission device bag
Driving gear, driven gear, sprocket wheel chain drive I and sprocket wheel chain drive II are included, driving gear is assemblied in driving
On the output shaft of motor, driven gear is spindle rotationally arranged in frame and engaged with driving gear, and driving gear passes through sprocket wheel
Chain drive I is connected with brush roll, and driven gear is connected by sprocket wheel chain drive II with transmission shaft driven,
Driving gear rotates the cleaning for realizing brush body, driven gear and sprocket wheel with the mating band electric brush roller of sprocket wheel chain drive I
Chain drive II coordinates the walking for realizing road wheel and directive wheel.
A kind of 4. photovoltaic plant Intelligent sweeping machine device people according to claim 3, it is characterised in that the diameter of driving gear
Less than the diameter of driven gear, the diameter of the middle sprocket of sprocket wheel chain drive I is consistent, the middle sprocket of sprocket wheel chain drive II
Diameter it is consistent.
5. a kind of photovoltaic plant Intelligent sweeping machine device people according to claim 2,3 or 4, it is characterised in that be oriented to driver
Structure includes the orthogonal angular wheel being mainly made up of drive bevel gear and driven wheel of differential, and drive bevel gear is rotatably mounted at
The end of power transmission shaft, driven wheel of differential are rotatably mounted on directive wheel and are coaxially disposed with directive wheel.
A kind of 6. photovoltaic plant Intelligent sweeping machine device people according to claim 5, it is characterised in that power transmission shaft totally two, two
Individual power transmission shaft is located relatively at the both sides of brush roll；Driven gear totally two, two driven gears are rotatably mounted at frame
Go up and be located at the both sides of driving gear, sprocket wheel chain drive II totally two, each sprocket wheel chain drive II is driven
It is connected between corresponding driven gear and power transmission shaft；Orthogonal angular wheel totally two, each orthogonal angular wheel difference
It is connected to corresponding power transmission shaft and is oriented between road wheel.
A kind of 7. photovoltaic plant Intelligent sweeping machine device people according to claim 6, it is characterised in that be provided with frame to
Support is simultaneously divided into multiple installation sections by a few supporting plate, above-mentioned supporting plate parallel arranged；
Brush roll is mainly is sequentially connected the detachable brush roll formed by multiple hairbrush roll segments being coaxially disposed, each transmission
Axle is mainly to be sequentially connected the detachable power transmission shaft formed by multiple propeller sections being coaxially disposed；
Brush body section and two propeller sections are each equipped with each installation section, two propeller sections are located relatively at brush body section
Both sides, it is two neighboring installation section in brush body section connected by coupling sleeve, the coupling sleeve passes through corresponding branch
Fagging, the two neighboring two coaxial propeller sections installed in section are passed through by power wheel axis connection, the power wheel shaft
Corresponding supporting plate；Secondary row travelling wheels are each equipped with each power wheel shaft.
A kind of 8. photovoltaic plant Intelligent sweeping machine device people according to claim 1,2,3 or 4, it is characterised in that power supply module
Including photovoltaic panel generator unit, battery and power supply management control unit, power supply management control unit generates electricity with photovoltaic panel respectively
Unit, battery connect with controller, and photovoltaic panel generator unit and battery can be drive device, limit sensors and control
Device processed provides power supply, and the power priority of photovoltaic panel electrification component is more than the power priority of battery, photovoltaic panel generating set
Part can provide power supply during road wheel park for battery.
9. a kind of photovoltaic plant Intelligent sweeping machine device people according to claim 1,2,3 or 4, it is characterised in that positioned at photovoltaic
The width edge frame on plate square formation top is the top border guide rail of photovoltaic panel square formation, positioned at the width edge side of photovoltaic panel square formation bottom
Frame is the Bottom Border guide rail of photovoltaic panel square formation, between the top border guide rail of every two adjacent photovoltaic panel square formations and per phase
Transition guide, the top border of above-mentioned photovoltaic panel square formation are equipped between the Bottom Border guide rail of two adjacent photovoltaic panel square formations
Guide rail and corresponding transition guide walk track with being combined into top row, the Bottom Border guide rail of photovoltaic panel square formation and right with it
The transition guide answered coordinates bottom walking track, and above-mentioned top walking track and bottom walking track are be combined into can be for walking
The walking track of across the photovoltaic panel square formation walking of wheel.
10. a kind of photovoltaic plant Intelligent sweeping machine device people according to claim 9, it is characterised in that also include parking machine
Structure, stop and release mechanism include parking panel and being arranged on stand sensor and the brush stroke parked on panel, and brush stroke leads to
Cross L-type armed lever and be arranged on the top for parking panel, brush stroke can be to the light that is moved in photovoltaic panel electrification component below
Volt plate is cleaned；Above-mentioned stop and release mechanism totally two, two stop and release mechanisms are located relatively at the head end and tail end of preset strokes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711433457.1A CN107855303A (en) | 2017-12-26 | 2017-12-26 | A kind of photovoltaic plant Intelligent sweeping machine device people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711433457.1A CN107855303A (en) | 2017-12-26 | 2017-12-26 | A kind of photovoltaic plant Intelligent sweeping machine device people |
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| Publication Number | Publication Date |
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| CN107855303A true CN107855303A (en) | 2018-03-30 |
Family
ID=61707332
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711433457.1A Pending CN107855303A (en) | 2017-12-26 | 2017-12-26 | A kind of photovoltaic plant Intelligent sweeping machine device people |
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| CN107876529A (en) * | 2017-12-26 | 2018-04-06 | 济南纽兰智能科技有限公司 | A kind of photovoltaic panel sweeping robot |
| CN108580458A (en) * | 2018-05-17 | 2018-09-28 | 庄燕婷 | A kind of automatic cleaning equipment for petroleum pipeline |
| CN108816851A (en) * | 2018-04-27 | 2018-11-16 | 中民新科（北京）能源技术研究院有限公司 | Scavenging machine, system and method for roof photovoltaic power station front and rear row transfer of tiling |
| CN108945137A (en) * | 2018-08-14 | 2018-12-07 | 上海安轩自动化科技有限公司 | A kind of obstacle crossing device suitable for photovoltaic array sweeping robot |
| CN110233594A (en) * | 2019-07-15 | 2019-09-13 | 天台婉枫电子有限公司 | A kind of solar photovoltaic assembly cleaning device for surface |
| CN110270529A (en) * | 2019-07-26 | 2019-09-24 | 无锡安轩自动化科技有限公司 | A kind of Modular photovoltaic sweeping robot |
| CN110270528A (en) * | 2019-07-26 | 2019-09-24 | 无锡安轩自动化科技有限公司 | A kind of driving device of photovoltaic sweeping robot |
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| CN110813815A (en) * | 2019-12-06 | 2020-02-21 | 唐山工业职业技术学院 | Distributed photovoltaic cell panel array water-free cleaning robot |
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| CN110233594A (en) * | 2019-07-15 | 2019-09-13 | 天台婉枫电子有限公司 | A kind of solar photovoltaic assembly cleaning device for surface |
| CN110270529A (en) * | 2019-07-26 | 2019-09-24 | 无锡安轩自动化科技有限公司 | A kind of Modular photovoltaic sweeping robot |
| CN110270528A (en) * | 2019-07-26 | 2019-09-24 | 无锡安轩自动化科技有限公司 | A kind of driving device of photovoltaic sweeping robot |
| CN110813815A (en) * | 2019-12-06 | 2020-02-21 | 唐山工业职业技术学院 | Distributed photovoltaic cell panel array water-free cleaning robot |
| CN110813815B (en) * | 2019-12-06 | 2024-05-28 | 唐山工业职业技术学院 | Water-free cleaning robot for distributed photovoltaic cell panel array |
| CN113037206A (en) * | 2021-03-30 | 2021-06-25 | 广东科技学院 | Photovoltaic board cleaning trolley |
| CN114042662A (en) * | 2021-11-17 | 2022-02-15 | 江苏德天智能设备有限公司 | Cleaning system and cleaning method for photovoltaic power station |
| CN114558808A (en) * | 2022-03-01 | 2022-05-31 | 北京天骥空间科技有限公司 | Photovoltaic power station cleaning robot and using method |
| CN115041483A (en) * | 2022-06-13 | 2022-09-13 | 合肥仁洁智能科技有限公司 | Cleaning robot and control method thereof |
| CN115213143A (en) * | 2022-06-27 | 2022-10-21 | 库珀新能源股份有限公司 | Dry-type cleaning equipment for photovoltaic panel assembly |
| CN116633260A (en) * | 2023-07-25 | 2023-08-22 | 陕西公众电气股份有限公司 | Photovoltaic panel cleaning robot and intelligent dynamic control method thereof |
| CN116633260B (en) * | 2023-07-25 | 2024-04-26 | 陕西公众电气股份有限公司 | Photovoltaic panel cleaning robot and intelligent dynamic control method thereof |
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