CN109617519A - A kind of solar panel cleaning machinery arm - Google Patents
A kind of solar panel cleaning machinery arm Download PDFInfo
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- CN109617519A CN109617519A CN201811426600.9A CN201811426600A CN109617519A CN 109617519 A CN109617519 A CN 109617519A CN 201811426600 A CN201811426600 A CN 201811426600A CN 109617519 A CN109617519 A CN 109617519A
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- arm
- mechanical arm
- hinged
- solar panel
- sliding block
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- 238000004140 cleaning Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 113
- 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 abstract description 26
- 230000003028 elevating effect Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000013016 damping Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000009423 ventilation Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003599 detergent Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009125 negative feedback regulation Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004709 eyebrow Anatomy 0.000 description 1
- 210000000720 eyelash Anatomy 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- 230000004083 survival effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
-
- 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
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Abstract
The invention discloses a kind of solar panel cleaning machinery arms, including integral elevating mechanism, attitude-adjusting system, angle-adjusting mechanism and wiper mechanism, the integral elevating mechanism is fixed on the car body, the integral elevating mechanism is equipped with the first ball screw mechanism for driving the attitude-adjusting system to go up and down relative to the integral elevating mechanism, the attitude-adjusting system includes mechanical arm pedestal, mechanical arm lower arm and mechanical arm upper arm, the angle-adjusting mechanism is located at mechanical arm upper arm upper end, second ball screw framework is located on the mechanical arm upper arm and drives the mechanical arm cantilever arm mobile, third ball screw framework is located on the mechanical arm cantilever arm and the wiper mechanism is driven to rotate, the object of the present invention is to provide a kind of solar panel cleaning machinery arms, its mechanism is simple, it is easy to adjust, the scope of application Extensively, cleaning efficiency is high, can abundant cleaning solar energy cell plate.
Description
Technical field
The present invention relates to a kind of mechanical arms, and in particular to a kind of solar panel cleaning machinery arm.
Background technique
With science and technology high speed development and earth population sustainable growth, the mankind for the energy consumption increasingly
Greatly, such as petroleum, natural gas traditional energy due to resource it is limited, be not able to satisfy human wants gradually.Since 20th century,
Have occurred that " energy crisis " three times based on traditional energy, such as the development and utilization of solar energy, wind energy new energy are compeled
In the eyebrows and eyelashes.
The energy of solar energy is from solar radiation in new energy, solar radiation to tellurian 1 year gross energy substantially
It is equivalent to the heat of 1,700,000 tons of coal combustions generation.There are also plurality of advantages other than energy total amount is huge for solar energy: firstly, the sun
Radiation scope is wide, and there are about the areas of half will receive solar radiation for the earth all the time, has splendid generality；Secondly,
The service life of the sun, there are also billions of years, and for the mankind, solar energy is almost inexhaustible；Finally, utilizing solar power generation
During will not generate harmful substance, very green cleaning, conducive to the mankind long term survival develop.
There are the photochemical utilization of solar-energy photo-voltaic cell power generation, solar energy, solar energy biology benefit currently with the mode of solar energy
With etc..Wherein most widely used mode is exactly photovoltaic cell capable of generating power, the basic principle is that " photovoltaic effect " is utilized to turn luminous energy
It is changed to electric energy, solar panel has vital effect as core component, for photovoltaic cell capable of generating power system.For
Solar panel, transformation efficiency are heavier under reality in addition to constituting with its material, design and manufacture have direct relation
What is wanted is the influence that will receive its surface cleanness.Under normal conditions, scarcely populated, illumination is filled for solar power generation standing-meeting addressing
The place of foot, such as desert side, Gobi desert, place is generally air-dried throughout the year, rainfall is few, dust storm is big for these, is very easy to
Dust is covered on solar battery, if the accumulation of these dust is excessive, it is likely that because the generation of electrostatic and hot spot effect damage are too
The electronic component of positive energy power generator, causes great economic loss.In addition the transformation efficiency of solar panel natively compared with
It is low, it is not clean timely enough for the cleaning of solar panel, its transformation efficiency but will be seriously reduced, solar energy is directly influenced
The economic benefit in power station.
The cleaning way of solar panel mainly has artificial giant cleaning, on piece robot cleaner, the sun at present
Energy self-cleaning, vehicle-mounted removable cleaning machine of plate etc., wherein by the vehicle-mounted shifting of solar panel cleaning machinery arm installation on the car body
Dynamic formula cleaning machine cleaning way is the simplest, economical, efficient.Therefore, it is necessary to be directed to vehicle moving design on washer one
The simple and practical cleaning machinery arm of kind.
Summary of the invention
Insufficient according to prior art, the present invention is clear for a kind of solar panel of vehicle moving design on washer
Mechanical arm is washed, instead of manually being cleared up, substantially increases cleaning efficiency.Compared to cleaning machinery arm common in the market,
Its mechanism is simpler, and adjusting is more convenient, and the scope of application is wider, and cleaning efficiency is higher, energy sufficiently cleaning solar energy cell plate,
Effectively improve the economic benefit of solar power plant.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of solar panel cleaning machinery arm comprising integral elevating mechanism, attitude-adjusting system, angle adjust machine
Structure and wiper mechanism；
The integral elevating mechanism is fixed on the car body, and the integral elevating mechanism, which is equipped with, drives the pose adjustment machine
The first ball screw mechanism that structure is gone up and down relative to the integral elevating mechanism；
The attitude-adjusting system includes mechanical arm pedestal, mechanical arm lower arm and mechanical arm upper arm, the mechanical arm pedestal
It is arranged in the first ball screw mechanism, one end of the mechanical arm lower arm and the mechanical arm pedestal is hinged and is arranged
One end of the upper end of the mechanical arm pedestal, the mechanical arm upper arm and the mechanical arm lower arm is hinged and is arranged in the machinery
The upper end of arm lower arm；
In mechanical arm upper arm upper end, the angle-adjusting mechanism includes the second ball for the angle-adjusting mechanism setting
Screw mechanism, mechanical arm cantilever arm, third ball screw framework and attachment base, the mechanical arm cantilever arm are arranged in the machinery
Moved on the mechanical arm upper arm on arm upper arm and by third ball screw framework driving, the attachment base with it is described
Mechanical arm cantilever arm is hinged and passes through the driving rotation of the second ball screw framework；
The side of the attachment base is arranged in the wiper mechanism, and the wiper mechanism is set far from the side of the attachment base
It is equipped with the idler wheel and scraper plate for cleaning solar energy cell plate, the wiper mechanism passes through described in the driving of the second ball screw framework
Attachment base is rotated and then is rotated.
Further, the first ball screw mechanism includes the first lead screw being vertically arranged and driving first lead screw
First stepper motor of rotation, first lead screw are equipped with the first feed screw nut, first feed screw nut and the machinery
Arm pedestal is fixedly connected.
Further, the mechanical arm pedestal is connected with the mechanical arm lower arm by hinged seat between the first arm, and described
Hinged seat one end is fixed with the mechanical arm pedestal between one arm, and the other end and the mechanical arm lower arm are hinged.Under the mechanical arm
It is connected between arm and the mechanical arm upper arm by hinged seat between the second arm, hinged seat one end and the mechanical arm between second arm
Lower arm is fixed, and the other end and the mechanical arm upper arm are hinged.
Further, mechanical arm pedestal upper end is equipped with the first sliding block sliding track mechanism and the first cylinder, and described first is sliding
Block sliding track mechanism includes the first sliding rail and the first sliding block, and the cylinder rod of first cylinder is fixedly connected and pushes with the first sliding block
First sliding block moves on the first sliding rail, and one end of first sliding block and first connecting rod is hinged, first connecting rod it is another
It holds hinged with mechanical arm lower arm.
Further, the mechanical arm lower arm is equipped with the second sliding block sliding track mechanism and the far from the side of mechanical arm pedestal
Two cylinders, the second sliding block sliding track mechanism include the second sliding rail and the second sliding block, the cylinder rod and second of second cylinder
Sliding block is fixedly connected and the second sliding block is pushed to move on the second sliding rail, one end hinge of second sliding block and the second connecting rod
It connects, the other end and mechanical arm upper arm of the second connecting rod are hinged.
Further, second ball screw framework include with the mechanical arm upper arm the second lead screw disposed in parallel and
Driving the second stepper motor of second lead screw rotation, second lead screw is equipped with the second feed screw nut, and described second
Thick stick nut is fixedly connected with the mechanical arm cantilever arm.
Further, the third ball screw framework includes and mechanical arm cantilever arm third lead screw disposed in parallel
With the third stepper motor for driving the third lead screw rotation, the third lead screw is equipped with third feed screw nut, the third
Feed screw nut and one end of third connecting rod are hinged, and the other end of third connecting rod and the attachment base are hinged.
Further, the wiper mechanism includes wiper mechanism fixing seat, and the wiper mechanism fixing seat is outer far from angle
The side of adjustment mechanism is provided with idler wheel and scraper plate, and wiper mechanism fixing seat is internally provided with the deceleration electricity of driving idler wheel rotation
Machine.
Further, the wiper mechanism includes idler wheel a pair of parallel and being arranged in a staggered manner, the decelerating motor and described
By gear assembly, transmission shaft and the transmission of two groups of pulley gears between idler wheel, the gear assembly includes the
One gear and second gear are provided with first gear in the shaft of the decelerating motor, are provided in the middle part of the transmission shaft and the
The second gear of one gear engagement, pulley gear described in each group include the first belt pulley, the second belt pulley and by two
The belt of belt pulley tensioning, the first belt pulley in two groups of pulley gears are separately positioned on the both ends of the transmission shaft,
Second belt pulley is separately positioned in the shaft of the corresponding idler wheel, the first belt pulley in every group of pulley gear and the
The belt for being tensioned the two is provided between two belt pulleys.
Further, damping dress is provided in the wiper mechanism fixing seat and the angle-adjusting mechanism between attachment base
It sets.
Compared with prior art, the present invention has the following advantages and beneficial effects:
1. a kind of solar panel cleaning machinery arm of the present invention unfolds and folds two states, work shape
Expansion is applicable to the cleaning of the solar panel of various angles and height when state, folds when off working state sharp to greatest extent
With space, storage is conveniently.
2. a kind of solar panel cleaning machinery arm of the present invention, applied widely, cleaning efficiency is high, can be sufficiently
Cleaning solar energy cell plate effectively improves the economic benefit of solar power plant.
Detailed description of the invention
Overall structure diagram when Fig. 1 is present invention expansion；
Fig. 2 is the overall structure diagram when present invention folds；
Fig. 3 is integral elevating mechanism structure schematic diagram of the present invention；
Fig. 4 is attitude-adjusting system structural schematic diagram of the present invention；
Fig. 5 is angle-adjusting mechanism structural schematic diagram of the present invention；
Fig. 6 is wiper mechanism structural schematic diagram of the present invention；
The left view of wiper mechanism when Fig. 7 is present invention expansion.
Wherein: 1, integral elevating mechanism；11, mechanical arm fixing seat；12, first ball screw mechanism；121, the first stepping
Motor；122, the first lead screw；123, the first feed screw nut；13, feed screw nut attachment base；
2, attitude-adjusting system；21, mechanical arm pedestal；22, mechanical arm lower arm；23, mechanical arm upper arm；241, between the first arm
Hinged seat；242, hinged seat between the second arm；25, the first cylinder；26, the second cylinder；27, the first sliding block sliding track mechanism；271,
One sliding rail；272, the first sliding block；28, first connecting rod；29, the second sliding block sliding track mechanism；291, the second sliding rail；292, second is sliding
Block；30, the second connecting rod；
3, angle-adjusting mechanism；31, mechanical arm cantilever arm；32, attachment base；33, the second ball screw framework；331, second
Stepper motor；332, the second lead screw；333, the second feed screw nut；34, third ball screw framework；341, third stepper motor；
342, third lead screw；343, third feed screw nut；35, third connecting rod；36, hinged seat between third arm；37, damping device；
4, wiper mechanism；41, wiper mechanism fixing seat；42, decelerating motor；43, gear assembly；431, the first tooth
Wheel；432, second gear；44, pulley gear；441, the first belt pulley；442, the second belt pulley；443, belt；45,
Idler wheel；46, scraper plate；47, transmission shaft.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
Please refer to Fig. 1 to Fig. 7, a kind of solar panel cleaning machinery arm, including integral elevating mechanism 1, pose adjustment
Mechanism 2, angle-adjusting mechanism 3 and wiper mechanism 4.
As shown in figures 1 and 3, integral elevating mechanism 1 is fixed on the car body by mechanical arm fixing seat 11, integral elevating machine
Structure 1 mainly includes mechanical arm fixing seat 11, first ball screw mechanism 12 and feed screw nut attachment base 13.Integral elevating mechanism 1
On be provided with the first ball screw mechanism 12 that goes up and down relative to integral elevating mechanism 1 of driving attitude-adjusting system 2.First ball
Screw mechanism 12 includes the first stepper motor 121, the first lead screw 122 and the first feed screw nut 123.First stepper motor, 121 band
First lead screw 122 of dynamic vertical direction setting is fixed in mechanical arm fixing seat 11 by bearing block, the first feed screw nut 123
It is arranged on the first lead screw 122, feed screw nut attachment base 13 is connect with the first feed screw nut 123, feed screw nut attachment base 13 1
End is fixed on the first feed screw nut 123, and one end is fixed on attitude-adjusting system 2.When work, 121 band of the first stepper motor
Dynamic first lead screw 122 rotation, the first feed screw nut 123 drives feed screw nut attachment base 13 to move up and down, and then drive and lead screw
The attitude-adjusting system 2 and the mechanism up and down motion being connect with attitude-adjusting system 2 that nut attachment base 13 connects, to reach high
Spend the purpose adjusted.
As shown in Figure 1 and Figure 4, attitude-adjusting system 2 mainly includes mechanical arm pedestal 21, mechanical arm lower arm 22, mechanical arm
Hinged seat 242, the first cylinder 25, the second cylinder 26, the first sliding block sliding rail between hinged seat 241, the second arm between upper arm 23, the first arm
Mechanism 27, first connecting rod 28, the second sliding block sliding track mechanism 29 and the second connecting rod 30.The mechanical arm bottom of attitude-adjusting system 2
Seat 21 is fixedly connected with the feed screw nut attachment base 13 in integral elevating mechanism, and mechanical arm pedestal 21 and mechanical arm lower arm 22 pass through
Hinged seat 241 connects between first arm, and 241 one end of hinged seat and mechanical arm pedestal 21 are fixed between first arm, the other end and machinery
Arm lower arm 22 is hinged.Mechanical arm lower arm 22 and mechanical arm upper arm 23 are connected by hinged seat 242 between the second arm, are cut with scissors between second arm
242 one end of joint chair and mechanical arm lower arm 22 are fixed, and the other end and mechanical arm upper arm 23 are hinged.21 upper end of mechanical arm pedestal is provided with
First sliding block sliding track mechanism 27, the first sliding block sliding track mechanism 27 include the first sliding rail 271 and slided on the first sliding rail 271 the
One sliding block 272, the first sliding rail 271 and the first cylinder 25 are each attached to 21 upper end of mechanical arm pedestal, the cylinder rod of the first cylinder 25
It is fixedly connected with the first sliding block 271 and the first sliding block 272 is pushed to move on the first sliding rail 271.First sliding block 272 and first connects
One end of extension bar 28 is hinged, and the other end and mechanical arm lower arm 22 of first connecting rod 28 are hinged.Mechanical arm lower arm 22 is far from mechanical
The side of arm pedestal 21 be equipped with the second sliding block sliding track mechanism 29, the second sliding block sliding track mechanism 29 include the second sliding rail 291 and
The second sliding block 292 slided on second sliding rail 291, the second sliding rail 291 and the second cylinder 26 are each attached on mechanical arm lower arm 22,
The cylinder rod of second cylinder 26 is fixedly connected with the second sliding block 292 and the second sliding block 292 is pushed to move on the second sliding rail 291.
Hinged with one end of the second connecting rod 30 on second sliding block 292, the other end and mechanical arm upper arm 23 of the second connecting rod 30 are hinged.
When working condition, the first cylinder 25 ventilation, cylinder rod elongation drives the first sliding block 272 to be translatable on the first sliding rail 271, corresponding
First connecting rod 28 rotate with it so that mechanical arm lower arm 22 rotates counterclockwise.In the present invention, dependency structure parameter setting can
So that mechanical arm lower arm 22 is rotated counterclockwise 90 degree, it is made to become vertical state from horizontality.Then, the second cylinder 26 is ventilated,
Cylinder rod elongation, drives the second sliding block 292 to be translatable on the second sliding rail 291, corresponding second connecting rod 30 rotates with it.This hair
In bright, dependency structure parameter setting can make tool arm upper arm 23 rotate clockwise 90 degree, it is made to become horizontality from vertical state.
As shown in Fig. 2, the second cylinder 26 ventilation direction changes, and cylinder rod is shunk, and drives the second sliding block when off working state
292 are translatable on the second sliding rail 291, and corresponding second connecting rod 30 rotates with it, so that mechanical arm upper arm 23 rotates counterclockwise
90 degree, vertical state is become from horizontality；The subsequent ventilation of first cylinder 25 direction changes, and cylinder rod is shunk, and drives first to slide
Block 272 is translatable on the second sliding rail 271, and corresponding first connecting rod 28 rotates with it, and mechanical arm lower arm 22 rotates clockwise 90
Degree, becomes horizontality from vertical state.
As shown in Figure 1 and Figure 5,23 upper end of arm, angle-adjusting mechanism 3 are main on the robotic arm for the setting of angle-adjusting mechanism 3
Including mechanical arm cantilever arm 31, attachment base 32, the second ball screw framework 33, third ball screw framework 34, third connecting rod
35, hinged seat 36 and damping device 37 between third arm.Second ball screw framework 33 includes second stepper motor 331, second
Thick stick 332 and the second feed screw nut 333.Third ball screw framework 34 includes third stepper motor 341, third lead screw 342 and the
Three feed screw nuts 343.On the robotic arm on arm 23, third lead screw 342 is arranged the setting of third stepper motor 341 by bearing block
It is connect on mechanical arm upper arm 23 and with the shaft of third stepper motor 341, third feed screw nut is provided on third lead screw 342
343, mechanical arm cantilever arm 31 is fixed on third feed screw nut 343.Second stepper motor 331 in angle-adjusting mechanism 3 is set
Set on mechanical arm cantilever arm 31, the second lead screw 332 be located on mechanical arm cantilever arm 31 by bearing block and with the second stepping electricity
The shaft of machine 331 connects, and is provided with the second feed screw nut 333 on the second lead screw 332, the second feed screw nut 333 is connect with third
One end of bar 35 is hinged, and 35 other end of third connecting rod and attachment base 32 are hinged.Attachment base 32 passes through with mechanical arm cantilever arm 31
Hinged seat 36 connects between third arm, and 36 one end of hinged seat and attachment base 32 are fixed between third arm, the other end and mechanical arm cantilever arm
31 is hinged.
As shown in Fig. 1, Fig. 6 and Fig. 7, wiper mechanism 4 mainly includes wiper mechanism fixing seat 41, decelerating motor 42, gear
Transmission device 43, pulley gear 44, idler wheel 45, scraper plate 46 and transmission shaft 47.Wiper mechanism fixing seat in wiper mechanism 4
41 are connect with the attachment base 32 of angle-adjusting mechanism 3 by damping device 37, and damping device 37 can be spring.Wiper mechanism is solid
The outer side far from angle-adjusting mechanism 3 of reservation 41 is equipped with idler wheel 45 and scraper plate 46, and wiper mechanism fixing seat 41 is internally provided with
Decelerating motor 42, gear assembly 43, transmission shaft 47 and the two groups of pulley gears 44 for driving idler wheel 45 to rotate.Slow down
It is driven between motor 42 and idler wheel 45 by gear assembly 43, transmission shaft 47 and two groups of pulley gears 44.Gear passes
Dynamic device 43 includes first gear 431 and second gear 432, every group of pulley gear 44 all include the first belt pulley 441,
Second belt pulley 442 and the belt 443 for being tensioned two belt pulleys.
Specifically, the outer side far from angle-adjusting mechanism 3 of wiper mechanism fixing seat 41 is provided with a pair of parallel and mistake
The idler wheel 45 set is opened up, first gear 431 is provided in the shaft of decelerating motor 45, is provided in the middle part of transmission shaft 47 and the first tooth
The second gear 432 of 431 engagement of wheel, 47 both ends of transmission shaft are respectively arranged with one group of pulley gear 44, each group of belt
Wheel transmission device 44 drives an idler wheel 45 to rotate.The first belt pulley 441 in two groups of pulley gears 44 is respectively set
At the both ends of transmission shaft 47, the second belt pulley 442 is respectively provided in the shaft of two idler wheels 45, the first belt pulley 441 and second
The belt 443 for being tensioned the two is equipped between belt pulley 442.When working condition, decelerating motor 42 is rotated, and passes through gear assembly
43 primary speed-downs drive two idler wheels 45 to rotate, by water and cleaning by two groups of 44 double reductions of pulley gear
The dirt of solar battery plate surface is removed in agent, while the car body where the solar panel cleaning machinery arm is parallel to too
Positive energy solar panel movement, the mixture of water, cleaning agent and dirt is scraped off solar panels by scraper plate 46, to reach the effect of cleaning
Fruit.
It should be noted that second stepper motor 331 and third stepper motor 341 can be by a set of negative-feedback regu- lation system controls
System, two 45 ends of idler wheel are respectively provided with a range sensor, two 45 ends of idler wheel of real-time detection and solar panel it
Between distance, there is pressure sensor in 37 bottom of damping device, detects solar battery after the top solar panel of idler wheel 45
The reaction force that plate generates idler wheel 45.When working condition, second stepper motor 331 drives second on mechanical arm cantilever arm 31
Thick stick 332 rotates, and the second feed screw nut 333 is mobile, so that third connecting rod 35 drives attachment base 32 and mechanism rotates thereon, adjusts
Angle between idler wheel 45 and solar panel, until the distance values of two range sensors detection are suitable；Then, mechanical
Third stepper motor 341 drives third lead screw 342 to rotate on arm upper arm 23, and third feed screw nut 343 and mechanism thereon are mobile,
The distance between idler wheel 45 and solar panel are adjusted, until the distance values of two range sensors monitoring are equal to zero, and
The pressure of pressure sensor detection reaches predetermined value.During car body is mobile, range sensor and pressure sensor
Can continuous detection data, negative-feedback regu- lation system adjust according to testing result idler wheel 45 and solar panel angle and away from
From being allowed to be close to solar panel always with certain pressure.
In using the present invention, the specific action step of solar panel cleaning machinery arm is as follows:
1, first stepper motor 121 rotates in integral elevating mechanism 1, drives mechanical arm bottom by the first feed screw nut 123
Seat 21 and mechanism thereon move up and down, until 41 center of wiper mechanism fixing seat is substantially concordant with solar panel center,
Stop motion；
2, first cylinder 25 acts in attitude-adjusting system 2, corresponding first connecting rod 28 is driven, so that mechanical arm lower arm
Or more mechanism turn over 90 degree counterclockwise, keep vertical state.Subsequent second cylinder 26 acts, and drives corresponding second connection
Bar 30 keeps horizontality so that the mechanism of 23 or more mechanical arm upper arm turns over 90 degree clockwise；
3, second stepper motor 331 and third stepper motor 341 rotate in angle-adjusting mechanism 3, pass through two idler wheels 45
The range sensor of end installation, constantly adjusts the angle and distance of idler wheel 45 and solar panel, until and solar panels
Fitting completely, the pressure sensor monitoring solar panel of 37 bottom of damping device reaches the reaction force of idler wheel at this time
Second stepper motor 331 and third stepper motor 341 stop working when predetermined value；
4, decelerating motor 42 rotates in wiper mechanism 4, passes through 43 primary speed-down of gear assembly, two groups of pulley drives
44 double reduction of device drives two idler wheels 45 while rotating, while water and detergent are sprayed on solar-electricity by water injector
Pond plate surface cooperates 45 rotary motion of idler wheel, removes the spot of solar battery plate surface, while the solar panel cleans
Car body where mechanical arm is parallel to solar panel movement, and the scraper plate 46 at 45 rear of idler wheel is by water, detergent and spot
Mixture scrapes off, and achievees the purpose that cleaning.
In an inactive state, the specific action step of solar panel cleaning machinery arm is as follows:
Second cylinder 26 ventilation direction changes, and cylinder rod is shunk, and the second sliding block 292 is driven to be translatable on the second sliding rail 291,
Corresponding second connecting rod 30 rotates with it, so that mechanical arm upper arm 23 rotates counterclockwise 90 degree, becomes vertical from horizontality
State；The subsequent ventilation of first cylinder 25 direction changes, and cylinder rod is shunk, and the first sliding block 272 is driven to put down on the second sliding rail 271
Dynamic, corresponding first connecting rod 28 rotates with it, and mechanical arm lower arm 22 rotates clockwise 90 degree, becomes horizontal from vertical state
State.Integrality is as shown in Figure 2 at this time.Further, idler wheel 45 is detachable, can remove in an inactive state, whole to reduce
A device the space occupied, also replaceable various sizes of idler wheel 45, to adapt to the cleaning needs of different size solar panels.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of solar panel cleaning machinery arm, it is characterised in that: including integral elevating mechanism, attitude-adjusting system, angle
Spend adjustment mechanism and wiper mechanism；
The integral elevating mechanism is fixed on the car body, and the integral elevating mechanism, which is equipped with, drives the attitude-adjusting system phase
For the first ball screw mechanism of integral elevating mechanism lifting；
The attitude-adjusting system includes mechanical arm pedestal, mechanical arm lower arm and mechanical arm upper arm, the mechanical arm pedestal setting
In the first ball screw mechanism, one end of the mechanical arm lower arm and the mechanical arm pedestal is hinged and is arranged described
One end of the upper end of mechanical arm pedestal, the mechanical arm upper arm and the mechanical arm lower arm is hinged and is arranged under the mechanical arm
The upper end of arm；
In mechanical arm upper arm upper end, the angle-adjusting mechanism includes the second ball-screw for the angle-adjusting mechanism setting
Mechanism, mechanical arm cantilever arm, third ball screw framework and attachment base, the mechanical arm cantilever arm are arranged on the mechanical arm
It is moved on the mechanical arm upper arm on arm and by third ball screw framework driving, the attachment base and the machinery
Arm cantilever arm is hinged and passes through the driving rotation of the second ball screw framework；
The side of the attachment base is arranged in the wiper mechanism, and the wiper mechanism is provided with far from the side of the attachment base
For the idler wheel and scraper plate of cleaning solar energy cell plate, the wiper mechanism drives the connection by the second ball screw framework
Seat is rotated and then is rotated.
2. solar panel cleaning machinery arm according to claim 1, it is characterised in that: the first ball screw machine
Structure includes the first lead screw being vertically arranged and the first stepper motor for driving the first lead screw rotation, is set on first lead screw
It is equipped with the first feed screw nut, first feed screw nut is fixedly connected with the mechanical arm pedestal.
3. solar panel cleaning machinery arm according to claim 1, it is characterised in that: the mechanical arm pedestal and described
Hinged seat connects between mechanical arm lower arm passes through the first arm, and hinged seat one end is fixed with the mechanical arm pedestal between first arm,
The other end and the mechanical arm lower arm are hinged.The mechanical arm lower arm and the mechanical arm upper arm are connected by hinged seat between the second arm
It connects, hinged seat one end is fixed with the mechanical arm lower arm between second arm, and the other end and the mechanical arm upper arm are hinged.
4. solar panel cleaning machinery arm according to claim 3, it is characterised in that: mechanical arm pedestal upper end
Equipped with the first sliding block sliding track mechanism and the first cylinder, the first sliding block sliding track mechanism includes the first sliding rail and the first sliding block, institute
It states the cylinder rod of the first cylinder and the first sliding block is fixedly connected and the first sliding block is pushed to move on the first sliding rail, described first is sliding
One end of block and first connecting rod is hinged, and the other end and mechanical arm lower arm of first connecting rod are hinged.
5. solar panel cleaning machinery arm according to claim 4, it is characterised in that: the mechanical arm lower arm is separate
The side of mechanical arm pedestal is equipped with the second sliding block sliding track mechanism and the second cylinder, and the second sliding block sliding track mechanism includes second
The cylinder rod of sliding rail and the second sliding block, second cylinder is fixedly connected with the second sliding block and pushes the second sliding block in the second sliding rail
Upper movement, second sliding block and one end of the second connecting rod are hinged, and the other end and mechanical arm upper arm of the second connecting rod are hinged.
6. solar panel cleaning machinery arm according to claim 1, it is characterised in that: the second ball-screw machine
Structure includes the second stepper motor with the mechanical arm upper arm the second lead screw disposed in parallel and driving the second lead screw rotation,
Second lead screw is equipped with the second feed screw nut, and second feed screw nut is fixedly connected with the mechanical arm cantilever arm.
7. solar panel cleaning machinery arm according to claim 1, it is characterised in that: the third ball-screw machine
Structure includes the third stepping electricity with mechanical arm cantilever arm third lead screw disposed in parallel and the driving third lead screw rotation
Machine, the third lead screw are equipped with third feed screw nut, and the third feed screw nut and one end of third connecting rod are hinged, third
The other end of connecting rod and the attachment base are hinged.
8. solar panel cleaning machinery arm according to claim 1, it is characterised in that: the wiper mechanism includes clear
Washing machine structure fixing seat, the outer side far from angle-adjusting mechanism of the wiper mechanism fixing seat are provided with idler wheel and scraper plate, clean
Mechanism fixing seat is internally provided with the decelerating motor of driving idler wheel rotation.
9. solar panel cleaning machinery arm according to claim 8, it is characterised in that: the wiper mechanism includes one
To idler wheel parallel and being arranged in a staggered manner, pass through gear assembly, transmission shaft and two groups between the decelerating motor and the idler wheel
Pulley gear transmission, the gear assembly includes first gear and second gear, the shaft of the decelerating motor
On be provided with first gear, be provided with second gear engaged with the first gear, belt described in each group in the middle part of the transmission shaft
Wheel transmission device includes the first belt pulley, the second belt pulley and the belt for being tensioned two belt pulleys, two groups of pulley gears
In the first belt pulley be separately positioned on the both ends of the transmission shaft, the second belt pulley is separately positioned on turning for the corresponding idler wheel
On axis, the belt for being tensioned the two is provided between the first belt pulley and the second belt pulley in every group of pulley gear.
10. solar panel cleaning machinery arm according to claim 8, it is characterised in that: the wiper mechanism is fixed
Damping device is provided between attachment base in seat and the angle-adjusting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811426600.9A CN109617519B (en) | 2018-11-27 | 2018-11-27 | Solar cell panel washs arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811426600.9A CN109617519B (en) | 2018-11-27 | 2018-11-27 | Solar cell panel washs arm |
Publications (2)
| Publication Number | Publication Date |
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| CN109617519A true CN109617519A (en) | 2019-04-12 |
| CN109617519B CN109617519B (en) | 2020-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811426600.9A Expired - Fee Related CN109617519B (en) | 2018-11-27 | 2018-11-27 | Solar cell panel washs arm |
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| CN (1) | CN109617519B (en) |
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| CN112191641A (en) * | 2020-10-10 | 2021-01-08 | 海宁惠迪太阳能技术有限公司 | Convenient and practical's solar panel ash removal device |
| CN113679476A (en) * | 2021-08-31 | 2021-11-23 | 哈尔滨工业大学 | Minimally invasive spine surgery auxiliary robot |
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| ES1074781U (en) * | 2011-04-13 | 2011-06-10 | Antonio Esteban Caler | Cleaning vehicle with roller for solar panels. (Machine-translation by Google Translate, not legally binding) |
| EP2567758A3 (en) * | 2011-09-09 | 2014-01-01 | Franz Ehleuter | Device for cleaning smooth areas |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109617519B (en) | 2020-03-10 |
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