CN112337852A - Photovoltaic cleaning vehicle adopting waterless cleaning mode to clean photovoltaic panel - Google Patents
Photovoltaic cleaning vehicle adopting waterless cleaning mode to clean photovoltaic panel Download PDFInfo
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- CN112337852A CN112337852A CN202011242259.9A CN202011242259A CN112337852A CN 112337852 A CN112337852 A CN 112337852A CN 202011242259 A CN202011242259 A CN 202011242259A CN 112337852 A CN112337852 A CN 112337852A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000012544 monitoring process Methods 0.000 claims abstract description 30
- 239000000523 sample Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 8
- 238000010408 sweeping Methods 0.000 claims 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 10
- 239000000428 dust Substances 0.000 description 6
- 238000010248 power generation Methods 0.000 description 5
- 238000003825 pressing Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012876 topography Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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Classifications
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- 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
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- 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
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- 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
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- 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
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- 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
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- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention relates to a photovoltaic cleaning vehicle for cleaning a photovoltaic panel in a waterless cleaning mode, which comprises a control console, a cleaning device, a multi-joint mechanical arm for adjusting the spatial position of the cleaning device, a chassis and a vehicle body rotationally connected with the chassis, wherein the multi-joint mechanical arm is electrically connected with the control console, and the cleaning device comprises: the device comprises a brush assembly, a monitoring mechanism and a self-rotation power mechanism, wherein the brush assembly is used for cleaning the photovoltaic, and is connected with the free end of the multi-joint mechanical arm; the monitoring mechanism is used for monitoring the spatial position of the brush assembly and feeding back the spatial position to the console; the rotation power mechanism is used for providing rotation force for the brush assembly and is connected with the brush assembly. The photovoltaic cleaning vehicle adopts a waterless cleaning mode, solves the problem of water shortage in northwest areas, and enlarges the application occasions of the photovoltaic power station; the empty monitoring position of the cleaning device can be automatically adjusted through the real-time feedback of the monitoring mechanism.
Description
Technical Field
The invention relates to the field of photovoltaic cleaning equipment, in particular to a photovoltaic cleaning vehicle for cleaning a photovoltaic panel in a waterless cleaning mode.
Background
With the growing and commercialization of the photovoltaic industry, various problems in the operation management of photovoltaic power plants have come to be highlighted, especially the problem of cleaning photovoltaic panels which is directly related to the power generation efficiency.
For the operation of a large-scale photovoltaic grid-connected power station, the power generation capacity is one of the most important indexes, and factors influencing the power generation capacity, such as the loss of an inverter, a transformer, a cable and other equipment, belong to the influence of dust in the air on the power generation capacity, and serious local covering can also cause a hot spot effect. Dust can have a negative effect on the performance of the photovoltaic panel and even local shadows on the photovoltaic panel can cause a significant reduction in output power. According to the research of the American national aerospace agency, the method comprises the following steps: only 4.05g of dust layer per square meter can reduce the solar energy conversion by 40%, and the influence is more obvious especially in northern areas with poor environmental conditions.
At present, the photovoltaic power station cleaning market mainly adopts a manual mode or a third party team mode for cleaning, the cleaning efficiency is low, the price is high, the water consumption is high, and the operation and maintenance cost of the photovoltaic power station is greatly increased.
Certainly, some photovoltaic wash cars in the market all need to cooperate water jet equipment to carry out cleaning work to photovoltaic board and belt cleaning device, nevertheless to establishing the photovoltaic power generation system in the severe water shortage area in west, a large amount of water resources can be wasted to collocation water jet equipment's photovoltaic wash car, and the photovoltaic cleaning work is gone to this area actual conditions of combination that can not be fine.
Disclosure of Invention
The invention aims to provide a photovoltaic cleaning vehicle which replaces the mode that the traditional manual cleaning mode is large in labor amount, high in cost and incapable of cleaning in real time, adopts a waterless cleaning mode, solves the problem of water shortage in western regions and enlarges the application occasions of photovoltaic power stations.
In view of the above situation, there is a need for a photovoltaic cleaning cart for cleaning photovoltaic panels by waterless cleaning, comprising a console, a cleaning device, a multi-joint mechanical arm for adjusting the spatial position of the cleaning device, a chassis, and a cart body rotatably connected to the chassis, wherein the multi-joint mechanical arm is electrically connected to the console, and the cleaning device comprises:
the brush assembly is used for cleaning the photovoltaic panel and is connected with the free end of the multi-joint mechanical arm;
the monitoring mechanism is used for monitoring the spatial position of the brush assembly and feeding back the spatial position to the console;
and the rotation power mechanism is used for providing rotation force for the brush assembly and is connected with the brush assembly.
In a further embodiment, the brush assembly comprises a support rod, supports, a rotating shaft and a brush, the support rod is connected with the free end of the multi-joint mechanical arm, the two supports are respectively arranged at the two ends of the support rod, the two ends of the rotating shaft are respectively connected with the two supports in a rotating mode, the brush is in a roller shape, and the rotating shaft is sleeved with the brush.
In a further embodiment, the number of the brushes is two, a gap is formed between the two brushes, and a second gear in the rotation power mechanism is sleeved with the rotating shaft at the gap.
In a further embodiment, a reinforcing plate is arranged at a position, corresponding to the position of the gap, on the supporting rod, and a through hole for the rotating shaft to pass through is formed in the reinforcing plate.
In a further embodiment, the monitoring mechanism comprises two extending plates connected with the supporting rod, the two extending plates correspond to the two ends of the hairbrush respectively, and each free end of each extending plate is provided with a CCD camera for monitoring the vertical positions of the hairbrush and the photovoltaic plate and an ultrasonic radar for monitoring the distance between the hairbrush and the photovoltaic plate respectively.
In a further embodiment, the CCD camera includes a CCD chip, a light source, and a lens.
In a further embodiment, the ultrasonic radar comprises a microprocessor chip, an ultrasonic transmitting probe and an ultrasonic receiving probe, wherein the microprocessor chip is electrically connected with the ultrasonic transmitting probe and the ultrasonic receiving probe respectively.
In a further embodiment, the self-rotation power mechanism comprises a driving motor, a first gear, a second gear, a transmission chain and an L-shaped connecting plate, the first gear is sleeved on an output shaft of the driving motor, the second gear is sleeved on a rotating shaft of the brush assembly, the transmission chain is respectively connected with the first gear and the second gear to form chain transmission, the L-shaped connecting plate comprises a first connecting portion and a second connecting plate, the first connecting portion is connected with the driving motor, and the second connecting plate is connected with the supporting rod.
In a further embodiment, the multi-joint mechanical arm comprises a large arm, a first oil cylinder, a small arm and a second oil cylinder, wherein one end of the large arm is hinged to the vehicle body, the other end of the large arm is hinged to the small arm, one end of the first oil cylinder is hinged to the vehicle body, the other end of the first oil cylinder is hinged to the large arm, the free end of the small arm is hinged to a supporting rod in the brush assembly, one end of the second oil cylinder is hinged to the large arm, and the other end of the second oil cylinder is hinged to the small arm.
In a further embodiment, the multi-joint mechanical arm further comprises an angle adjusting assembly, the angle adjusting assembly comprises rocking bars, a connecting rod, a third oil cylinder and a pressing plate, the two rocking bars are respectively arranged on two side walls of one end, far away from the large arm, of the small arm, one end of the connecting rod is hinged to the two rocking bars, the other end of the connecting rod is hinged to the pressing plate, one end of the third oil cylinder is hinged to the small arm, the other end of the third oil cylinder is hinged to the connecting rod, one end, far away from the connecting rod, of the pressing plate is hinged to the small arm, and the pressing plate is connected with the supporting rod.
The invention has the beneficial effects that:
1. the brush of brush subassembly carries out autogyration under rotation power unit's drive and cleans the photovoltaic board, drives through the chassis and turns right from a left side and move, cleans the back that finishes, will clean the back brush and move and carry out autogyration under rotation power unit's drive in photovoltaic platform outside frame, accomplishes brush dust automatically cleaning, through adopting anhydrous mode of cleaning, solves this difficult problem of water shortage in northwest area, enlarges photovoltaic power plant application scenario.
2. The upper CCD system and the lower CCD system are respectively used for detecting the upper position and the lower position of the brush on the photovoltaic panel, and the systems automatically adjust the positions to prevent the brush from deviating; the upper ultrasonic wave coordination system and the lower ultrasonic wave coordination system are respectively used for detecting the distance from the brush to the photovoltaic panel, and the system automatically adjusts the position to prevent the distance from the brush to the photovoltaic panel from being too large or too small.
3. Through the free end at many joints arm sets up angle adjusting assembly, can better adapt to northwest region like this in the uneven topography characteristics of fluctuation, when the ground of line footpath fluctuation, angle adjusting assembly can carry out angle modulation in real time, guarantees brush and photovoltaic board flat contact, and photovoltaic board receives the influence of topography to put and also has fluctuation unevenness in addition, and angle adjusting assembly can carry out angle modulation in real time in the same reason, guarantees brush and photovoltaic board flat contact.
Drawings
Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
Fig. 2 is a schematic structural view of a multi-joint robot arm according to an embodiment of the present invention.
FIG. 3 is an exploded view of a brush assembly according to an embodiment of the present invention.
Fig. 4 is an exploded view of a monitoring mechanism according to an embodiment of the present invention.
Fig. 5 is an exploded view of a rotation power mechanism according to an embodiment of the present invention.
In the figure:
a console 100;
the cleaning device 200, the brush assembly 210, the support rod 211, the bracket 212, the rotating shaft 213, the brush 214, the gap 215, the reinforcing plate 216, the through hole 2161, the monitoring mechanism 220, the extending plate 221, the CCD camera 222, the ultrasonic radar 223, the self-rotation force mechanism 230, the driving motor 231, the first gear 232, the second gear 233, the transmission chain 234, the "L" -shaped connecting plate 235, the first connecting portion 2351, and the second connecting plate 2352;
the multi-joint mechanical arm 300, the large arm 310, the first oil cylinder 320, the small arm 330, the second oil cylinder 340, the angle adjusting assembly 350, the rocker 351, the connecting rod 352, the third oil cylinder 353 and the pressure plate 354;
a chassis 400;
a vehicle body 500.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following describes in detail a photovoltaic cleaning vehicle for cleaning photovoltaic panels by a waterless cleaning manner with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-3, in an embodiment of the invention, the photovoltaic cleaning vehicle mainly includes a console 100, a cleaning device 200, a chassis 400 of a multi-joint robot 300 for adjusting a spatial position of the cleaning device 200, and a vehicle body 500 rotatably connected to the chassis 400, wherein the multi-joint robot 200 is electrically connected to the console 100.
Wherein the washing device 200 includes a brush assembly 210, a monitoring mechanism 220, and a spinning power mechanism 230.
Wherein the brush assembly 210 is used for cleaning the photovoltaic panel, and the brush assembly 210 is connected with the free end of the multi-joint mechanical arm 300.
The monitoring mechanism 220 is used for monitoring the spatial position of the brush assembly 210 and feeding the spatial position back to the console 100, the monitoring mechanism 220 can be arranged outside or on the brush assembly 210, and the monitoring mechanism 220 is preferably arranged on the brush assembly 210 in view of space utilization and convenience in later maintenance and replacement.
The rotation power mechanism 230 is used for providing rotation force for the brush assembly 210, the rotation power mechanism 230 is connected with the brush assembly 210, the brush 214 of the brush assembly 210 is driven by the rotation power mechanism 230 to rotate automatically to clean the photovoltaic panel, the brush moves from left to right through the driving of the chassis 400, after cleaning is finished, the cleaned brush 214 moves to a frame outside the photovoltaic platform and rotates automatically under the driving of the rotation power mechanism 230, self-cleaning of dust attached to the brush 214 is completed, and by adopting a waterless cleaning mode, the problem of water shortage in northwest areas is solved, and the application occasions of the photovoltaic power station are enlarged.
Referring to fig. 3, in an embodiment of the present invention, the brush assembly 210 includes a supporting rod 211, two brackets 212, a rotating shaft 213 and a brush 214, the supporting rod 211 is connected to the free end of the multi-joint robot 300, the two brackets 212 are respectively disposed at two ends of the supporting rod 211, two ends of the rotating shaft 213 are respectively rotatably connected to the two brackets 212, the brush 214 is in a roller shape, and the brush 214 is sleeved on the rotating shaft 213.
Referring to fig. 3, in an embodiment of the present invention, two brushes 214 are provided, a gap 215 is provided between the two brushes 214, a second gear 233 of the rotation power mechanism 230 is sleeved on the rotating shaft 213 at the gap 215, and the rotation power mechanism 230 is disposed at the gap 215 of the two brushes 214, so that the overall stability of the device is better, and the brush 214 is prevented from being stressed unevenly and inclined toward a heavy side when the rotation power mechanism 230 drives the brush 214 to rotate.
Referring to fig. 3, in an embodiment of the present invention, a reinforcing plate 216 is disposed on the supporting rod 211 corresponding to the position of the gap 215, a through hole 2161 for the shaft 213 to pass through is disposed on the reinforcing plate 216, and the reinforcing plate 216 prevents the brush 214 from being inclined and separated during high-speed rotation, thereby protecting the brush assembly 210 and the photovoltaic panel from being damaged.
Referring to fig. 3-4, in an embodiment of the present invention, the monitoring mechanism 220 includes two protruding plates 221 connected to the supporting rod 211, the two protruding plates 221 respectively correspond to two ends of the brush 214, and a free end of each protruding plate 221 is respectively provided with a CCD camera 222 for monitoring the up-down position of the brush 214 and the photovoltaic panel, and an ultrasonic radar 223 for monitoring the distance between the brush 214 and the photovoltaic panel; the upper CCD system and the lower CCD system are respectively used for detecting the upper position and the lower position of the brush 214 on the photovoltaic panel, and the systems automatically adjust the positions to prevent the brush 214 from deviating; the upper ultrasonic radar system and the lower ultrasonic radar system are respectively used for detecting the distance from the brush 214 to the photovoltaic panel, and the system automatically adjusts the position to prevent the distance from the brush to the photovoltaic panel from being too large or too small.
Monitoring principle for CCD systems: the CCD system may directly detect whether the two ends of the rolling brush 214 are aligned with the two ends of the photovoltaic panel, and if not, the two ends are fed back to the console 100, and the console 100 operates the multi-joint robot 300 to automatically adjust the spatial position of the cleaning device 200 until it is detected that the two ends of the rolling brush 214 are aligned with the two ends of the photovoltaic panel.
Monitoring principle for an ultrasonic radar system: ultrasonic radar system is X to brush 214's distance, and brush 214 diameter is D, and the thickness of photovoltaic plate is 30mm, because brush 214 mainly is exactly the photovoltaic board of wasing 30mm, brush 214 sinks and also should be 30mm with the coincidence height of photovoltaic board, will wash inadequately if little, if big not only hard extravagant energy, and also can damage brush 214 with higher speed, shorten brush 214's life, consequently ultrasonic radar system's monitoring standard value is D + X-30, be less than or be higher than this standard value ultrasonic radar system can feed back to control cabinet 100, control cabinet 100 controls many joint arm 300 and adjusts cleaning device 200 spatial position automatically, until reaching the monitoring standard value.
The CCD camera 222 includes a CCD chip, a light source and a lens, light emitted from the light source is irradiated onto the CCD chip through the lens, the CCD chip processes the captured image and feeds back the processed data to the console 100, and then the console 100 makes a corresponding operation instruction.
The ultrasonic radar 223 comprises a micro-processing chip, an ultrasonic transmitting probe and an ultrasonic receiving probe, wherein the micro-processing chip is respectively electrically connected with the ultrasonic transmitting probe and the ultrasonic receiving probe, a multiplier and a signal processing circuit are arranged between the microprocessor and the ultrasonic receiving probe, the ultrasonic receiving probe sends signals to the multiplier, the multiplier simultaneously receives transmitting signals sent by a signal generating circuit, multiplied signals output by the multiplier are filtered, amplified and compensated through the signal processing circuit, and finally the multiplied signals are input into the microprocessor from an analog-to-digital conversion function AD port on the microprocessor, and data are sent to the console 100 after analog-to-digital conversion.
Referring to fig. 5, in an embodiment of the present invention, the self-rotation force mechanism 230 includes a driving motor 231, a first gear 232, a second gear 233, a transmission chain 234 and an "L" shaped connection plate 235, the first gear 232 is sleeved on an output shaft of the driving motor 231, the second gear 233 is sleeved on a rotation shaft 213 of the brush assembly 210, the transmission chain 234 is respectively connected with the first gear 232 and the second gear 233 to form a chain transmission, the "L" shaped connection plate 235 includes a first connection portion 2351 and a second connection plate 2352, the first connection portion 2351 is connected with the driving motor 231, and the second connection plate 2352 is connected with the support rod 211; the self-rotation force mechanism 230 has the advantages of stable structure, stable output and low cost.
Referring to fig. 2-3, in an embodiment of the present invention, the multi-joint mechanical arm 300 includes a large arm 310, a first cylinder 320, a small arm 330, and a second cylinder 340, wherein one end of the large arm 310 is hinged to the vehicle body 500, the other end of the large arm 310 is hinged to the small arm 330, one end of the first cylinder 320 is hinged to the vehicle body 500, the other end of the first cylinder 320 is hinged to the large arm 310, the free end of the small arm 330 is hinged to the supporting rod 211 of the brush assembly 210, one end of the second cylinder 340 is hinged to the large arm 310, and the other end of the second cylinder 340 is hinged to the small arm 330; from the above, the large arm 310 is controlled to move by the telescopic motion of the first oil cylinder 320 so as to adjust the space height of the brush 214 and the coincidence depth with the photovoltaic panel, the small arm 330 is controlled by the telescopic motion of the second oil cylinder 340, and the front and back positions of the brush 214 are adjusted so as to align with the two ends of the photovoltaic panel.
Referring to fig. 2-3, in an embodiment of the present invention, the multi-joint robot 300 further includes an angle adjusting assembly 350, the angle adjusting assembly 350 includes two rockers 351, a connecting rod 352, a third cylinder 353 and a pressure plate 354, the two rockers 351 are respectively disposed on two sidewalls of one end of the small arm 330 away from the large arm 310, one end of the connecting rod 352 is hinged to the two rockers 351, the other end of the connecting rod 352 is hinged to the pressure plate 354, one end of the third cylinder 353 is hinged to the small arm 330, the other end of the third cylinder 353 is hinged to the connecting rod 352, one end of the pressure plate 354 away from the connecting rod 352 is hinged to the small arm 330, and the pressure plate 354 is connected to the supporting rod 211.
It can understand, when will adjusting the contained angle of brush subassembly 210 and horizontal plane, telescopic motion through third hydro-cylinder 353 makes rocker 351 carry out angular rotation, and then connecting rod 352 drives brush subassembly 210 and carries out angular adjustment, set up angle adjusting part 350 through the free end at articulated arm 300, can better adapt to northwest area in the uneven topography characteristics of fluctuation like this, when the ground that the line diameter is undulant, angle adjusting part 350 can carry out angle modulation in real time, guarantee brush 214 and the flat contact of photovoltaic board, photovoltaic board receives the influence of topography to put and also has undulation not flat in addition, angle adjusting part 350 can carry out angle modulation in real time like this, guarantee brush 214 and the flat contact of photovoltaic board.
The working principle of the invention is as follows: when the photovoltaic cleaning vehicle is started, the chassis 100 walks according to a preset line, when the brush assembly 210 contacts a photovoltaic panel, the upper and lower sets of CCD systems are used for detecting whether the upper and lower positions of the brush 214 on the photovoltaic panel are aligned, if the upper and lower positions are not aligned, the upper and lower sets of CCD systems are fed back to the control console 100, the control console 100 controls the multi-joint mechanical arm 300 to automatically adjust the spatial position of the cleaning device 200 until the two ends of the brush 214 are detected to be aligned with the two ends of the photovoltaic panel; the upper and lower sets of ultrasonic radar systems are used for detecting the distance between the brush 214 and the photovoltaic panel, if the distance is lower than or higher than a set standard value, the ultrasonic radar systems can feed back to the control console 100, the control console 100 controls the multi-joint mechanical arm 300 to automatically adjust the space position of the cleaning device 200 until the space position reaches the monitoring standard value, after the distance is adjusted in place, the brush 214 of the brush assembly 210 is driven by the autorotation power mechanism 230 to perform autorotation to clean the photovoltaic panel, the brush assembly is driven by the chassis 400 to move from left to right, after the cleaning is finished, the cleaned brush 214 is moved to a rack outside the photovoltaic platform to perform autorotation under the driving of the autorotation power mechanism 230, the brush dust self-cleaning is completed, and by adopting a waterless cleaning mode, the problem of water shortage in northwest areas is solved, and the; considering the problem of uneven local terrain constructed in northwest China, the free end of the multi-joint mechanical arm 300 is provided with the angle adjusting assembly 350, when the ground with fluctuating road diameter is arranged, the angle adjusting assembly 350 can adjust the angle in real time to ensure that the brush is in flat contact with the photovoltaic panel, in addition, the photovoltaic panel is also uneven when being placed under the influence of the terrain, and the angle adjusting assembly can adjust the angle in real time to ensure that the brush is in flat contact with the photovoltaic panel.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an adopt anhydrous mode of cleaning photovoltaic cleaning car of cleaning photovoltaic board, includes control cabinet (100), belt cleaning device (200), be used for adjusting belt cleaning device (200) spatial position's articulated arm (300), chassis (400) and with chassis (400) rotate the automobile body (500) of being connected, articulated arm (200) with control cabinet (100) electric connection, its characterized in that, belt cleaning device (200) include:
the brush assembly (210) is used for sweeping the photovoltaic panel, and the brush assembly (210) is connected with the free end of the multi-joint mechanical arm (300);
a monitoring mechanism (220) for monitoring the spatial position of the brush assembly (210) and feeding back to the console (100);
and the rotation power mechanism (230) is used for providing rotation force for the brush assembly (210), and the rotation power mechanism (230) is connected with the brush assembly (210).
2. The photovoltaic cleaning vehicle for cleaning photovoltaic panels in a waterless cleaning manner as claimed in claim 1, wherein the brush assembly (210) comprises a support rod (211), supports (212), a rotating shaft (213) and brushes (214), the support rod (211) is connected with the free end of the multi-joint mechanical arm (300), the two supports (212) are respectively disposed at two ends of the support rod (211), two ends of the rotating shaft (213) are respectively rotatably connected with the two supports (212), the brushes (214) are in a roller shape, and the brushes (214) are sleeved on the rotating shaft (213).
3. The photovoltaic cleaning vehicle for cleaning photovoltaic panels in a waterless sweeping manner according to claim 2, wherein there are two brushes (214), a gap (215) is provided between the two brushes (214), and the second gear (233) of the autorotation power mechanism (230) is sleeved with the rotating shaft (213) at the position of the gap (215).
4. The photovoltaic cleaning vehicle for cleaning photovoltaic panels by waterless sweeping as claimed in claim 3, wherein a reinforcing plate (216) is disposed on the supporting rod (211) at a position corresponding to the position of the slit (215), and a through hole (2161) for passing the rotating shaft (213) is disposed on the reinforcing plate (216).
5. The photovoltaic cleaning vehicle for cleaning the photovoltaic panel in the waterless cleaning manner as claimed in claim 1, wherein the monitoring mechanism (220) comprises two protruding plates (221) connected to the supporting rod (211), the two protruding plates (221) correspond to two ends of the brush (214), and the free end of each protruding plate (221) is provided with a CCD camera (222) for monitoring the up-and-down positions of the brush (214) and the photovoltaic panel and an ultrasonic radar (223) for monitoring the distance between the brush (214) and the photovoltaic panel.
6. The photovoltaic cleaning vehicle for cleaning photovoltaic panels in a waterless sweeping manner according to claim 5, wherein the CCD camera (222) comprises a CCD chip, a light source and a lens.
7. The photovoltaic cleaning vehicle for cleaning photovoltaic panels in a waterless cleaning manner as claimed in claim 5, wherein said ultrasonic radar (223) comprises a microprocessor chip, an ultrasonic transmitting probe and an ultrasonic receiving probe, said microprocessor chip is electrically connected to said ultrasonic transmitting probe and said ultrasonic receiving probe respectively.
8. The photovoltaic cleaning vehicle for cleaning photovoltaic panels in a waterless sweeping manner according to claim 1, it is characterized in that the autorotation power mechanism (230) comprises a driving motor (231), a first gear (232), a second gear (233), a transmission chain (234) and an L-shaped connecting plate (235), the output shaft of the driving motor (231) is sleeved with the first gear (232), the second gear (233) is sleeved on the rotating shaft (213) of the brush component (210), the transmission chain (234) is respectively connected with the first gear (232) and the second gear (233) to form a chain transmission, the L-shaped connecting plate (235) comprises a first connecting part (2351) and a second connecting plate (2352), the first connecting portion (2351) is connected with the driving motor (231), and the second connecting plate (2352) is connected with the supporting rod (211).
9. The photovoltaic cleaning vehicle for cleaning photovoltaic panels in a waterless cleaning manner as claimed in claim 1, wherein the multi-joint mechanical arm (300) comprises a large arm (310), a first oil cylinder (320), a small arm (330), and a second oil cylinder (340), one end of the large arm (310) is hinged to the vehicle body (500), the other end of the large arm (310) is hinged to the small arm (330), one end of the first oil cylinder (320) is hinged to the vehicle body (500), the other end of the first oil cylinder (320) is hinged to the large arm (310), the free end of the small arm (330) is hinged to the support rod (211) in the brush assembly (210), one end of the second oil cylinder (340) is hinged to the large arm (310), and the other end of the second oil cylinder (340) is hinged to the small arm (330).
10. The photovoltaic cleaning vehicle for cleaning photovoltaic panels by waterless sweeping according to claim 9, wherein the multi-joint mechanical arm (300) further comprises an angle adjusting assembly (350), the angle adjusting assembly (350) comprises two rocking bars (351), a connecting rod (352), a third cylinder (353) and a pressure plate (354), the two rocking bars (351) are respectively disposed on two side walls of one end of the small arm (330) far away from the large arm (310), one end of the connecting rod (352) is hinged to the two rocking bars (351), the other end of the connecting rod (352) is hinged to the pressure plate (354), one end of the third cylinder (353) is hinged to the small arm (330), the other end of the third cylinder (353) is hinged to the connecting rod (352), and one end of the pressure plate (354) far away from the connecting rod (352) is hinged to the small arm (330), the pressure plate (354) is connected with the support rod (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011242259.9A CN112337852A (en) | 2020-11-09 | 2020-11-09 | Photovoltaic cleaning vehicle adopting waterless cleaning mode to clean photovoltaic panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114130779A (en) * | 2021-12-31 | 2022-03-04 | 上海陆地智源机器人科技有限公司 | Working robot and photovoltaic module cleaning method |
| CN114602842A (en) * | 2022-03-25 | 2022-06-10 | 扬州大学 | Efficient cleaning method and device for surface dust of photovoltaic panel of solar photovoltaic power station |
| CN114682543A (en) * | 2022-02-22 | 2022-07-01 | 东华大学 | Photovoltaic solar panel intelligent cleaning device based on machine vision |
| CN115415216A (en) * | 2022-08-31 | 2022-12-02 | 湖南鸿辉重科装备制造有限公司 | Force feedback manipulator for cleaning photovoltaic panel |
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2020
- 2020-11-09 CN CN202011242259.9A patent/CN112337852A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114130779A (en) * | 2021-12-31 | 2022-03-04 | 上海陆地智源机器人科技有限公司 | Working robot and photovoltaic module cleaning method |
| CN114682543A (en) * | 2022-02-22 | 2022-07-01 | 东华大学 | Photovoltaic solar panel intelligent cleaning device based on machine vision |
| CN114602842A (en) * | 2022-03-25 | 2022-06-10 | 扬州大学 | Efficient cleaning method and device for surface dust of photovoltaic panel of solar photovoltaic power station |
| CN114602842B (en) * | 2022-03-25 | 2023-08-29 | 扬州大学 | Efficient cleaning method and device for dust on surface of photovoltaic panel of solar photovoltaic power station |
| CN115415216A (en) * | 2022-08-31 | 2022-12-02 | 湖南鸿辉重科装备制造有限公司 | Force feedback manipulator for cleaning photovoltaic panel |
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