CN112705512A - Solar photovoltaic board cleaning robot - Google Patents

Abstract

The invention discloses a solar photovoltaic panel cleaning robot, which comprises a chassis, wherein a water tank is arranged inside the chassis, a spray head is arranged at the top of the water tank, an inner layer transverse walking unit for driving the robot to transversely walk is arranged on the outer side of the chassis, a longitudinal walking unit for driving the robot to longitudinally walk is arranged outside the inner layer transverse walking unit through four guide mechanisms, and an outer layer rolling brush driving unit is arranged on the outer side of the longitudinal walking unit through four guide mechanisms and two linkage lifting locking structures. Cleaning the whole area.

Description

Solar photovoltaic board cleaning robot

Technical Field

The invention relates to the technical field of photovoltaic panel cleaning, in particular to a solar photovoltaic panel cleaning robot.

Background

The geographical position of Taizhou city of Zhejiang province in China is extremely thick, and the pattern of Qishan mountain-water-field separation inclines from west to east, so that the area of sunlight is increased, and favorable conditions are provided for Taizhou to use the solar photovoltaic panel in a large area.

Thanks to the 'implementation opinions about promoting the construction of million family roof photovoltaic projects in Zhejiang province' issued by Zhejiang province and the national subsidy policy of changing from 'golden sun' and 'photoelectric buildings' into electricity price subsidy, the number of families using solar photovoltaic in Taizhou is increasing year by year.

Photovoltaic power generation is a technique of directly converting light energy into electric energy by using an electromotive force generated when a thin solid photovoltaic cell made almost entirely of a semiconductor material (e.g., silicon) is irradiated with light. The long-time standing of the photovoltaic cell assembly causes the accumulation of suspended particles to block the illumination outside, which not only causes the generation efficiency of the photovoltaic panel to become low and the generated energy to be lost, but also seriously generates the hot spot effect, and causes the service life of the assembly to be shortened and even the assembly to be damaged. Therefore, cleaning as required to ensure the cleanliness of the surface of the photovoltaic panel is particularly important for ensuring the power generation efficiency. And as the number of solar photovoltaic panels used in Taizhou increases, the cleaning pressure of the solar photovoltaic panels also increases gradually, and the traditional cleaning mode mainly comprises the following steps:

the cleaning method comprises the following steps: manual cleaning/manual cleaning with tools, manual washing and scraping are performed by the photovoltaic cleaning water spray brush head, so that accumulated dust is removed, and higher photovoltaic power generation efficiency is recovered. The advantages are that: and (5) cleaning. The disadvantages are as follows: the cleaning time is long, the personnel are not easy to manage, the water resource is wasted, the safety coefficient is low, the hidden crack is easily caused when the personnel trample the battery plate, and the accidental falling seriously causes the casualty;

and a second cleaning mode: the mechanized cleaning vehicle, the bulky cleaning vehicle cleans and erodes between photovoltaic rows. The advantages are that: the labor is saved. The disadvantages are as follows: the requirement on the field installation distance is met, and the cleaning is not uniform;

a third cleaning mode: intelligence photovoltaic board cleaning machines people cleans the washing by the robot, saves the manual work, but remote control or backstage operation, self-defined washing time. Compare with traditional clean mode, intelligence cleans machine people and washs and have following six advantages: 1. self-powered, energy storage and no need of external power supply; 2. intelligent control and unattended operation are realized, and labor cost is saved; 3. the water-free cleaning, energy saving and environmental protection are realized, and the water is saved; 4. the operation frequency is freely set, and the cleaning is carried out regularly according to the environment of the field; 5. the cleaning force of the robot is uniform, and hidden cracking of the battery piece is avoided; 6. the robot can work at night. The disadvantages are as follows: the robot can be blocked by the uneven photovoltaic panel frame, the robot cannot normally return, and operation and maintenance personnel cannot find the position where the robot stays on the spot, so that the traditional method has many defects in cleaning the solar photovoltaic panel.

Disclosure of Invention

The invention aims to provide a solar photovoltaic panel cleaning robot to solve the problems of various defects of the existing photovoltaic panel cleaning mode in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a solar photovoltaic board cleaning machines people, includes the chassis, the internally mounted on chassis has the water tank, the shower nozzle is installed at the top of water tank, the shower nozzle passes through pipeline and the inside micropump intercommunication of water tank, the outside of water tank is equipped with fixed mounting in the inside control module group and the battery in chassis, the outside on chassis is equipped with and is used for driving the horizontal walking unit of inlayer that the robot carries out horizontal walking, the outside of the horizontal walking unit of inlayer is installed through four guiding mechanism and is used for driving the robot to carry out vertical walking unit of vertically walking, the outer round brush drive unit is installed through four guiding mechanism and two linkage lifting locking structures in the outside of vertical walking unit.

In order to realize the stability of the machine when the inner layer and the outer layer are lifted, the invention is taken as a preferred scheme that: the guide mechanism comprises a linear sliding block, and the linear sliding block is connected with a linear sliding rail in a sliding fit manner.

In order to realize the transverse walking of the robot on the photovoltaic panel, the invention adopts a preferable scheme that: the transverse walking unit of the inner layer comprises a first mounting frame sleeved outside the chassis, transverse walking wheels are installed at two ends of the outer side of the first mounting frame in a rotating mode, wheel shafts of the transverse walking wheels penetrate through bearings embedded in the first mounting frame and are connected with first driven teeth, the first driven teeth are located on the same side, a first stepping motor with first driving teeth is installed on the first driven teeth in a connected mode through chain transmission, and the first stepping motor is installed on the outer side of the first mounting frame.

In order to realize the longitudinal walking of the robot on the photovoltaic panel, the invention adopts a preferable scheme that: vertical walking unit includes the fourth mounting bracket with chassis top piece fixed connection, two linear slide rail are all installed to the both sides inside of fourth mounting bracket, two linear slide rail and the sharp slider sliding connection of first mounting bracket outside installation, two baffles are all installed at the both ends of fourth mounting bracket, two on the same end vertical walking wheel is all installed through two shaft to the inside of baffle, one side mid-mounting of baffle has fourth step motor, fourth step motor is connected through the driven tooth transmission of the second of installation of second initiative tooth cooperation chain and vertical walking wheel.

In order to realize the linkage of the inner layer and the outer layer of the robot, the invention is a preferable scheme that: linkage lift locking structure including be located two baffle both sides of homonymy and with fourth mounting bracket fixed connection's third mounting bracket, the lead screw mount pad is all installed, every in four stand outsides of third mounting bracket one side of lead screw mount pad all is equipped with the connecting seat, the connecting seat passes through lead screw nut and the inside ball screw threaded connection of lead screw mount pad, every driven pulleys is all installed at ball screw's top, four driven pulleys passes through belt 57 and is connected with the driving pulley transmission of third step motor installation, the third step motor is installed in third mounting bracket one end.

In order to clean the surface of the photovoltaic panel, as a preferred embodiment of the present invention: outer round brush drive unit is including overlapping in the outside second mounting bracket of fourth mounting bracket, two round brushes are installed to the inboard of second mounting bracket, two the driven tooth of third is all installed at the both ends of round brush, second step motor is all installed to the both ends inboard of second mounting bracket, second step motor is connected with two driven tooth transmissions of corresponding through the third initiative tooth cooperation chain of installation.

In order to guide the outer layer rolling brush when the outer layer rolling brush driving unit and the longitudinal walking unit ascend and descend, the invention is a preferable scheme that: two linear sliding blocks are installed on the inner sides of the two ends of the second installation frame and are connected with linear sliding rails installed at the two ends of the fourth installation frame in a sliding mode.

In order to drive the outer layer rolling brush driving unit to lift through the linkage lifting locking structure, the invention is characterized in that: the connecting seat is fixedly connected with the second mounting frame through screws.

In order to realize intelligent control of the robot, the invention adopts a preferable scheme that: the control module is composed of a stm32f7 series single chip microcomputer control unit and a GPS (global positioning system) for carrying out position positioning by matching with the Yingweida jetson tx2 for carrying out visual identification, the micropump, the first stepping motor, the second stepping motor, the third stepping motor and the fourth stepping motor are all electrically connected with the single chip microcomputer in the control module, and the single chip microcomputer is electrically connected with the storage battery.

Compared with the prior art, the invention has the beneficial effects that:

1) the cleaning robot is structurally divided into three motion units, namely an inner-layer transverse walking unit, a longitudinal walking unit and an outer-layer rolling brush driving unit, the three motion units are in linkage cooperation and have clear labor division, and the cleaning robot is different from the traditional one-way robot which is used in the fish industry and can only move in a single degree of freedom, the designed inner layer can transversely walk to complete large-scale and full-area cleaning, a plurality of runways are arranged, and the time and the economic cost are greatly reduced;

2) the inner-layer transverse walking unit is driven by two direct-current stepping motors through a chain to drive a transverse walking wheel to rotate, is used for controlling the transverse motion of the robot, and can transversely move to the next plane after one plane is cleaned to perform subsequent plane cleaning work;

3) the outer layer rolling brush driving unit is driven by two direct current stepping motors through a chain to drive the rolling brushes to rotate so as to carry out efficient cleaning work;

4) the control module is operated by a stm32f7 series single chip microcomputer, the control logic is that visual identification is carried out through Yingweida jetson tx2 and position positioning is carried out by matching with a GPS, the motion precision of the control module in a working plane is ensured to be 0.01m through a series of intelligent algorithms, and the motion safety is ensured on the basis of a software level;

5) through the micropump cooperation shower nozzle of water tank installation in the chassis, can spout the sanitizer in the water tank to the photovoltaic board, further ensure the clear cleanliness property of photovoltaic board.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a bottom view of the present invention;

FIG. 4 is a side view of the present invention;

FIG. 5 is a schematic view of the inner layer transverse walking unit structure of the present invention

FIG. 6 is a schematic view of an outer layer brush driving unit according to the present invention

FIG. 7 is a schematic structural view of a linkage lifting locking structure of the present invention

Fig. 8 is a schematic view of a connection structure of the linkage lifting locking structure and the longitudinal traveling unit according to the present invention.

In the figure: 1. a chassis; 11. a water tank; 12. a spray head; 13. a control module; 14. a storage battery; 2. an inner layer transverse walking unit; 21. a first mounting bracket; 22. a first driven tooth; 23. a first stepper motor; 25. a transverse travelling wheel; 3. a guide mechanism; 31. a linear slider; 32. a linear slide rail; 4. an outer layer brush drive unit; 41. a second mounting bracket; 42. rolling and brushing; 43. a second stepping motor; 5. a linkage lifting locking structure; 51. a third mounting bracket; 52. a screw rod mounting seat; 53. a connecting seat; 54. a ball screw; 55. a driven pulley; 56. a third step motor; 57. a belt; 6. a longitudinal traveling unit; 61. a fourth mounting bracket; 62. a fourth stepping motor; 63. and a longitudinal travelling wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a solar photovoltaic board cleaning machines people, which comprises a base 1, the internally mounted of chassis 1 has water tank 11, shower nozzle 12 is installed at the top of water tank 11, shower nozzle 12 passes through pipeline and the micropump intercommunication of 11 insides of water tank, the outside of water tank 11 is equipped with fixed mounting in 1 inside control module group 13 and battery 14 on chassis, the outside on chassis 1 is equipped with the horizontal walking unit 2 in inlayer that is used for driving the robot to carry out horizontal walking, the outside of the horizontal walking unit 2 in inlayer is installed through four guiding mechanism 3 and is used for driving the robot to carry out vertical walking unit 6 of walking, outer round brush drive unit 4 is installed through four guiding mechanism 3 and two linkage lift locking structure 5 in the outside of vertical walking unit 6.

In this embodiment: the guide mechanism 3 comprises a linear slide block 31, and a linear slide rail 32 is connected to the linear slide block 31 in a sliding fit manner.

Specifically, through the sliding fit of the linear sliding block 31 and the linear sliding rail 32, the lifting stability and the smoothness between the inner-layer transverse walking unit 2 and the longitudinal walking unit 6 and between the longitudinal walking unit 6 and the outer-layer rolling brush driving unit 4 can be improved.

In this embodiment: the inner-layer transverse walking unit 2 comprises a first mounting frame 21 sleeved outside the chassis 1, transverse walking wheels 25 are installed at two ends of the outer side of the first mounting frame 21 in a rotating mode, wheel shafts of the transverse walking wheels 25 penetrate through bearings embedded in the first mounting frame 21 and are connected with first driven teeth 22, two first driven teeth 22 located on the same side are connected through chains and provided with first stepping motors 23 of first driving teeth, and the first stepping motors 23 are installed on the outer side of the first mounting frame 21.

Specifically, two first stepping motors 23 are controlled by a single chip microcomputer to drive a first driving tooth to rotate, and a chain drives a first driven tooth 22 of a transverse traveling wheel 25 to rotate, so that transverse motion control of the cleaning robot on a photovoltaic panel is realized, and after a plane is cleaned, an outer layer rolling brush driving unit 4 can transversely move to the next plane to clean the subsequent plane.

In this embodiment: vertical walking unit 6 includes the fourth mounting bracket 61 with 1 top of chassis lapping fixed connection, two linear slide rails 32 are all installed to the inside both sides of fourth mounting bracket 61, the sharp slider 31 sliding connection of two linear slide rails 32 and the installation in the first mounting bracket 21 outside, two baffles are all installed at the both ends of fourth mounting bracket 61, vertical walking wheel 63 is all installed through two shaft in the inside of two baffles of same end, one side mid-mounting of baffle has fourth step motor 62, fourth step motor 62 is connected with the driven tooth transmission of the second of vertical walking wheel 63 installation through the second initiative tooth cooperation chain of installation.

Concretely, it carries out quick lift to drive vertical walking unit 6 and outer round brush drive unit 4 through single chip microcomputer control linkage lift locking structure 5, and make horizontal walking wheel 25 lift from the photovoltaic board, drive the second through two fourth step motor 62 of single chip microcomputer control and drive the second initiative tooth and rotate this moment, and the driven tooth of second through the vertical walking wheel 63 of chain drive rotates, realize the horizontal longitudinal motion control of cleaning machines people on the photovoltaic board, the rethread round brush 42 realizes the cleanness to the photovoltaic board surface.

In this embodiment: linkage lift locking structure 5 is including being located two baffle both sides of homonymy and with fourth mounting bracket 61 fixed connection's third mounting bracket 51, lead screw mount pad 52 is all installed in four stand outsides of third mounting bracket 51, one side of every lead screw mount pad 52 all is equipped with connecting seat 53, connecting seat 53 passes through lead screw nut and the inside ball 54 threaded connection of lead screw mount pad 52, driven pulleys 55 are all installed at every ball 54's top, four driven pulleys 55 are connected through the belt 57 with the driving pulley transmission of third step motor 56 installation, third step motor 56 is installed in third mounting bracket 51 one end.

Specifically, through four ball screws 54 with self-locking function, wherein the rotation directions of the ball screws 54 on the two sides of the partition plate are opposite, a third stepping motor 56 with an encoder drives a driving pulley to rotate, the driving pulley is matched with a belt 57 to drive the four ball screws 54 to rotate, and the rotation directions of the inner ball screw 54 and the outer ball screw 54 are opposite, so that the screw nuts on the inner ball screw 54 and the outer ball screw 54 are matched with a connecting seat 53 to drive an inner layer transverse walking unit 2 and an outer layer rolling brush driving unit 4 to perform lifting motion, and the function of linkage of the inner layer and the outer layer is realized. Because the inner and outer layers of the three-layer movement unit are not necessarily in the same plane when moving, the movement of the inner and outer layers can be realized through the same step motor by the beneficial function of the linkage, the lead screw has a self-locking function, the inner layer and the outer layer can be well fixed in a working plane, the motor does not exert power at the moment, the heating generated by the long-time working of the motor is avoided, the service life of the motor is prolonged, an encoder can be further installed on the lead screw nut to carry out position closed loop, the rotating speed of the third step motor 56 on the two sides is ensured to be the same, and.

In this embodiment: outer round brush drive unit 4 is including overlapping in the outside second mounting bracket 41 of fourth mounting bracket 61, and two round brushes 42 are installed to the inboard of second mounting bracket 41, and the driven tooth of third is all installed at the both ends of two round brushes 42, and second step motor 43 is all installed to the both ends inboard of second mounting bracket 41, and second step motor 43 is connected with two driven tooth transmission that correspond through the third initiative tooth cooperation chain of installation.

Specifically, after the single chip microcomputer control linkage lifting locking structure 5 drives the longitudinal walking unit 6 and the outer layer rolling brush driving unit 4 to rapidly lift, the single chip microcomputer control second stepping motor 43 is used for driving the third driving tooth, the third driving tooth is used for matching with the chain to drive the third driven tooth of the rolling brush 42 to rotate, and then the rolling brush 42 is rotated to clean the photovoltaic panel through contact with the photovoltaic panel.

In this embodiment: two linear sliding blocks 31 are mounted on the inner sides of the two ends of the second mounting frame 41, and the linear sliding blocks 31 are connected with linear sliding rails 32 mounted at the two ends of the fourth mounting frame 61 in a sliding manner.

Specifically, the second mounting bracket 41 is in sliding fit with the fourth mounting bracket 61 through the guide mechanism 3, so that the smooth stability of the outer layer roller brush driving unit 4 and the longitudinal walking unit 6 during lifting and sliding is improved.

Further, the connecting seat 53 is fixedly connected with the second mounting frame 41 through a screw, so that the linkage lifting locking structure 5 is connected with the outer layer rolling brush driving unit 4.

Further, the control module 13 is composed of a stm32f7 series single chip microcomputer control unit and an invida jetson tx2 for visual identification, and a GPS for positioning is matched, the micropump, the first stepping motor 23, the second stepping motor 43, the third stepping motor 56 and the fourth stepping motor 62 are all electrically connected with the single chip microcomputer in the control module 13, the single chip microcomputer is electrically connected with the storage battery 14, the motion precision of the single chip microcomputer in the working plane is guaranteed to be 0.01m through a series intelligent algorithm, and the motion safety is guaranteed based on a software layer.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes, modifications, equivalents, and improvements may be made without departing from the spirit and scope of the invention.

Claims (9)

1. The utility model provides a solar photovoltaic board cleaning machines people, includes chassis (1), its characterized in that: the internally mounted of chassis (1) has water tank (11), shower nozzle (12) are installed at the top of water tank (11), shower nozzle (12) are through pipeline and the inside micropump intercommunication of water tank (11), the outside of water tank (11) is equipped with fixed mounting in inside control module group (13) and battery (14) of chassis (1), the outside of chassis (1) is equipped with inner horizontal walking unit (2) that are used for driving the robot to carry out horizontal walking, the outside of inner horizontal walking unit (2) is installed through four guiding mechanism (3) and is used for driving the robot to carry out vertical walking unit (6) of vertically walking, outer round brush drive unit (4) are installed through four guiding mechanism (3) and two linkage lifting locking structures (5) in the outside of vertical walking unit (6).

2. The solar photovoltaic panel cleaning robot of claim 1, wherein: the guide mechanism (3) comprises a linear sliding block (31), and the linear sliding block (31) is connected with a linear sliding rail (32) in a sliding fit manner.

3. The solar photovoltaic panel cleaning robot of claim 2, wherein: the inner-layer transverse walking unit (2) comprises a first mounting frame (21) sleeved outside the chassis (1), transverse walking wheels (25) are installed at two ends of the outer side of the first mounting frame (21) in a rotating mode, wheel shafts of the transverse walking wheels (25) penetrate through bearings embedded in the first mounting frame (21) and are connected with first driven teeth (22), the first driven teeth (22) are located on the same side, first stepping motors (23) of first driving teeth are installed on the first driven teeth (22) in a connecting mode through chain transmission, and the first stepping motors (23) are installed on the outer side of the first mounting frame (21).

4. The solar photovoltaic panel cleaning robot of claim 3, wherein: vertical walking unit (6) include with chassis (1) top piece fixed connection's fourth mounting bracket (61), two linear slide rail (32) are all installed, two to the both sides inside of fourth mounting bracket (61) linear slide rail (32) and linear slide block (31) sliding connection of first mounting bracket (21) outside installation, two baffles are all installed at the both ends of fourth mounting bracket (61), two on the same end the vertical walking wheel (63) are all installed through two shaft to the inside of baffle, one side mid-mounting of baffle has fourth step motor (62), fourth step motor (62) are connected with the driven tooth transmission of the second of vertical walking wheel (63) installation through the second initiative tooth cooperation chain of installation.

5. The solar photovoltaic panel cleaning robot of claim 4, wherein: linkage lift locking structure (5) including be located two baffle both sides of homonymy and with fourth mounting bracket (61) fixed connection's third mounting bracket (51), lead screw mount pad (52), every are all installed in four stand outsides of third mounting bracket (51) one side of lead screw mount pad (52) all is equipped with connecting seat (53), ball (54) threaded connection inside lead screw mount pad (52) is passed through screw nut in connecting seat (53), every driven pulleys (55) are all installed at the top of ball (54), four driven pulleys (55) are connected through the driving pulley transmission of belt (57) with third step motor (56) installation, third step motor (56) are installed in third mounting bracket (51) one end.

6. The solar photovoltaic panel cleaning robot of claim 5, wherein: outer round brush drive unit (4) are including overlapping in the outside second mounting bracket (41) of fourth mounting bracket (61), two round brushes (42), two are installed to the inboard of second mounting bracket (41) the driven tooth of third is all installed at the both ends of round brush (42), second step motor (43) are all installed to the both ends inboard of second mounting bracket (41), second step motor (43) are connected with two driven tooth transmissions that correspond through the third initiative tooth cooperation chain of installation.

7. The solar photovoltaic panel cleaning robot of claim 6, wherein: two linear sliding blocks (31) are installed on the inner sides of the two ends of the second installation rack (41), and the linear sliding blocks (31) are connected with linear sliding rails (32) installed at the two ends of the fourth installation rack (61) in a sliding mode.

8. The solar photovoltaic panel cleaning robot of claim 6, wherein: the connecting seat (53) is fixedly connected with the second mounting frame (41) through screws.

9. The solar photovoltaic panel cleaning robot of claim 6, wherein: the control module (13) is composed of a stm32f7 series single chip microcomputer control unit and an English WEIDA jetson tx2 for visual identification, and a GPS for positioning is matched, the micropump, the first stepping motor (23), the second stepping motor (43), the third stepping motor (56) and the fourth stepping motor (62) are all electrically connected with the single chip microcomputer in the control module (13), and the single chip microcomputer is electrically connected with the storage battery (14).

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