CN113182227A - Intelligent cleaning robot for photovoltaic panel with two degrees of freedom - Google Patents
Intelligent cleaning robot for photovoltaic panel with two degrees of freedom Download PDFInfo
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- CN113182227A CN113182227A CN202110472417.8A CN202110472417A CN113182227A CN 113182227 A CN113182227 A CN 113182227A CN 202110472417 A CN202110472417 A CN 202110472417A CN 113182227 A CN113182227 A CN 113182227A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 179
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 41
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 238000003860 storage Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 9
- 238000010248 power generation Methods 0.000 abstract description 5
- 238000004134 energy conservation Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 239000000428 dust Substances 0.000 description 4
- 241000270288 Gekko Species 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000012459 cleaning agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- B08B1/30—
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
Abstract
The invention discloses a double-freedom-degree photovoltaic panel intelligent cleaning robot which comprises a motion module, a cleaning module, a power module and a control module. The invention adopts the alternate cleaning device, can realize single large-area cleaning while using less water resources, can be used for large-scale photovoltaic power generation bases, and can also be used for photovoltaic plates paved on roofs of ordinary families, solves the problem of cleaning the photovoltaic plates on the roofs, can completely liberate the labor cost, overcomes the problems of low cleaning efficiency, different cleaning effects from person to person, potential safety hazards of cleaning personnel and the like of the traditional manual cleaning mode, has the advantages of simple structure, reasonable structure, convenient use, energy conservation, environmental protection, good economy and easy popularization, and can be widely applied to the field of cleaning the photovoltaic plates.
Description
Technical Field
The invention relates to a double-freedom-degree intelligent cleaning robot for a photovoltaic panel.
Background
In order to reduce the influence of fossil energy on the environment, the development of clean energy has become a great trend, and the use of global energy is gradually changed from non-renewable resources such as petroleum to green clean energy such as solar photovoltaic power generation. The development of the photovoltaic industry has important significance for adjusting energy structures, promoting ecological civilization construction and the like. In recent years, photovoltaic panels have become more and more widely used under the strong national advocates. At present, solar energy already occupies a larger share in the global power generation market, and the newly increased photovoltaic grid-connected capacity of China in 2017 reaches 53.06 GW, which is increased by 53.6% on a same scale; by 2019, the cumulative grid-connected quantity of the photovoltaic installed power system reaches 1190.19 GW, the increase is 11% on the same scale, and the cumulative installed capacity of the distributed photovoltaic is 58.70 GW. By 2030, the 900 GW solar energy is newly added to generate electricity in China.
The solar photovoltaic panel is exposed outdoors for a long time and is easy to adsorb dust, and the dust can cause the illumination intensity irradiated on the solar photovoltaic panel to be weakened, so that a hot spot effect is caused, and the solar power generation efficiency is reduced. Regarding the hot spot effect, when a cell or a group of cells in the solar photovoltaic module is shielded from light or damaged, the working current is lower than the short-circuit current of the cell or the group of cells, a hot spot heating effect occurs in the module, and at this time, the shielded or damaged cell or group of cells will be placed in a reverse bias state to absorb power, thereby causing the photovoltaic panel to generate heat. Taking a 20 MW solar photovoltaic power station as an example, statistics shows that the generating efficiency of the solar photovoltaic panel in a clean state can reach 23% -25%, and if the solar cell module is polluted by dust and the like, the generating efficiency can be reduced to about 17% -18%. The loss of the generating efficiency can be calculated to be about 5% -8%, the photovoltaic generating efficiency can be greatly influenced, if the photovoltaic generating assembly is cleaned regularly, the influence of dust on the generating efficiency can be avoided, and the generating efficiency is greatly improved.
In 2009, boston university and northeast university in the united states together collaboratively developed a cleaning Robot PV Cleaner Robot V1.0 for photovoltaic arrays. The robot consists of a ground cart and a pair of electric carts that ride along the top and bottom. Arranging a trolley on the ground in front of the photovoltaic array, wherein the trolley is mainly responsible for providing energy for equipment and cleaning water resources; the cleaning device is arranged on the surface of the array in a form similar to a clamping groove, and is provided with a driving wheel to simultaneously move transversely in the array through the cleaning device and the ground trolley, so that the cleaning work is completed.
The company Sinfonia, japan announced that a global pioneer water-free robot that automatically moves and cleans on a solar panel has been successfully developed. The weight of the robot is about 10.9 kg, and the body of the cleaning robot is provided with a storage battery, so that the working time can reach 2 hours, the cleaning can be carried out on a panel of about 400 square meters, and the cleaning effect of the robot in a desert area with drought and water shortage can be comparable with the manual cleaning degree.
Aiming at the characteristics of the geographical position of the country, Ecoppia of Israeli 2014 develops a robot capable of cleaning by using waterless equipment. Aiming at photovoltaic arrays and photovoltaic power stations in arid regions, the equipment does not need clear water or various cleaning agents, and only needs to be provided with a special rolling brush.
GEKKO corporation of switzerland developed a kind of servot cleaning device. The cleaning device is composed of a cleaning device and a transport trolley, wherein the cleaning part is directly arranged on a photovoltaic cell panel, the translation on the photovoltaic cell panel is realized by the driving of a motor, the transport trolley moves on the ground, and the trolley carrying a water storage tank needs to move along with the cleaning device to provide a water source.
A Chongqing company has developed a photovoltaic panel cleaning robot in recent years. The automobile basically realizes automatic control, but adopts a rolling brush and water cleaning scheme at the same time, and is still a problem which is difficult to solve in water-deficient areas. Meanwhile, the machine adopts a tire vehicle to walk, and is flexible.
A certain company of shanghai has researched and developed a robot-Ruibao, its body structure comprises sucking disc and telescopic link, its theory of operation carries out reciprocating motion for depending on one piece of telescopic link that inside end to end, the robot adsorbs terminal sucking disc earlier, promote front end equipment forward through the telescopic link, when reaching the telescopic link limit, the front end sucking disc adsorbs, terminal sucking disc is released, the shrink telescopic link, shrink terminal equipment forward in advance, accomplish once and remove, preceding end portion installation round brush cleans when removing.
At present, manual work is also mostly carried out on cleaning and nursing of the photovoltaic panel, cleaning labor is consumed greatly, the problems that cleaning efficiency is low, cleaning effect is different from person to person, potential safety hazards exist in cleaning personnel and the like exist.
For the cleaning Robot PV Cleaner Robot V1.0 developed by the cooperation of Boston university and northeast university, the cleaning Robot developed by the company Sinfonia, Israel Ecoppia, and the SERBOT of the company GEKKO, Switzerland, the cleaning Robot needs to lay a special rail on the original photovoltaic panel. Meanwhile, for PV Cleaner Robot V1.0 developed by cooperation of Boston university and northeast university and SERBOT of Switzerland GEKKO company, a large amount of water is adopted for cleaning, so that great difficulty exists in water storage and water supply, and automation is difficult to realize. The cleaning robot developed by Ecoppia of Israel needs a special cleaning brush head, so that the price is high and the economical efficiency is poor.
For the photovoltaic panel cleaning robot developed by the Chongqing company in China, other problems exist except that a large amount of water resources still need to be used. If the vehicle is driven on a not very flat ground, the vehicle body will have a certain bump, which will cause the end cleaning device to vibrate and damage the photovoltaic panel. Meanwhile, the cleaning device is used for adopting an automobile as a carrier, and cannot be applied to roofs and narrow spaces, so that the application scene of the machine does not have universality at present.
For a robot-keepsake developed by a certain company in Shanghai, the robot cannot meet the requirement on the cleaning speed because the equipment cannot move and adsorb simultaneously due to the gap between the equipment and the equipment. Meanwhile, the robot also has the problems of insufficient cleaning area and the like in a single time.
Disclosure of Invention
The invention aims to solve the technical problem of providing a double-freedom-degree photovoltaic panel intelligent cleaning robot aiming at the defects in the background technology, which does not depend on a fixed structure of a laying track and an adsorption device, explores the use of less water resources for single large-area cleaning, and simultaneously solves the problems of quality and efficiency optimization in the cleaning process and remote control of the cleaning robot.
The invention adopts the following technical scheme for solving the technical problems:
the intelligent cleaning robot for the photovoltaic panel with two degrees of freedom comprises a motion module, a cleaning module, a power module and a control module;
the motion module comprises a frame, a sliding assembly, a mounting plate, first to second lead screws, first to fourth bearings, first to fourth lead screw brackets, first to fourth lead screw nuts, a first synchronous belt, a longitudinal motor, a transverse motor and a driving wheel;
the frame is rectangular and comprises a first short rod, a second short rod, a first long rod, a second long rod and a third long rod, wherein two ends of the first short rod are fixedly connected with one end of the first long rod and one end of the second long rod respectively, and two ends of the second short rod are fixedly connected with the other end of the first long rod and the other end of the second long rod respectively; the lengths of the first and second long rods are greater than the width of the photovoltaic panel;
the sliding assembly comprises first to fourth fixing units, first to fourth lower wall pulleys, first to fourth side wall pulleys and first to fourth upper wall pulleys;
the first fixing unit, the second fixing unit, the third fixing unit, the fourth fixing unit and the fourth fixing unit are identical in structure, are L-shaped and respectively comprise a first fixing rod and a second fixing rod, and one end of each second fixing rod is perpendicular to one end of the first fixing rod; the first fixing unit, the second fixing unit, the third fixing unit, the fourth fixing unit, the fifth fixing unit and the sixth fixing unit are arranged at four corners of the lower end face of the frame respectively, the other end of a first fixing rod of the first fixing unit is fixedly connected with the lower end face of the frame vertically, second fixing rods are parallel to the first long rod, and the first fixing unit, the fourth fixing unit and the fifth fixing unit are opened inwards;
the first to fourth lower wall pulleys are correspondingly arranged on the second fixing rods of the first to fourth fixing units one by one and are abutted against the lower end face of the photovoltaic panel; the rotating shafts of the first to fourth lower wall pulleys are all parallel to the first long rod;
the first to fourth upper wall pulleys are correspondingly arranged on the frame right above the first to fourth lower wall pulleys one by one and are abutted against the upper end face of the photovoltaic panel; the first to fourth upper wall pulley rotating shafts are all parallel to the first long rod;
the first to fourth side wall pulleys are correspondingly arranged on the first fixing rods of the first to fourth fixing units one by one and are abutted against the side walls of the photovoltaic panel; the rotating shafts of the first side wall pulley, the second side wall pulley and the fourth side wall pulley are all vertical to the frame;
the first lead screw bracket and the second lead screw bracket are both arranged on the first long rod; the first lead screw is parallel to the first long rod, one end of the first lead screw is connected with the first lead screw support through a first bearing, and the other end of the first lead screw is connected with the second lead screw support through a second bearing and can rotate freely; the first lead screw nut and the second lead screw nut are sleeved on the first lead screw and are in threaded connection with the first lead screw;
the third lead screw bracket and the fourth lead screw bracket are both arranged on the second long rod; the second lead screw is parallel to the second long rod, one end of the second lead screw is connected with the third lead screw support through a third bearing, and the other end of the second lead screw is connected with the fourth lead screw support through a fourth bearing and can rotate freely; the third screw nut and the fourth screw nut are sleeved on the second screw and are in threaded connection with the second screw;
synchronous wheels matched with the synchronous belts are arranged at one ends of the first lead screw and the second lead screw, which are close to the second short rod; the synchronous belt is arranged on the synchronous wheels of the first lead screw and the second lead screw and is used for enabling the first lead screw and the second lead screw to synchronously rotate;
the longitudinal motor is arranged on the first long rod, and an output shaft of the longitudinal motor is coaxially and fixedly connected with one end of the lead screw;
the mounting plate is arranged on the first short rod and used for fixing the transverse motor, the power supply module and the control module;
the output shaft of the transverse motor is coaxially and fixedly connected with the rotating shaft of the driving wheel, so that the driving wheel is pressed on the surface of the photovoltaic panel; the transverse motor is used for driving the driving wheel to rotate so as to enable the frame to slide on the photovoltaic panel along the direction of the first short rod;
the cleaning module comprises a cleaning box, a first connecting piece, a second connecting piece, a third connecting piece, a fourth connecting piece, a cleaning motor, an output wheel, an input wheel, a second synchronous belt, a cleaning assembly and fifth bearings, wherein the cleaning motor is arranged on the cleaning box;
the cleaning box is a hollow cuboid with an opening at the lower end, one end of the cleaning box is fixedly connected with the first lead screw nut and the second lead screw nut through a first connecting piece and a second connecting piece respectively, and the other end of the cleaning box is fixedly connected with the third lead screw nut and the fourth lead screw nut through a third connecting piece and a fourth connecting piece respectively;
the cleaning assembly comprises a switching shaft, N cleaning heads, a spray head, a water pump and a water storage box, wherein N is a natural number more than or equal to 2;
the cleaning head comprises a cleaning wiping head and a connecting plate, the cleaning wiping head is columnar, and the connecting plate is fixedly connected with the side wall of the cleaning wiping head;
the N cleaning heads are uniformly arranged outside the switching shaft in the circumferential direction, and connecting plates of the N cleaning heads are detachably and fixedly connected with the side wall of the switching shaft;
the cleaning assembly is arranged in the cleaning box, and two ends of the switching shaft of the cleaning assembly are connected with the inner walls of two ends of the cleaning box through a fifth bearing and a sixth bearing respectively, so that the cleaning assembly can rotate around the axis of the switching shaft in the cleaning box;
the side wall of one end of the cleaning box is provided with a through hole for the switching shaft to penetrate out and then to be coaxially and fixedly connected with the rotating shaft of the input wheel;
the cleaning motor is fixed on the outer wall of the cleaning box, an output shaft of the cleaning motor is coaxially and fixedly connected with a rotating shaft of the output wheel, and the output wheel and the input wheel are connected through the second synchronous belt, so that the cleaning motor can drive the switching shaft to rotate, and one of the N cleaning heads is abutted against the photovoltaic panel;
the water storage box is fixed on the cleaning box, and the outlet of the water storage box is connected with the nozzle pipeline through a water pump; the nozzle is arranged in the cleaning box and used for spraying water to the cleaning head which props against the photovoltaic panel;
the power supply module is used for supplying power;
the control module is electrically connected with the power module, the transverse motor, the longitudinal motor, the cleaning motor and the water pump respectively and used for controlling the transverse motor, the longitudinal motor, the cleaning motor and the water pump to work.
As a further optimization scheme of the double-freedom-degree photovoltaic panel intelligent cleaning robot, N is 3.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the photovoltaic plate cleaning machine can adapt to photovoltaic plates with different gradients without depending on track laying, can realize single large-area cleaning while using less water resources by adopting an alternate cleaning device, can be used for large-scale photovoltaic power generation bases, can also be used for photovoltaic plates laid on roofs of ordinary families, solves the problem of cleaning the photovoltaic plates on the roofs, can completely liberate the labor cost, overcomes the problems of low cleaning efficiency, different cleaning effects from person to person, potential safety hazards of cleaning personnel and the like of the traditional manual cleaning mode, has the advantages of simple structure, reasonable structure, convenience in use, energy conservation, environmental protection, good economical efficiency, easiness in popularization and capability of being widely applied to the field of cleaning the photovoltaic plates.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a portion of the sliding assembly of the present invention;
FIG. 3 is a schematic view of a cleaning module according to the present invention;
FIG. 4 is a schematic view of a cleaning assembly according to the present invention.
In the figure, 1-photovoltaic panel, 2-second short bar, 3-first long bar, 4-second long bar, 5-mounting plate, 6-first lead screw, 7-second lead screw, 8-first lead screw nut, 9-third lead screw nut, 10-fourth lead screw nut, 11-first synchronous belt, 12-longitudinal motor, 13-transverse motor, 14-driving wheel, 15-cleaning box, 16-first fixing bar, 17-second fixing bar, 18-first lower wall pulley, 19-first side wall pulley, 20-first upper wall pulley, 21-first connecting piece, 22-third connecting piece, 23-fourth connecting piece, 24-cleaning motor, 25-output wheel, 26-input wheel, 27-second synchronous belt, 28-switching shaft, 29-sixth bearing, 30-cleaning wiping head and 31-connecting plate.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
as shown in fig. 1, the invention discloses a double-degree-of-freedom intelligent cleaning robot for a photovoltaic panel, which comprises a motion module, a cleaning module, a power module and a control module;
the motion module comprises a frame, a sliding assembly, a mounting plate, first to second lead screws, first to fourth bearings, first to fourth lead screw brackets, first to fourth lead screw nuts, a first synchronous belt, a longitudinal motor, a transverse motor and a driving wheel;
the frame is rectangular and comprises a first short rod, a second short rod, a first long rod, a second long rod and a third long rod, wherein two ends of the first short rod are fixedly connected with one end of the first long rod and one end of the second long rod respectively, and two ends of the second short rod are fixedly connected with the other end of the first long rod and the other end of the second long rod respectively; the lengths of the first and second long rods are greater than the width of the photovoltaic panel;
as shown in fig. 2, the sliding assembly includes first to fourth fixing units, first to fourth lower wall pulleys, first to fourth side wall pulleys, and first to fourth upper wall pulleys;
the first fixing unit, the second fixing unit, the third fixing unit, the fourth fixing unit and the fourth fixing unit are identical in structure, are L-shaped and respectively comprise a first fixing rod and a second fixing rod, and one end of each second fixing rod is perpendicular to one end of the first fixing rod; the first fixing unit, the second fixing unit, the third fixing unit, the fourth fixing unit, the fifth fixing unit and the sixth fixing unit are arranged at four corners of the lower end face of the frame respectively, the other end of a first fixing rod of the first fixing unit is fixedly connected with the lower end face of the frame vertically, second fixing rods are parallel to the first long rod, and the first fixing unit, the fourth fixing unit;
the first to fourth lower wall pulleys are correspondingly arranged on the second fixing rods of the first to fourth fixing units one by one and are abutted against the lower end face of the photovoltaic panel; the rotating shafts of the first to fourth lower wall pulleys are all parallel to the first long rod;
the first to fourth upper wall pulleys are correspondingly arranged on the frame right above the first to fourth lower wall pulleys one by one and are abutted against the upper end face of the photovoltaic panel; the first to fourth upper wall pulley rotating shafts are all parallel to the first long rod;
the first to fourth side wall pulleys are correspondingly arranged on the first fixing rods of the first to fourth fixing units one by one and are abutted against the side walls of the photovoltaic panel; the rotating shafts of the first side wall pulley, the second side wall pulley and the fourth side wall pulley are all vertical to the frame;
the first lead screw bracket and the second lead screw bracket are both arranged on the first long rod; the first lead screw is parallel to the first long rod, one end of the first lead screw is connected with the first lead screw support through a first bearing, and the other end of the first lead screw is connected with the second lead screw support through a second bearing and can rotate freely; the first lead screw nut and the second lead screw nut are sleeved on the first lead screw and are in threaded connection with the first lead screw;
the third lead screw bracket and the fourth lead screw bracket are both arranged on the second long rod; the second lead screw is parallel to the second long rod, one end of the second lead screw is connected with the third lead screw support through a third bearing, and the other end of the second lead screw is connected with the fourth lead screw support through a fourth bearing and can rotate freely; the third screw nut and the fourth screw nut are sleeved on the second screw and are in threaded connection with the second screw;
synchronous wheels matched with the synchronous belts are arranged at one ends of the first lead screw and the second lead screw, which are close to the second short rod; the synchronous belt is arranged on the synchronous wheels of the first lead screw and the second lead screw and is used for enabling the first lead screw and the second lead screw to synchronously rotate;
the longitudinal motor is arranged on the first long rod, and an output shaft of the longitudinal motor is coaxially and fixedly connected with one end of the lead screw;
the mounting plate is arranged on the first short rod and used for fixing the transverse motor, the power supply module and the control module;
the output shaft of the transverse motor is coaxially and fixedly connected with the rotating shaft of the driving wheel, so that the driving wheel is pressed on the surface of the photovoltaic panel; the transverse motor is used for driving the driving wheel to rotate so as to enable the frame to slide on the photovoltaic panel along the direction of the first short rod;
as shown in fig. 3, the cleaning module includes a cleaning tank, first to fourth links, a cleaning motor, an output wheel, an input wheel, a second timing belt, a cleaning assembly, and fifth to sixth bearings;
the cleaning box is a hollow cuboid with an opening at the lower end, one end of the cleaning box is fixedly connected with the first lead screw nut and the second lead screw nut through a first connecting piece and a second connecting piece respectively, and the other end of the cleaning box is fixedly connected with the third lead screw nut and the fourth lead screw nut through a third connecting piece and a fourth connecting piece respectively;
as shown in fig. 4, the cleaning assembly includes a switching shaft, N cleaning heads, a nozzle, a water pump, and a water storage box, where N is a natural number greater than or equal to 2;
the cleaning head comprises a cleaning wiping head and a connecting plate, the cleaning wiping head is columnar, and the connecting plate is fixedly connected with the side wall of the cleaning wiping head;
the N cleaning heads are uniformly arranged outside the switching shaft in the circumferential direction, and connecting plates of the N cleaning heads are detachably and fixedly connected with the side wall of the switching shaft;
the cleaning assembly is arranged in the cleaning box, and two ends of the switching shaft of the cleaning assembly are connected with the inner walls of two ends of the cleaning box through a fifth bearing and a sixth bearing respectively, so that the cleaning assembly can rotate around the axis of the switching shaft in the cleaning box;
the side wall of one end of the cleaning box is provided with a through hole for the switching shaft to penetrate out and then to be coaxially and fixedly connected with the rotating shaft of the input wheel;
the cleaning motor is fixed on the outer wall of the cleaning box, an output shaft of the cleaning motor is coaxially and fixedly connected with a rotating shaft of the output wheel, and the output wheel and the input wheel are connected through the second synchronous belt, so that the cleaning motor can drive the switching shaft to rotate, and one of the N cleaning heads is abutted against the photovoltaic panel;
the water storage box is fixed on the cleaning box, and the outlet of the water storage box is connected with the nozzle pipeline through a water pump; the nozzle is arranged in the cleaning box and used for spraying water to the cleaning head which props against the photovoltaic panel;
the power supply module is used for supplying power;
the control module is electrically connected with the power module, the transverse motor, the longitudinal motor, the cleaning motor and the water pump respectively and used for controlling the transverse motor, the longitudinal motor, the cleaning motor and the water pump to work.
The N takes 3 first.
The cleaning device is suitable for solar photovoltaic panels with different gradients, and achieves the cleaning effect of cleaning photovoltaic panels with larger areas at one time by using a small amount of water resources.
The cleaning machine can be further upgraded and is controlled by wireless connection of the mobile phone and the control module, after a user starts the device on a mobile phone interface, the water pump is controlled to work, water is sprayed through the spray head device, the cleaning head is wetted, and then cleaning is completed through longitudinal movement of the cleaning box and transverse movement of the integral frame.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The intelligent cleaning robot for the photovoltaic panel with two degrees of freedom is characterized by comprising a motion module, a cleaning module, a power module and a control module;
the motion module comprises a frame, a sliding assembly, a mounting plate, first to second lead screws, first to fourth bearings, first to fourth lead screw brackets, first to fourth lead screw nuts, a first synchronous belt, a longitudinal motor, a transverse motor and a driving wheel;
the frame is rectangular and comprises a first short rod, a second short rod, a first long rod, a second long rod and a third long rod, wherein two ends of the first short rod are fixedly connected with one end of the first long rod and one end of the second long rod respectively, and two ends of the second short rod are fixedly connected with the other end of the first long rod and the other end of the second long rod respectively; the lengths of the first and second long rods are greater than the width of the photovoltaic panel;
the sliding assembly comprises first to fourth fixing units, first to fourth lower wall pulleys, first to fourth side wall pulleys and first to fourth upper wall pulleys;
the first fixing unit, the second fixing unit, the third fixing unit, the fourth fixing unit and the fourth fixing unit are identical in structure, are L-shaped and respectively comprise a first fixing rod and a second fixing rod, and one end of each second fixing rod is perpendicular to one end of the first fixing rod; the first fixing unit, the second fixing unit, the third fixing unit, the fourth fixing unit, the fifth fixing unit and the sixth fixing unit are arranged at four corners of the lower end face of the frame respectively, the other end of a first fixing rod of the first fixing unit is fixedly connected with the lower end face of the frame vertically, second fixing rods are parallel to the first long rod, and the first fixing unit, the fourth fixing unit and the fifth fixing unit are opened inwards;
the first to fourth lower wall pulleys are correspondingly arranged on the second fixing rods of the first to fourth fixing units one by one and are abutted against the lower end face of the photovoltaic panel; the rotating shafts of the first to fourth lower wall pulleys are all parallel to the first long rod;
the first to fourth upper wall pulleys are correspondingly arranged on the frame right above the first to fourth lower wall pulleys one by one and are abutted against the upper end face of the photovoltaic panel; the first to fourth upper wall pulley rotating shafts are all parallel to the first long rod;
the first to fourth side wall pulleys are correspondingly arranged on the first fixing rods of the first to fourth fixing units one by one and are abutted against the side walls of the photovoltaic panel; the rotating shafts of the first side wall pulley, the second side wall pulley and the fourth side wall pulley are all vertical to the frame;
the first lead screw bracket and the second lead screw bracket are both arranged on the first long rod; the first lead screw is parallel to the first long rod, one end of the first lead screw is connected with the first lead screw support through a first bearing, and the other end of the first lead screw is connected with the second lead screw support through a second bearing and can rotate freely; the first lead screw nut and the second lead screw nut are sleeved on the first lead screw and are in threaded connection with the first lead screw;
the third lead screw bracket and the fourth lead screw bracket are both arranged on the second long rod; the second lead screw is parallel to the second long rod, one end of the second lead screw is connected with the third lead screw support through a third bearing, and the other end of the second lead screw is connected with the fourth lead screw support through a fourth bearing and can rotate freely; the third screw nut and the fourth screw nut are sleeved on the second screw and are in threaded connection with the second screw;
synchronous wheels matched with the synchronous belts are arranged at one ends of the first lead screw and the second lead screw, which are close to the second short rod; the synchronous belt is arranged on the synchronous wheels of the first lead screw and the second lead screw and is used for enabling the first lead screw and the second lead screw to synchronously rotate;
the longitudinal motor is arranged on the first long rod, and an output shaft of the longitudinal motor is coaxially and fixedly connected with one end of the lead screw;
the mounting plate is arranged on the first short rod and used for fixing the transverse motor, the power supply module and the control module;
the output shaft of the transverse motor is coaxially and fixedly connected with the rotating shaft of the driving wheel, so that the driving wheel is pressed on the surface of the photovoltaic panel; the transverse motor is used for driving the driving wheel to rotate so as to enable the frame to slide on the photovoltaic panel along the direction of the first short rod;
the cleaning module comprises a cleaning box, a first connecting piece, a second connecting piece, a third connecting piece, a fourth connecting piece, a cleaning motor, an output wheel, an input wheel, a second synchronous belt, a cleaning assembly and fifth bearings, wherein the cleaning motor is arranged on the cleaning box;
the cleaning box is a hollow cuboid with an opening at the lower end, one end of the cleaning box is fixedly connected with the first lead screw nut and the second lead screw nut through a first connecting piece and a second connecting piece respectively, and the other end of the cleaning box is fixedly connected with the third lead screw nut and the fourth lead screw nut through a third connecting piece and a fourth connecting piece respectively;
the cleaning assembly comprises a switching shaft, N cleaning heads, a spray head, a water pump and a water storage box, wherein N is a natural number more than or equal to 2;
the cleaning head comprises a cleaning wiping head and a connecting plate, the cleaning wiping head is columnar, and the connecting plate is fixedly connected with the side wall of the cleaning wiping head;
the N cleaning heads are uniformly arranged outside the switching shaft in the circumferential direction, and connecting plates of the N cleaning heads are detachably and fixedly connected with the side wall of the switching shaft;
the cleaning assembly is arranged in the cleaning box, and two ends of the switching shaft of the cleaning assembly are connected with the inner walls of two ends of the cleaning box through a fifth bearing and a sixth bearing respectively, so that the cleaning assembly can rotate around the axis of the switching shaft in the cleaning box;
the side wall of one end of the cleaning box is provided with a through hole for the switching shaft to penetrate out and then to be coaxially and fixedly connected with the rotating shaft of the input wheel;
the cleaning motor is fixed on the outer wall of the cleaning box, an output shaft of the cleaning motor is coaxially and fixedly connected with a rotating shaft of the output wheel, and the output wheel and the input wheel are connected through the second synchronous belt, so that the cleaning motor can drive the switching shaft to rotate, and one of the N cleaning heads is abutted against the photovoltaic panel;
the water storage box is fixed on the cleaning box, and the outlet of the water storage box is connected with the nozzle pipeline through a water pump; the nozzle is arranged in the cleaning box and used for spraying water to the cleaning head which props against the photovoltaic panel;
the power supply module is used for supplying power;
the control module is electrically connected with the power module, the transverse motor, the longitudinal motor, the cleaning motor and the water pump respectively and used for controlling the transverse motor, the longitudinal motor, the cleaning motor and the water pump to work.
2. The two-degree-of-freedom photovoltaic panel intelligent cleaning robot of claim 1, wherein N is 3.
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Application publication date: 20210730 |