CN113333389B - Photovoltaic panel cleaning robot - Google Patents
Photovoltaic panel cleaning robot Download PDFInfo
- Publication number
- CN113333389B CN113333389B CN202110741355.6A CN202110741355A CN113333389B CN 113333389 B CN113333389 B CN 113333389B CN 202110741355 A CN202110741355 A CN 202110741355A CN 113333389 B CN113333389 B CN 113333389B
- Authority
- CN
- China
- Prior art keywords
- photovoltaic panel
- cleaning robot
- bottom frame
- annular wall
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 93
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 239000000428 dust Substances 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 27
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 19
- 239000000741 silica gel Substances 0.000 claims description 13
- 229910002027 silica gel Inorganic materials 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 239000004745 nonwoven fabric Substances 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 239000012535 impurity Substances 0.000 claims description 2
- 238000007664 blowing Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 abstract description 2
- 238000001179 sorption measurement Methods 0.000 description 14
- 230000004308 accommodation Effects 0.000 description 8
- 239000004576 sand Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000007790 scraping Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
- F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a photovoltaic panel cleaning robot, which comprises a bottom frame, wherein a cover plate piece for closing an opening of the bottom frame is covered on the bottom frame, a plurality of groups of duct fans are arranged on the cover plate piece, a box body mechanism is fixedly arranged on the upper end surface of the bottom frame, and a plurality of groups of cleaning brush body mechanisms are fixedly arranged on the bottom frame, and the cleaning robot is characterized in that: the cover plate comprises a plurality of groups of cover plate components which are arranged at different angles, the groups of ducted fans are respectively arranged on the cover plate components, a plurality of groups of force sensors capable of monitoring pressure in real time are arranged on the bottom of the photovoltaic panel cleaning robot, and the force sensors are linked with a control module of the ducted fans. According to the invention, cleaning on the photovoltaic panel is realized through the whole structure of the ducted fan, and the pressure sensor is linked with the ducted fans arranged at different angles, so that the pressure sensor can monitor the pressure in real time, and if a certain part has the condition of pressure change, the control module of the ducted fan controls the acceleration or deceleration of the ducted fan so as to ensure the balance of a negative pressure cavity of the device and prevent the damage caused by blowing off the robot in a high wind environment.
Description
Technical Field
The invention relates to the field of cleaning mechanisms, in particular to cleaning robot equipment for a solar photovoltaic panel.
Background
Currently, the technologies applied to photovoltaic panel cleaning mainly include the following categories:
(1) A photovoltaic panel single-row cleaning mode. The most typical technology is a guide rail type photovoltaic panel cleaning device, which is provided with a transverse moving mechanism and a longitudinal moving mechanism, and can move along the photovoltaic panel in two vertical directions so as to enable the cleaning device main body to move for cleaning the photovoltaic panel.
(2) A photovoltaic panel cross-row cleaning mode. The technology mainly comprises a vehicle-mounted cleaning type and a ferry vehicle type. The vehicle-mounted cleaning robot adopts a water cleaning mode, the cleaning device is arranged on the engineering vehicle, and the engineering vehicle is used for cleaning the front and rear rows of photovoltaic panels. The ferry vehicle type cleaning robot mainly comprises a cleaning robot, a ferry vehicle, a track and other auxiliary facilities.
(3) Adsorption cleaning mode. The device mainly comprises a magnetic adsorption type, a bionic adsorption type, an electrostatic adsorption type and a negative pressure adsorption type. The magnetic adsorption robot is suitable for the contact surface of the magnetic conduction material and is adsorbed on the plate surface by means of magnetic force. The negative pressure adsorption type can be divided into vacuum adsorption type and thrust adsorption type, and the existing photovoltaic panel cleaning robot based on suction cup adsorption.
Problems and disadvantages of the above techniques:
(1) Photovoltaic panel list row cleaning mode: the guide rail type cleaning device is not suitable for northwest areas with larger sand blown by wind, a lot of sand dust is accumulated in a gap of a guide rail after sand blown by wind, and the cleaning device also needs to manually clean the sand dust in the gap of the guide rail to prevent the device from being damaged. The sizes of the photovoltaic panels in different photovoltaic electric fields are different, the cleaning devices are required to be customized to manufacturers when purchased, and each row of photovoltaic panels is required to be additionally provided with guide rails so as to adapt to the cleaning devices, so that the investment is huge.
(2) Photovoltaic panel straddling cleaning mode: ① Vehicle-mounted cleaning type: because the product has huge size, the hydraulic system cannot adapt to the inclination angle of the complex photovoltaic panel, and the cleaning device is easy to damage the photovoltaic assembly, the cleaning device is mainly applicable to photovoltaic power stations with relatively flat northwest topography and relatively large arrangement space of the photovoltaic panels in China, but the water resources in northwest regions are relatively deficient, so that the cleaning device has certain limitation. ② Ferry vehicle type: the technology has the advantages of large site construction quantity, long construction period, high requirement on the flatness of the track carrier, steep increase of cost caused by complex environment and topography, and easy overturning of equipment on an inclined plane. The cleaning device is limited by the problems of cost performance, environmental adaptability, stability and the like, and has an optimistic development prospect.
(3) Adsorption cleaning mode: the magnetic adsorption type and the electrostatic adsorption type generally have certain special requirements on the wall surface material, the performance is greatly influenced by the wall surface material, and the photovoltaic panel assembly is influenced at the same time; the bionic type is not mature at present, has higher cost and more complex research, and is not suitable for industrial mass production; at present, the existing vacuum adsorption type photovoltaic panel cleaning robot is completely clung to the surface of the photovoltaic panel, and the moving efficiency is low. And most robots can only move along a single direction, need to turn in the middle of working, and are clean and commonly have dead angles.
For the above reasons, there is a need for improvements in the art.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a photovoltaic panel cleaning robot.
The invention is realized by the following technical scheme: the utility model provides a photovoltaic board cleaning robot, includes the bottom frame, is equipped with the apron spare that seals bottom frame open-ended at bottom frame upper cover, is provided with multiunit duct fan on the apron spare, fixedly is provided with box mechanism on the up end of bottom frame fixedly is provided with multiunit cleaning brush body mechanism on the bottom frame, its characterized in that: the cover plate comprises a plurality of groups of cover plate components which are arranged at different angles, the plurality of groups of ducted fans are respectively arranged on the cover plate components, a plurality of groups of force sensors capable of monitoring pressure in real time are arranged on the bottom of the photovoltaic panel cleaning robot, and the force sensors are linked with a control module of the ducted fans.
In the above technical scheme, the cover plate member comprises four groups of cover plate assemblies connected with each other, and two groups of ducted fans are arranged on each group of cover plate assemblies.
In the above technical scheme, box mechanism includes protruding first annular wall that establishes, sets up the second annular wall outside first annular wall, connects diapire and the lid of first annular wall and second annular wall and establishes at second annular wall top and be used for sealing second annular wall open-top's upper end cover first annular wall second annular wall with form between the diapire and be used for accomodating the dust collection space of miscellaneous dirt, the upper end cover includes the water conservancy diversion portion that the upper end cover middle part position is protruding establishes to and set up the guide plate around water conservancy diversion portion.
In the above technical scheme, the second annular wall comprises limiting convex walls arranged at four corner positions of the bottom wall and non-woven fabrics arranged between the two limiting convex walls.
In the technical scheme, the rubber anti-collision ring is arranged on the periphery of the bottom frame.
Among the above-mentioned technical scheme, including setting up at the inside electronic gyroscope of photovoltaic board cleaning robot, the control module linkage of electronic gyroscope and duct fan.
In the above technical scheme, the cleaning brush body mechanism includes first mount pad and the second mount pad that the interval set up rotation support has dry brush roller and silica gel brush roller between first mount pad and the second mount pad, first mount pad with the second mount pad is rotated the support between the mounting panel that two intervals set up, the second mount pad is through driving its rotation at the upset motor, dry brush roller and silica gel brush roller with first mount pad normal running fit's one side is provided with driven gear, still include with two driven gear engaged first driving gear rotates on the mounting panel and is provided with first transmission shaft, first transmission shaft passes the center of first mount pad, its one end with first driving gear is fixed, and its other end passes through main driving motor drive and rotates.
Among the above-mentioned technical scheme, including can dismantle fixed be provided with rather than fixed cleaning brush body accommodation seat with bottom frame all around, cleaning brush body accommodation seat includes adjacent first accommodation chamber and the second accommodation chamber that sets up, the opening orientation in first accommodation chamber and second accommodation chamber is opposite, upset motor and main drive motor are located first accommodation intracavity, dry brush roller and silica gel brush roller are located the second accommodation intracavity.
In the technical scheme, the periphery of the photovoltaic panel cleaning robot is provided with the plurality of laser sensors for judging whether the whole machine is positioned at the splicing edges or the edges of a row of photovoltaic panels, and the laser sensors are linked with the control module of the cleaning brush body mechanism.
The invention has the following beneficial effects: according to the invention, cleaning on the photovoltaic panel is realized through the whole structure of the ducted fan, and the pressure sensor is linked with the ducted fans arranged at different angles, so that the pressure sensor can monitor the pressure in real time, and if a certain part has the condition of pressure change, the control module of the ducted fan controls the acceleration or deceleration of the ducted fan so as to ensure the balance of a negative pressure cavity of the device and prevent the damage caused by blowing off the robot in a high wind environment.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of another direction of the present invention.
Fig. 3 is an exploded view of the present invention.
Fig. 4 is a schematic bottom view of the present invention.
Fig. 5 is a schematic view of a part of the structure of the present invention.
Fig. 6 is a schematic perspective view of a cleaning brush mechanism.
Fig. 7 is an exploded view of fig. 6.
Fig. 8 is a schematic perspective view of the upper end cap.
Fig. 9 is a schematic perspective view of the case mechanism.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description: referring to fig. 1 to 9, the photovoltaic panel cleaning robot comprises a bottom frame 1, a cover plate member 2 for closing an opening of the bottom frame is arranged on the bottom frame 1, a plurality of groups of duct fans 3 are arranged on the cover plate member 2, specifically, the cover plate member 2 comprises a plurality of groups of cover plate assemblies 20 which are arranged at different angles, and the plurality of groups of duct fans 3 are respectively arranged on the cover plate assemblies 20. Thus, the ducted fans 3 are made to have different draft angles. In this embodiment, the cover member 2 includes four sets of cover assemblies 20 connected to each other, and two sets of ducted fans 3 are disposed on each set of cover assemblies 20.
The box body mechanism 4 is fixedly arranged on the upper end face of the bottom frame 1, the box body mechanism 4 comprises a first annular wall 40, a second annular wall 41, a bottom wall 44 and an upper end cover 42, the first annular wall 40 is arranged outside the first annular wall 40, the bottom wall 44 is connected with the second annular wall 41, the upper end cover 42 is arranged at the top of the second annular wall 41 in a covering mode and used for closing an opening at the top of the second annular wall 41, and a dust collecting space 43 used for containing impurity dust is formed among the first annular wall 40, the second annular wall 41 and the bottom wall 44. Wherein the second annular wall 41 includes stopper convex walls 41a provided at four corner positions of the bottom wall 44 and a nonwoven fabric 41b provided between the two stopper convex walls 41 a. The upper end cover 42 comprises a diversion part 42a protruding from the middle part of the upper end cover and a diversion plate 42b arranged around the diversion part 42a, the diversion part 42a and the diversion plate 41b in the upper end cover 42 guide dust-containing air flow discharged by the ducted fan 3 to a dust collection box positioned on the outermost ring of the robot, sand particles and dust with heavier mass fall on the bottom of the dust collection box, finer dust is captured when passing through dust collection cloth around the dust collection box, the dust collection cloth is attached, clean air is discharged, cleaning and dust collection of the photovoltaic panel are realized, and secondary pollution is prevented.
The cleaning brush body mechanism 5 is fixedly arranged on the bottom frame 1, and specifically, the cleaning brush body mechanism 5 is provided with four groups including two groups horizontally arranged at intervals and two groups vertically arranged at intervals. The cleaning brush body mechanism 5 comprises a first mounting seat 52a and a second mounting seat 52b which are arranged at intervals, a dry brush roller 50 and a silica gel brush roller 51 are rotatably supported between the first mounting seat 52a and the second mounting seat 52b, the first mounting seat 52a and the second mounting seat 52b are rotatably supported between two mounting plates 52 which are arranged at intervals, the second mounting seat 52b is driven to rotate by a turnover motor 101, a driven gear 200 is arranged on one side of the dry brush roller 50 and the silica gel brush roller 51 which are in rotary fit with the first mounting seat 52a, a first driving gear 201 meshed with the driven gear 200 is further arranged on the mounting plates 52 in a rotary mode, a first transmission shaft 53 is arranged on the mounting plates 53 in a penetrating mode through the center of the first mounting seat 52a, one end of the first transmission shaft 53 is fixed with the first driving gear 201, and the other end of the first transmission shaft is driven to rotate by a main transmission motor 102. Specifically, a second driving gear 202 is fixedly arranged at the other end of the first transmission shaft 53, and the second driving gear 202 is in transmission connection with the main transmission motor 102 through a second reduction mechanism 302; the middle part of the second mounting seat 52b is convexly provided with a second transmission shaft 54, one end of the second transmission shaft 54 passes through the mounting plate 52, a third driving gear 203 is fixedly arranged on the one end, and the third driving gear 203 is in transmission connection with the overturning motor 101 through a first speed reducing mechanism 301. It should be noted that, in the embodiment, the technical solution is shown in which the first transmission shaft 53 and the second transmission shaft 54 are driven to rotate by means of matching gears and corresponding speed reducing mechanisms, however, it can be known that other common transmission modes can be selected according to the requirements of driving the first transmission shaft 53 and the second transmission shaft 54, for example, a belt can be used to combine with a belt pulley to drive the first transmission shaft and the second transmission shaft; the driving modes of the first and second transmission shafts are not limited in the present application.
In the above structure, the turnover motor 101 can control the dry brush and the silica gel scraping brush to integrally rotate, and the main transmission motor can control the dry brush or the silica gel scraping brush to rotate as the power of the robot movement. When the robot moves, the double-brush cleaning component at the front and the rear of the movement direction is clung to the surface of the photovoltaic panel, wherein the dry brush at the front end of the movement direction of the robot is clung to the surface of the photovoltaic panel, and the silica gel scraping brush at the rear end of the movement direction is clung to the surface of the photovoltaic panel; the cleaning mechanisms at the two sides of the moving direction are slightly lifted, and the pitching angles of the cleaning mechanisms can be adjusted according to the inclination angles of the surfaces of the photovoltaic panels and the external wind speed. If the robot works in a fault, all the cleaning brush body mechanisms can be clung to the surface of the photovoltaic panel at the same time, so that the purpose of locking and braking is realized. During working, the robot can climb or slide along the inclination direction of the photovoltaic panel by controlling the rotation speed of the main transmission motor 102, so that the forward power can be increased or reduced, and the robot can be ensured to run on the surface of the photovoltaic panel at a uniform speed. The dust is separated from the photovoltaic panel by the dry brush at the front part of the robot in the moving direction and is swept into the closed cleaning cavity; the duct fan blows the separated dust, the dust-containing air flow discharged by the duct fan is guided to the dust collection box positioned at the outermost ring of the robot through the air guide cover at the top of the robot, sand particles and dust with heavier mass fall on the bottom of the dust collection box, fine dust is trapped when passing through dust collection cloth around the dust collection box, the dust collection cloth is attached, clean air is discharged, the cleaning and dust collection of the photovoltaic panel are realized, and secondary pollution is prevented; the silica gel wiper (dust holding) cleans a minute amount of residual dust.
Preferably, the cleaning brush body accommodating seat 6 fixed with the cleaning brush body accommodating seat is detachably and fixedly arranged around the bottom frame 1, the cleaning brush body accommodating seat 6 comprises a first accommodating cavity 61 and a second accommodating cavity 62 which are adjacently arranged, the opening directions of the first accommodating cavity 61 and the second accommodating cavity 62 are opposite, the overturning motor 101 and the main transmission motor 102 are positioned in the first accommodating cavity 61, the dry brush roller 50 and the silica gel brush roller 51 are positioned in the second accommodating cavity 62, and the mounting plate 52 is fixedly arranged on two sides of the cleaning brush body accommodating seat 6. In the structure, the double-brush cleaning part can be detached from the robot for replacement, and the cleaning part can be quickly detached for updating so as to meet the requirements of different use environments.
A rubber bumper 100 is provided on the outer periphery of the bottom frame 1. The rubber anti-collision ring 100 is used for preventing impact generated by collision when the whole machine walks to the edge position of the photovoltaic panel. The second annular wall 41 has a space formed therein for accommodating the battery 300, and the battery 300 is disposed in an annular shape and is located in the space formed by the second annular wall 41. The battery 300 is used to power electrical components within the unit.
4 Ambient light sensors are arranged around the photovoltaic panel cleaning robot, so that the surface brightness of the photovoltaic panels before and after cleaning can be detected, and the cleaning degree can be judged. If the cleaning effect is poor, cleaning the whole row of photovoltaic panels once again after the robot cleans the whole row of photovoltaic panels.
8 Groups of force sensors (not shown in the drawing) are arranged on the bottom of the photovoltaic panel cleaning robot, the force sensors are linked with a control module of the ducted fan, the pressure can be monitored in real time, and if a certain part has the condition of pressure change, the control module of the ducted fan controls the ducted fan to accelerate or decelerate so as to ensure the balance of a negative pressure cavity of the device and prevent the robot from being damaged due to the blowing down in the high wind environment in northwest regions.
In order to ensure that the photovoltaic panel cleaning robot moves along a straight line, an electronic gyroscope (not shown in the drawing) is arranged in the photovoltaic panel cleaning robot, the electronic gyroscope is linked with a control module of the ducted fan, whether the robot moves along the straight line can be judged, and if the robot does not move along the straight line, correction is performed. Specifically, taking the movement of the robot to the left and the front as an example, the robot needs to correct the position to the right, and the ducted fan at the right half part of the movement direction accelerates and pressurizes to increase the friction force at the right half part of the robot, so that the robot corrects the position to the right until the robot moves upwards and linearly along the inclined plane of the photovoltaic panel.
The photovoltaic panel cleaning robot starts working from the lower left corner or the lower right corner of a row of photovoltaic panels until cleaning is finished and stops at the lower right corner or the lower left corner of the whole row of photovoltaic panels. The robot is provided with 8 laser sensors (not shown in the drawing) around the bottom of the device, the laser sensors are linked with the control module of the cleaning brush body mechanism 5, which
The robot can be judged to be at the splicing edge of a row of photovoltaic panels or at the edge, if the robot is detected to be at the splicing edge, the robot is accelerated to flush through the splicing edge, otherwise, if the robot is detected to be at the edge, the movement is stopped, and the movement direction is switched. Taking the work of the robot from the lower right corner as an example, the robot firstly climbs upwards to the top end of the photovoltaic panel, then moves leftwards to the splicing edge, slides to the bottom end of the photovoltaic panel, and finally moves leftwards to cross the splicing edge. When the robot moves horizontally at the top end of the photovoltaic plate, the cleaning mechanism at the upper end of the robot hooks the top end of the photovoltaic plate to prevent the robot from sliding downwards during horizontal movement, and when the bottom end of the photovoltaic plate moves horizontally, the robot is blocked by the edges of the photovoltaic plate, so that horizontal movement can be directly carried out. When crossing the photovoltaic plates, the robot is accelerated to flush through the splicing edges, and as gaps exist between the photovoltaic plates, the negative pressure cavity of the robot is in a pressure loss condition, and the rotational speed of the bypass fan is increased in the middle of the crossing plates, which is not near the splicing edges, so that the robot is prevented from sliding off.
The foregoing has shown and described the basic principles, principal features and advantages of the application. It will be appreciated by those skilled in the art that the application is not limited to the embodiments described above. The foregoing description of the embodiments of the application and the description will be given only of the principles of the application, and various changes and modifications can be made therein without departing from the spirit and scope of the application. Such variations and modifications are intended to be within the scope of the present application as claimed.
Claims (7)
1. The utility model provides a photovoltaic board cleaning robot, includes bottom frame (1), is equipped with closed bottom frame open-ended apron piece (2) in bottom frame (1) upper cover, is provided with multiunit duct fan (3) on apron piece (2), fixedly is provided with box mechanism (4) on the up end of bottom frame (1) fixedly is provided with multiunit cleaning brush body mechanism (5), its characterized in that on bottom frame (1): the cover plate piece (2) comprises a plurality of groups of cover plate assemblies (20) which are arranged at different angles, the plurality of groups of ducted fans (3) are respectively arranged on the cover plate assemblies (20), a plurality of groups of force sensors capable of monitoring pressure in real time are arranged on the bottom of the photovoltaic panel cleaning robot, and the force sensors are linked with a control module of the ducted fans (3);
The cover plate piece (2) comprises four groups of cover plate assemblies (20) which are connected with each other, and two groups of ducted fans (3) are arranged on each group of cover plate assemblies (20);
The cleaning brush body mechanism (5) comprises a first mounting seat (52 a) and a second mounting seat (52 b) which are arranged at intervals, a dry brush roller (50) and a silica gel brush roller (51) are rotatably supported between the first mounting seat (52 a) and the second mounting seat (52 b), the first mounting seat (52 a) and the second mounting seat (52 b) are rotatably supported between two mounting plates (52) which are arranged at intervals, the second mounting seat (52 b) is driven to rotate by a turnover motor (101), a driven gear (200) is arranged on one side of the dry brush roller (50) and the silica gel brush roller (51) which is in rotary fit with the first mounting seat (52 a), a first driving gear (201) meshed with the driven gear (200) is further included, a first transmission shaft (53) is rotatably arranged on the mounting plate (52), one end of the first transmission shaft (53) penetrates through the center of the first mounting seat (52 a) and the other end of the first driving gear (201) is fixed, and the other end of the first transmission shaft (201) is driven to rotate by a main transmission motor (102).
2. The photovoltaic panel cleaning robot of claim 1, wherein: the box body mechanism (4) comprises a first annular wall (40) which is convexly arranged, a second annular wall (41) which is arranged outside the first annular wall (40), a bottom wall (44) which is connected with the first annular wall (40) and the second annular wall (41) and an upper end cover (42) which is arranged at the top of the second annular wall (41) in a covering mode and is used for closing an opening at the top of the second annular wall (41), a dust collecting space (43) which is used for containing impurity dust is formed between the first annular wall (40), the second annular wall (41) and the bottom wall (44), the upper end cover (42) comprises a diversion part (42 a) which is convexly arranged at the middle position of the upper end cover, and diversion plates (42 b) which are arranged around the diversion part (42 a).
3. The photovoltaic panel cleaning robot of claim 2, wherein: the second annular wall (41) comprises limiting convex walls (41 a) arranged at four corner positions of the bottom wall (44) and non-woven fabrics (41 b) arranged between the two limiting convex walls (41 a).
4. The photovoltaic panel cleaning robot of claim 1, wherein: a rubber anti-collision ring (100) is arranged on the periphery of the bottom frame (1).
5. The photovoltaic panel cleaning robot of claim 1, wherein: the intelligent robot comprises an electronic gyroscope arranged inside a photovoltaic panel cleaning robot, wherein the electronic gyroscope is linked with a control module of a ducted fan.
6. The photovoltaic panel cleaning robot of claim 1, wherein: including can dismantle fixed be provided with rather than fixed cleaning brush body holding seat (6) around with bottom frame (1), cleaning brush body holding seat (6) are including adjacent first holding chamber (61) and second holding chamber (62) that set up, and the opening orientation in first holding chamber (61) and second holding chamber (62) is opposite, upset motor (101) and main drive motor (102) are located in first holding chamber (61), dry brush roller (50) and silica gel brush roller (51) are located in second holding chamber (62).
7. The photovoltaic panel cleaning robot of claim 1, wherein: the periphery of the photovoltaic panel cleaning robot is provided with a plurality of laser sensors for judging whether the whole machine is positioned at the splicing edges or the edges of a row of photovoltaic panels, and the laser sensors are linked with a control module of the cleaning brush body mechanism (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741355.6A CN113333389B (en) | 2021-07-01 | 2021-07-01 | Photovoltaic panel cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741355.6A CN113333389B (en) | 2021-07-01 | 2021-07-01 | Photovoltaic panel cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113333389A CN113333389A (en) | 2021-09-03 |
| CN113333389B true CN113333389B (en) | 2024-05-07 |
Family
ID=77481953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110741355.6A Active CN113333389B (en) | 2021-07-01 | 2021-07-01 | Photovoltaic panel cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113333389B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114653661A (en) * | 2022-05-24 | 2022-06-24 | 国机传感科技有限公司 | Intelligent cleaning sensing detection system for heliostat |
| CN117646530B (en) * | 2024-01-30 | 2024-04-12 | 夏尔特拉(上海)新能源科技有限公司 | Assembled solar roof structure and assembling method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211726666U (en) * | 2020-02-26 | 2020-10-23 | 河北工业大学 | Photovoltaic board cleaning robot based on negative pressure is adsorbed |
| CN212285016U (en) * | 2020-06-03 | 2021-01-05 | 品湛自动化设备制造(苏州)有限公司 | Automatic brush lifting and recognizing device of full-automatic photovoltaic panel cleaning robot |
| CN112337846A (en) * | 2019-08-09 | 2021-02-09 | 南京飞渡机器人科技有限公司 | Light photovoltaic power station cleaning robot |
| CN112953377A (en) * | 2021-02-03 | 2021-06-11 | 宁波工程学院 | Photovoltaic board cleaning machines people based on cycloid oar |
| CN217528488U (en) * | 2021-07-01 | 2022-10-04 | 宁波工程学院 | Photovoltaic board cleaning robot |
-
2021
- 2021-07-01 CN CN202110741355.6A patent/CN113333389B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112337846A (en) * | 2019-08-09 | 2021-02-09 | 南京飞渡机器人科技有限公司 | Light photovoltaic power station cleaning robot |
| CN211726666U (en) * | 2020-02-26 | 2020-10-23 | 河北工业大学 | Photovoltaic board cleaning robot based on negative pressure is adsorbed |
| CN212285016U (en) * | 2020-06-03 | 2021-01-05 | 品湛自动化设备制造(苏州)有限公司 | Automatic brush lifting and recognizing device of full-automatic photovoltaic panel cleaning robot |
| CN112953377A (en) * | 2021-02-03 | 2021-06-11 | 宁波工程学院 | Photovoltaic board cleaning machines people based on cycloid oar |
| CN217528488U (en) * | 2021-07-01 | 2022-10-04 | 宁波工程学院 | Photovoltaic board cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113333389A (en) | 2021-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113333389B (en) | Photovoltaic panel cleaning robot | |
| CN105881555B (en) | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower | |
| CN104539233B (en) | Photovoltaic array component cleans dust pelletizing system automatically | |
| CN208162118U (en) | A kind of photovoltaic clearing apparatus | |
| CN201293440Y (en) | Self-cleaning apparatus for air conditioner filtering net | |
| CN210730481U (en) | Solar photovoltaic board cleans machine people | |
| CN217528488U (en) | Photovoltaic board cleaning robot | |
| CN108262277A (en) | A kind of high-efficiency cleaning device of large-area planar | |
| CN207806040U (en) | A kind of cleaning device suitable for large-area planar | |
| CN205685347U (en) | Photovoltaic plant sweeping robot based on the direct dedusting of blower fan | |
| CN108325880A (en) | A kind of dust guard of vertical vehicle body exterior trim storage tooling | |
| CN208743237U (en) | A kind of cylindrical battery end face dust-extraction unit | |
| CN208856259U (en) | Shuttle | |
| CN208677247U (en) | It is a kind of can the cleaning of anti-skidding and non-blind area curtain wall robot | |
| CN110169740A (en) | It is a kind of for cleaning the robot and its operating method of concealed frame glass curtain wall | |
| CN213495081U (en) | Cleaning robot | |
| CN115173804A (en) | Photovoltaic panel cleaning method | |
| CN215391055U (en) | Brush body module of photovoltaic panel cleaning mechanism | |
| CN113977396A (en) | Automatic polishing and cleaning system and method for metal construction forming | |
| CN219150859U (en) | Intelligent ferry vehicle photovoltaic cleaning robot | |
| CN208245270U (en) | Solar energy plate clean robot | |
| CN110772187A (en) | Ash removal and filtration device of floor washing machine | |
| CN217797612U (en) | Photovoltaic cleaning robot with dust collection function | |
| CN215579648U (en) | Dust collector of high-low voltage power distribution cabinet | |
| CN113788387B (en) | Building construction elevator equipment with automatic dust removal and collection functions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |