CN113972889B - Multi-degree-of-freedom cantilever type solar panel cleaning device - Google Patents
Multi-degree-of-freedom cantilever type solar panel cleaning device Download PDFInfo
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- CN113972889B CN113972889B CN202111194485.9A CN202111194485A CN113972889B CN 113972889 B CN113972889 B CN 113972889B CN 202111194485 A CN202111194485 A CN 202111194485A CN 113972889 B CN113972889 B CN 113972889B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 121
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 139
- 239000012459 cleaning agent Substances 0.000 claims abstract description 87
- 238000011084 recovery Methods 0.000 claims abstract description 84
- 239000007921 spray Substances 0.000 claims abstract description 50
- 239000007788 liquid Substances 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 239000002699 waste material Substances 0.000 claims abstract description 16
- 238000000889 atomisation Methods 0.000 claims abstract description 12
- 239000010865 sewage Substances 0.000 claims description 30
- 230000000694 effects Effects 0.000 abstract description 7
- 238000003860 storage Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
- 239000002351 wastewater Substances 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000008021 deposition Effects 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910021419 crystalline silicon Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 239000006210 lotion Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000002210 silicon-based material Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- 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
-
- 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
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a multi-degree-of-freedom cantilever type solar panel cleaning device, wherein the lower end of a stand column is connected with a car hopper, one end of a rotary table is rotationally connected with the top end of the stand column through a first driving mechanism, and the other end of the rotary table is connected with a second driving mechanism; one end of the first telescopic device is connected with the second driving mechanism, and the other end of the first telescopic device is connected with one end of the second telescopic device and one end of the third telescopic device; the second telescopic device is parallel to the axis of the third telescopic device and is positioned right above the third telescopic device; the recovery funnel is arranged at the other end of the third telescopic device, and the high-pressure water spray head and the cleaning agent atomization spray head are arranged at the other end of the second telescopic device; the high-pressure water spray head, the cleaning agent atomization spray head and the recovery funnel are respectively connected with the water supply device, the cleaning liquid supply device and the waste liquid collection device. The invention solves the problems of low manual cleaning quality, low cleaning efficiency, poor cleaning effect and damage of the solar panel when cleaning the solar panel.
Description
Technical Field
The invention belongs to the technical field of solar panel cleaning, and particularly relates to a multi-degree-of-freedom cantilever type solar panel cleaning device.
Background
With the rapid development of international economy, there is an increasing demand for resources by humans. The new energy used at present is wind energy, tidal energy, solar energy and the like. Due to the convenience, the greenness, the inexhaustible property and the like of solar energy, the solar energy has become the most widely used novel energy source. However, with the increase of installed capacity, the operation and maintenance problems of the power station are gradually highlighted, wherein the ash deposition problem is the most serious, and the coverage of dust greatly reduces the power generation efficiency of the solar module, and becomes the biggest obstacle for solar energy development.
Solar energy is a renewable clean energy source, and has very wide application prospect. In recent years, the development of the photovoltaic power generation industry is very rapid, a photovoltaic power station solar panel is generally made of crystalline silicon materials, the photoelectric conversion efficiency is low, and dust and scale deposition can lead the power generation efficiency to be lower. The research level of solar cell materials at home and abroad can not obviously improve the photoelectric conversion efficiency so far, and therefore, if the photovoltaic solar panel can be effectively cleaned, the power generation efficiency of a photovoltaic power station can be improved under the same installed capacity. The cleaning frequency of the solar panel of the photovoltaic power station in a wet area is generally 3-5 months, and the cleaning frequency of the solar panel in a dry area such as northwest is generally monthly. The number and the cleaning frequency of the solar panels of the photovoltaic power station can be seen that the cleaning market of the solar panels of the photovoltaic power station is quite wide.
At present, many domestic photovoltaic power stations use a cleaning mode of manually equipped high-pressure water guns or cleaning brushes as a main cleaning mode. The cleaning mode has the advantages of simple operation, no need of purchasing expensive equipment and no environmental pollution. The cleaning method has the defects that (1) the manual high-pressure water gun flushing mode has a better floating and sinking cleaning effect, but has a general dirt cleaning effect, the dirt formed by dust has a rough surface and strong adhesive force, and the dirt on the solar panel is difficult to clean by the cleaning mode; (2) the water consumption is high, the water resource utilization rate is low, the cleaning and maintenance efficiency is low, the period is long, and the influence of dust in the cleaning period can not be overcome; (3) manual cleaning does not have a precise protocol to ensure the quality of the cleaning. Meanwhile, the cleaning robot is directly cleaned, and is loaded with a cleaning device, water, a cleaning agent and the like, so that the cleaning mode has the greatest defects that the robot is heavy, the solar panel is easy to crush, the solar panel cleaning robot and the solar panel self-cleaning technology are not mature, and no large-scale application report is yet seen.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom cantilever type solar panel cleaning device, which is used for reducing the labor intensity and greatly improving the working efficiency, so as to solve the problems of low manual cleaning quality, low cleaning efficiency, poor cleaning effect and damage of a solar panel during cleaning of the solar panel.
The technical scheme adopted by the invention is as follows:
a multi-degree-of-freedom cantilever type solar panel cleaning device comprises a car hopper, a water supply device, a cleaning liquid supply device, a waste liquid collection device, an upright post, a rotary table, a first telescopic device, a second telescopic device, a third telescopic device, a high-pressure water spray head, a cleaning agent atomization spray head and a recovery funnel;
the water supply device, the cleaning liquid supply device and the waste liquid collection device are arranged on the car hopper;
the lower end of the upright post is connected with the hopper, one end of the rotary table is rotationally connected with the top end of the upright post through a first driving mechanism, and the first driving mechanism can drive the rotary table to rotate along a plane perpendicular to the axis of the upright post; the other end of the rotary table is connected with a second driving mechanism;
one end of the first telescopic device is connected with the second driving mechanism, the second driving mechanism can drive the first telescopic device to rotate along the vertical surface, and the other end of the first telescopic device is connected with one end of the second telescopic device and one end of the third telescopic device; the second telescopic device is parallel to the axis of the third telescopic device and is positioned right above the third telescopic device;
the recovery funnel is arranged at the other end of the third telescopic device, the opening of the recovery funnel faces the second telescopic device, and the high-pressure water spray head and the cleaning agent atomization spray head are used for cleaning the solar panel and are arranged at the other end of the second telescopic device;
the high-pressure water spray head, the cleaning agent atomization spray head and the recovery funnel are respectively connected with the water supply device, the cleaning liquid supply device and the waste liquid collection device.
Preferably, the first driving mechanism comprises a first motor, the first motor is arranged at the top end of the upright post, the axis of an output shaft of the first motor is parallel to the axis of the upright post, and the output shaft of the first motor is vertically connected with the rotary table.
Preferably, the second driving mechanism comprises a fixed shaft, a second motor, a rotating shaft sleeve and a first connecting rod, a U-shaped notch is arranged at the end part of the rotating table, the fixed shaft is arranged on one side of the U-shaped notch, and one end of the rotating shaft sleeve is sleeved on the fixed shaft;
the other end of the rotating shaft sleeve extends into the other side of the U-shaped notch and is in clearance fit or rotating connection with the side of the U-shaped notch, and an output shaft of the second motor is coaxially connected with the end of the rotating shaft sleeve; one end of the first connecting rod is vertically connected with the rotating shaft sleeve, and the other end of the first connecting rod is fixedly connected with the first telescopic device.
Preferably, the first telescopic device comprises a cylinder barrel, a cylinder rod and a third motor, the cylinder barrel is connected with the second driving mechanism, the cylinder rod is arranged in the cylinder barrel, a disc is arranged at the outer end of the cylinder rod, and the disc is connected with the second telescopic device and the third telescopic device; the third motor is arranged on the disc, the output shaft of the third motor is coaxially connected with a screw rod, and a nut which is matched and connected with the screw rod is arranged on the cylinder barrel.
Preferably, the second telescopic device and the third telescopic device are telescopic rods.
Preferably, the fixed ends of the second telescopic device and the third telescopic device are respectively sleeved with a fixed shaft sleeve.
Preferably, the mouth of the recovery funnel is rectangular, and the long side of the mouth of the recovery funnel is perpendicular to the axis of the third telescopic device.
Preferably, the water supply device comprises a water tank and a first quantitative pump, the water tank is arranged on the car hopper, the inlet of the first quantitative pump is communicated with the water tank, and the outlet of the first quantitative pump is connected with the high-pressure water spray head;
the cleaning solution supplying device comprises a cleaning solution box and a second quantitative pump, the cleaning solution box is arranged on the car hopper, the inlet of the second quantitative pump is communicated with the cleaning solution box, and the outlet of the second quantitative pump is connected with the cleaning solution atomizing nozzle;
the waste liquid collecting device comprises a sewage tank, the sewage tank is arranged on the car hopper, and an outlet of the recovery hopper is connected with the sewage tank through a pipeline.
Preferably, the multi-degree-of-freedom cantilever type solar panel cleaning device further comprises a controller and an identification camera capable of identifying the characteristics and the pose of the solar panel, wherein the identification camera is connected with the controller, and the controller is further connected with a first telescopic device, a water supply device, a cleaning liquid supply device, a first driving mechanism and a second driving mechanism.
Preferably, the multi-degree-of-freedom cantilever type solar panel cleaning device further comprises a running device, and the hopper is arranged on the running device.
The invention has the following beneficial effects:
according to the multi-degree-of-freedom cantilever type solar panel cleaning device, the first driving mechanism can drive the rotary table to rotate along the plane perpendicular to the axis of the upright post, the second driving mechanism can drive the first telescopic device to rotate along the vertical plane, the first telescopic device is arranged to adjust the integral positions of the high-pressure water spray head, the cleaning agent atomizing spray head and the recovery funnel, the second telescopic device is used to further adjust the positions of the high-pressure water spray head and the cleaning agent atomizing spray head, and the third telescopic device is used to further adjust the position of the recovery funnel. Through setting up cleaner atomizer and high-pressure water shower nozzle can realize cleaner and clear water and wash respectively, and than traditional single clear water high pressure washing, the scrubbing ability is strong, and the cleaning performance is splendid. The waste liquid after cleaning can be recovered by arranging the recovery funnel, specifically, when the solar panel cleaning device is used, the solar panel cleaning device is suitable for solar panels with different inclination angles by controlling the extension amounts of the second telescopic device and the third telescopic device, the high-pressure water spray nozzle and the cleaning agent atomization spray nozzle are positioned at a higher position and closer to the solar panel, and the recovery funnel is positioned at a lower position and at the lower edge of the solar panel, so that the waste liquid on the solar panel can be received and recovered by the recovery funnel when flowing down. According to the invention, the solar panel is cleaned through mechanical equipment, so that the labor intensity can be reduced, the working efficiency can be greatly improved, and the problem of damage to the solar panel caused by contact with the solar panel in the cleaning process can be effectively avoided.
Drawings
FIG. 1 is a first block diagram of a degree-of-freedom cantilever-type solar panel cleaning apparatus in accordance with an embodiment of the present invention;
FIG. 2 is a second block diagram of a degree-of-freedom cantilever-type solar panel cleaning apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the operation of the free-degree cantilever type solar panel cleaning apparatus according to the embodiment of the present invention;
FIG. 4 is a side view of a free-degree cantilever solar panel cleaning apparatus in a storage state in accordance with an embodiment of the present invention;
FIG. 5 is a side view of a free-degree cantilever type solar panel cleaning apparatus in a standby state according to an embodiment of the present invention;
FIG. 6 is a full block diagram of the free-degree cantilever type solar panel cleaning apparatus in an operating state according to an embodiment of the present invention;
fig. 7 is a side view of a degree of freedom cantilever solar panel cleaning apparatus in an operational state in accordance with an embodiment of the present invention.
In the figure, 1-car hopper, 2-chassis, 3-upright post, 4-first motor, 5-rotary table, second motor 8-rotary shaft sleeve, 9-first connecting rod, 10-cylinder barrel, 11-cylinder rod, 12-disc, 14-third motor, 17-second connecting rod, 18-liquid inlet shell, 21-clear water telescopic pipe, 22-high-pressure water spray nozzle, 25-cleaning agent telescopic pipe, 26-cleaning agent atomizing spray nozzle, 27-identification camera, 28-recovery device fixed shaft sleeve, 29-recovery device telescopic rod, 30-recovery device fixed rod, 31-recovery funnel, 32-recovery device straight pipe, 33-recovery device flexible pipe, 34-water tank, 35-first quantitative pump, 36-clear water outlet box straight pipe, 37-clear water overflow pipe, 38-first overflow valve, 39-first electromagnetic valve, 40-outlet box flexible pipe, 41-cleaning agent box, 42-second quantitative pump, 43-cleaning agent outlet box straight pipe, 44-overflow valve, 45-second electromagnetic valve overflow valve, 47-cleaning agent outlet box flexible pipe, 48-sewage box, 49-sewage box, 50-inlet flexible pipe and 50-outlet box.
Detailed Description
The present invention is further described with reference to the accompanying drawings and examples, and it is to be understood that the invention is not limited to the following specific examples, and that all equivalent modifications based on the technical scheme of the present application fall within the protection scope of the present patent.
Referring to fig. 4 to 7, the multi-degree-of-freedom cantilever type solar panel cleaning device of the invention comprises a car hopper 1, a water supply device, a cleaning liquid supply device, a waste liquid collection device, a stand column 3, a rotary table 5, a first telescopic device, a second telescopic device, a third telescopic device, a high-pressure water spray head 22, a cleaning agent atomizing spray head 26 and a recovery funnel 31; the water supply device, the cleaning liquid supply device and the waste liquid collection device are all arranged on the car hopper 1; the lower end of the upright post 3 is connected with the car hopper 1, one end of the rotary table 5 is rotationally connected with the top end of the upright post 3 through a first driving mechanism, and the first driving mechanism can drive the rotary table 5 to rotate along a plane vertical to the axis of the upright post 3, as shown in fig. 4, 5 and 7, the rotation direction of the rotary table 5 is vertical to the paper surface; the other end of the rotary table 5 is connected with a second driving mechanism; one end of the first telescopic device is connected with the second driving mechanism, the second driving mechanism can drive the first telescopic device to rotate along a vertical plane, as shown in fig. 4, 5 and 7, the rotation direction of the first telescopic device is parallel to the paper surface, and the other end of the first telescopic device is connected with one end of the second telescopic device and one end of the third telescopic device; the second telescopic device is parallel to the axis of the third telescopic device and is positioned right above the third telescopic device; the recovery funnel 31 is arranged at the other end of the third telescopic device, the opening of the recovery funnel 31 faces the second telescopic device, the high-pressure water spray head 22 and the cleaning agent atomization spray head 26 are used for cleaning the solar panel and are arranged at the other end of the second telescopic device, and as shown in fig. 4, 5 and 7, the opening of the recovery funnel 31 faces upwards, so that waste water flowing down along the surface of the solar panel after the high-pressure water spray head 22 and the cleaning agent atomization spray head 26 are cleaned can be conveniently contained; the high-pressure water spray head 22, the cleaning agent atomizing spray head 26 and the recovery funnel 31 are respectively connected with a water supply device, a cleaning agent supply device and a waste liquid collection device. The water supply device can provide cleaning water for the high-pressure water spray head 22, the cleaning liquid supply device can provide cleaning agent for the cleaning agent atomization spray head 26, and the waste liquid collection device can collect the cleaning waste water collected by the recovery funnel 31.
As a preferred embodiment of the present invention, the first driving mechanism comprises a first motor 4, the first motor 4 is disposed at the top end of the upright 3, the axis of the output shaft of the first motor 4 is parallel to the axis of the upright 3, the output shaft of the first motor 4 is vertically connected with the rotary table 5, and the first motor 4 can drive the rotary table 5 to rotate, as shown in fig. 4, 5 and 7, the rotation direction of the rotary table 5 is vertical to the paper surface.
As a preferred embodiment of the invention, the second driving mechanism comprises a fixed shaft, a second motor, a rotating shaft sleeve 8 and a first connecting rod 9, a U-shaped notch is arranged at the end part of the rotating table 5, the fixed shaft is arranged at one side of the U-shaped notch, one end of the rotating shaft sleeve 8 is sleeved on the fixed shaft, the rotating shaft sleeve 8 is in clearance fit with the fixed shaft, and the rotating shaft sleeve 8 can rotate on the fixed shaft;
the other end of the rotating shaft sleeve 8 extends into the other side of the U-shaped notch and is in clearance fit or rotating connection with the side of the U-shaped notch, so that two ends of the rotating shaft sleeve 8 are respectively supported by the fixed shaft and the side of the U-shaped notch of the rotating platform 5, an output shaft of the second motor is coaxially connected with the end of the rotating shaft sleeve 8, and the second motor can drive the rotating shaft sleeve 8 to rotate by taking the axis of the rotating shaft sleeve 8 as a rotating shaft; one end of the first connecting rod 9 is vertically connected with the middle part of the rotating shaft sleeve 8, and the other end of the first connecting rod 9 is fixedly connected with the first telescopic device, so that when the rotating shaft sleeve 8 rotates, as shown in fig. 4, 5 and 7, the first connecting rod 9 can rotate in a plane parallel to the paper surface, and meanwhile, the first connecting rod 9 drives the first telescopic device to rotate in the plane parallel to the paper surface.
As a preferred embodiment of the present invention, the first telescopic device includes a cylinder 10, a cylinder rod 11 and a third motor 14, the cylinder 10 is connected to the second driving mechanism, the cylinder rod 11 is installed in the cylinder 10, the cylinder rod 11 is slidable along the cylinder 10, an outer end of the cylinder rod 11 (i.e., an end located outside the cylinder 10, a right end as shown in fig. 4) is installed with a disc 12, and the disc 12 is connected to the second telescopic device and the third telescopic device; the third motor 14 is installed on the disc 12, the screw rod is coaxially connected to the output shaft of the third motor 14, the nut which is in fit connection with the screw rod is arranged on the cylinder barrel 10, the third motor 14 can drive the screw rod to rotate, and the screw rod is in threaded fit connection with the nut, so that when the third motor 14 rotates, the cylinder rod 11 can be driven to slide along the cylinder barrel 10 by the screw rod and the nut, and the length of the whole first telescopic device reaches the preset length.
As a preferred embodiment of the invention, the second telescopic means and the third telescopic means each employ a telescopic rod, which can be manually operated.
As a preferred embodiment of the invention, the fixed ends of the second telescopic device and the third telescopic device are respectively sleeved with a fixed shaft sleeve, and the fixed shaft sleeve can play a role in stabilizing the fixed ends of the second telescopic device and the third telescopic device.
As a preferred embodiment of the present invention, the shape of the mouth of the recovery funnel 31 is rectangular, the long side of the mouth of the recovery funnel 31 is perpendicular to the axis of the third telescopic device, the water receiving area of the recovery funnel 31 of the shape is large, which is favorable for recovering the cleaning wastewater, and in addition, when the high-pressure water spray head 22 and the cleaning agent atomizing spray head 26 need to be adjusted upwards, the recovery funnel 31 of the shape can be attached to the surface of the solar panel, so that the cleaning wastewater can be contained.
As a preferred embodiment of the present invention, the water supply device comprises a water tank 34 and a first metering pump 35, the water tank 34 is installed on the hopper 1, the inlet of the first metering pump 35 is communicated with the water tank 34, and the outlet of the first metering pump 35 is connected with the high-pressure water spray head 22;
the cleaning liquid supply device comprises a cleaning liquid tank 41 and a second quantitative pump 42, the cleaning liquid tank 41 is arranged on the car hopper 1, the inlet of the second quantitative pump 42 is communicated with the cleaning liquid tank 41, and the outlet of the second quantitative pump 42 is connected with the cleaning liquid atomizing nozzle 26;
the waste liquid collecting device includes a sewage tank 48, the sewage tank 48 is mounted on the hopper 1, and the outlet of the recovery hopper 31 is connected with the sewage tank 48 through a pipe.
As a preferred embodiment of the invention, the multi-degree-of-freedom cantilever type solar panel automatic cleaning device further comprises a controller and an identification camera 27 capable of identifying the characteristics and the pose of the solar panel, wherein the identification camera 27 is connected with the controller, and the controller is also connected with a first telescopic device, a water supply device, a cleaning liquid supply device, a first driving mechanism and a second driving mechanism. The whole multi-degree-of-freedom cantilever type solar panel automatic cleaning device can be quickly controlled to move to a proper position by utilizing the identification camera 27 and the controller, and cleaning operation is quickly carried out.
As a preferred embodiment of the present invention, the multi-degree-of-freedom cantilever type solar panel automatic cleaning device of the present invention further comprises a traveling device on which the hopper 1 is mounted.
Examples
It should be noted that, because the design of the present invention includes a large number of elements, fig. 1 is given, fig. 1 is a brief summary of fig. 2, and in fig. 2, the actuator a represents a water transporting device and a cleaning agent transporting device, that is, a clean water inlet straight pipe, a clean water inlet hose, a clean telescopic pipe 21, a cleaning agent inlet straight pipe, a cleaning agent inlet hose, a cleaning agent telescopic pipe 25, and a liquid inlet casing 18; the actuating mechanism B represents a cylinder rod 11, a rotary table 5, a rotary shaft sleeve 8 and a screw rod; the actuating mechanism C is provided with a high-pressure water spray nozzle 22 and a lotion atomizing spray nozzle 26; the recovery device comprises a sewage tank 48; the remainder is the same as the description herein.
Specifically, the multi-degree-of-freedom cantilever type solar panel automatic cleaning device of the present embodiment includes a hopper 1, a chassis 2, a column 3, a first motor 4, a turntable 5, a fixed shaft, a second motor, a rotating shaft sleeve 8, a first connecting rod 9, a cylinder 10, a cylinder rod 11, a disk 12, a shaft sleeve holder, a third motor, a motor holder 15, a screw, a second connecting rod 17, a liquid inlet housing 18, a clear water inlet housing straight pipe, a clear water inlet housing hose, a clear water telescopic pipe 21, a high-pressure water spray head 22, a clear water inlet housing straight pipe, a clear water inlet housing hose, a clear water telescopic pipe 25, a cleaning agent atomizing spray head 26, a recognition camera 27, a recovery device fixing shaft sleeve 28, a recovery device telescopic rod 29, a recovery device fixing rod 30, a recovery funnel 31, a recovery device straight pipe 32, a recovery device hose 33, a water tank 34, a first constant volume pump 35, a clear water outlet tank straight pipe 36, a clear water overflow pipe 37, a first overflow valve 38, a first solenoid valve 39, a clear water outlet tank hose 40, a clear water tank 41, a second constant volume pump 42, a clear water outlet tank 43, a clear water overflow pipe 44, a second overflow valve 45, a second overflow valve 47, a sewage water outlet tank 47, a sewage outlet tank 47, a solenoid valve 47, a sewage outlet tank 47, a clear water outlet tank hose 50, an inlet hose 50.
The chassis 2, the upright post 3, the water tank 34, the cleaning agent tank 41 and the sewage tank 48 are arranged on the car hopper 1, and the upright post 3 is arranged on the upper part of the chassis 2; the rotary table 5 is arranged at the top of the upright post 3, and the first motor 4 is embedded between the upright post 3 and the rotary table 5; referring to fig. 6, a U-shaped notch is formed at the end of the rotary table 5, the fixed shaft is disposed at the upper left end of the rotary shaft sleeve 8 shown in fig. 6 on one side of the U-shaped notch, the fixed shaft is not shown in the figure, and one end of the rotary shaft sleeve 8 is sleeved on the fixed shaft; the other end of the rotating shaft sleeve 8 (the right lower end of the rotating shaft sleeve 8 shown in fig. 6) extends into the other side of the U-shaped notch and is in clearance fit or rotating connection with the side of the U-shaped notch, a second motor is arranged in the rotating table 5, and an output shaft of the rotating table 5 is coaxially connected with the right lower end of the rotating shaft sleeve 8; one end of a first connecting rod 9 is vertically connected with the rotating shaft sleeve 8, and the other end of the first connecting rod 9 is fixedly connected with the first telescopic device; the output shaft of the second motor drives the fixed shaft to rotate, the fixed shaft drives the rotating shaft sleeve 8 to rotate, and the rotating shaft sleeve 8 drives the first connecting rod 9 to rotate; the cylinder barrel 10 is mounted on the first connecting rod 9; the cylinder rod 11 is arranged in the cylinder barrel 10, and is provided with a wear-resistant ring; the disc 12 is fixedly arranged on the cylinder rod 11 through a screw; the shaft sleeve bracket and the motor bracket 15 are arranged on the disc 12, the screw is arranged in the shaft sleeve bracket, and the third motor is detachably arranged on the motor bracket 15; the output shaft of the third motor 14 is coaxially connected with a screw, the cylinder barrel 10 is provided with a nut which is connected with the screw in a matched mode, the third motor 14 rotates through a driving screw, and the screw is matched with the nut in a threaded mode, so that the cylinder rod 11 can move along the axial direction of the cylinder barrel 10, and the whole first telescopic device can be lengthened or shortened. The second connecting rod 17 is fixedly arranged on the disc 12, and one end of the liquid inlet shell 18 is connected with the second connecting rod 17; the clean water inlet straight pipe and the cleaning agent inlet straight pipe are arranged in the liquid inlet shell 18 in parallel; the upper side of the clean water inlet shell hose is connected with the clean water inlet shell straight pipe, and the lower side is connected with the clean water outlet box hose 40; the upper side of the cleaning agent inlet straight pipe is connected with the cleaning agent inlet straight pipe, and the lower side is connected with the cleaning agent outlet hose 47; one end of the clean water telescopic pipe 21 is connected with a clean water inlet straight pipe, and the other end of the clean water telescopic pipe is provided with a high-pressure water spray head 22; one end of the cleaning agent telescopic pipe 25 is connected with the cleaning agent shell-feeding straight pipe, and the other end is provided with a cleaning agent atomizing nozzle 26; the identification camera 27 is detachably arranged on the liquid inlet shell 18; a recovery device mounting boss 28 is mounted to the disc 12 at a location below the feed housing 18; the recovery device telescopic rod 29 is arranged in the recovery device fixing shaft sleeve 28, the top of the recovery device telescopic rod is fixedly connected with the recovery device fixing rod 30, the bottom of the recovery funnel 31 is arranged at the end part of the recovery device fixing rod 30, one end of the recovery device straight pipe 32 is arranged at the bottom of the recovery funnel 31, the other end of the recovery device straight pipe is provided with the recovery device hose 33, and one end of the recovery device hose 33 is connected with the sewage inlet hose 50; the first metering pump 35 is arranged at the upper outlet of the water tank 34, a first overflow valve 38 is arranged at the side position of the first metering pump, a first electromagnetic valve 39 is arranged at the end position of the first metering pump, the first overflow valve 38 is arranged on the clear water overflow pipe 37, and one end of the clear water overflow pipe 37 is connected with the clear water outlet straight pipe 36; one end of the clear water outlet straight pipe 36 is connected with the first metering pump 35, and the other end is connected with the clear water outlet hose 40; the second constant delivery pump 42 is arranged at the outlet of the upper part of the cleaning agent box 41, a second overflow valve 45 is arranged at the side of the second constant delivery pump, a second electromagnetic valve is arranged at the end part of the second constant delivery pump, the second overflow valve 45 is arranged on the cleaning agent overflow pipe 44, and one end of the cleaning agent overflow pipe 44 is connected with the cleaning agent box discharging straight pipe 43; one end of the cleaning agent outlet straight pipe 43 is connected with the second constant delivery pump 42, and the other end is connected with a cleaning agent outlet hose 47; the bottom of the sewage inlet straight pipe 49 is arranged on the sewage tank 48, and the other end is connected with the sewage inlet hose 50.
The car hopper 1 is arranged on a running device (a moving mode of vehicle-mounted movement matched with the lifting of the mechanical arm), the size of the car hopper is matched with that of a common running device on the market, a clamping groove is arranged on the running device, and the device is arranged in the clamping groove during operation and mainly used for bearing the solar panel automatic cleaning device.
The chassis 2 is used for connecting the hopper 1 with the upright post 3, and is detachably connected with the hopper 1 in a bolt and nut mode, so that the upright post 3 and the components above the upright post have enough stability when the solar panel automatic cleaning device works.
The stand 3 is connected with the revolving stage 5, embeds first motor 4 between stand 3 and the revolving stage 5, and first motor 4 is used for driving revolving stage 5, makes revolving stage 5 rotatory suitable position, guarantees solar panel self-cleaning device can carry out the operation to the solar panel under the current position appearance.
The rotating shaft sleeve 8 is fixedly connected with the rotating table 5 through a fixed shaft, and is internally provided with a second motor for driving the rotating shaft sleeve to rotate.
The cylinder barrel 10 is fixedly connected with the rotating shaft sleeve through a first connecting rod 9. The two built-in cylinder rods 11 can be extended during operation, so that the cleaning agent atomizing spray head is opposite to the solar panel surface again.
The disc 12 is fixedly connected with the cylinder rod 11 through screws on one side, and is provided with a main cleaning operation component, a shaft sleeve bracket, a third motor, a motor bracket 15, a screw, a second connecting rod 17, a liquid inlet shell 18, a clear water inlet shell straight pipe, a clear water inlet shell hose, a clear water telescopic pipe 21, a high-pressure water spray head 22, a cleaning agent inlet shell straight pipe, a cleaning agent inlet shell hose, a cleaning agent telescopic pipe 25, a cleaning agent atomizing spray head 26, an identification camera 27, a recovery device fixing shaft sleeve 28, a recovery device telescopic rod 29, a recovery device fixing rod 30, a recovery funnel 31, a recovery device straight pipe 32 and a recovery device hose 33 on the other side.
The motor bracket 15 is detachably mounted on the disc 12 in the form of a bolt and a nut or a bolt and a threaded hole, and is used for fixing a third motor.
The third motor is mounted on a motor bracket 15, which functions to drive the screw to rotate.
The clean water is introduced into the shell straight pipe, the clean water is introduced into the shell hose, the clean water telescopic pipe 21, the high-pressure water spray head 22, the cleaning agent is introduced into the shell straight pipe, the cleaning agent is introduced into the shell hose, the cleaning agent telescopic pipe 25 and the cleaning agent atomizing spray head 26 are used for spraying clean water and cleaning agent on the surface of the solar panel.
The bottom of the identification camera 27 is detachably mounted on the liquid inlet shell 18 in a bolt and threaded hole mode, the liquid inlet shell is trained in advance through deep learning, then the characteristics and the pose of the solar panel are identified and calculated, the result is transmitted to the controller, the controller drives the first motor 4, the second motor and the third motor to enable the rotary table, the rotary shaft sleeve and the rotary shaft to rotate, the two cylinder rods are driven to extend, and finally the cleaning agent atomizing nozzle is opposite to the solar panel surface.
The illustrated recovery device fixing bushing 28, recovery device telescoping rod 29, recovery device fixing rod 30, recovery funnel 31, recovery device straight tube 32 and recovery device hose 33 are used to recover the sewage on the solar panel surface after washing with cleaning agent and clear water.
The recovery unit telescoping rod 29 is connected to the disc 12 by a recovery unit mounting sleeve 28 as shown. The recovery device fixing rod 30 is connected with the recovery funnel 31 on one side and the recovery device telescopic rod 29 on the other side.
The lower side of the recovery funnel 31 is respectively connected with a recovery device straight pipe 32 and a recovery device hose 33.
The water tank 34 is fixedly arranged on the car hopper 1 in a welding mode and is used for storing water required during operation, the water tank 34 is connected with the first metering pump 35, when the solar panel automatic cleaning device is in a storage state, the water tank 34 is filled with clean water, the first metering pump 35 is started, the first electromagnetic valve 39 is in a closed state, the valve core of the first overflow valve 38 is opened under the pressure effect, and clean water returns to the water tank through the clean water overflow pipe 37.
The clear water outlet straight pipe 36 is arranged on the water tank 34, and the other side of the clear water outlet straight pipe is connected with a clear water outlet hose 40 in a side-by-side manner and is used as a water transportation channel during operation of the solar panel automatic cleaning device.
The cleaning agent tank 41 is fixedly mounted on the car hopper 1 by a welding mode, and is used for storing cleaning agent required during operation, and the connection mode and operation mechanism of the cleaning agent tank 41, the second constant delivery pump 42, the cleaning agent overflow pipe 44, the second overflow valve 45 and the second electromagnetic valve are consistent with those of the water tank 34.
The cleaning agent outlet straight pipe 43 is arranged on the cleaning agent box 41, and the other side of the cleaning agent outlet straight pipe is connected with a cleaning agent outlet hose 47 in a side joint manner and is used as a conveying channel of cleaning agent during operation of the solar panel automatic cleaning device.
The sewage tank 48 is fixed on the hopper 1 by welding, and is provided with a sewage inlet straight pipe 49 and a sewage inlet hose 50 in sequence for recycling sewage generated by operation.
The working procedure of this embodiment is as follows:
before the cleaning operation starts, the solar panel automatic cleaning device is in a storage state, the water tank 34 and the cleaning agent tank 41 are filled with clean water and cleaning agent respectively, the first metering pump 35 and the second metering pump 42 are started, the first electromagnetic valve 39 and the second electromagnetic valve are in a closed state, the valve cores of the first overflow valve 38 and the second overflow valve 45 are opened under the pressure action, the clean water and the cleaning agent respectively flow back to the water tank 34 and the cleaning agent tank 41 through the clean water overflow pipe 37 and the cleaning agent overflow pipe 44, the clean water telescopic pipe 21, the cleaning agent telescopic pipe 25 and the recovery device telescopic rod 29 are pulled out to the longest from the liquid inlet shell 18 and the recovery device fixing shaft sleeve 28 respectively, and the running device is stopped within the cleanable range of the solar panel; pressing a standby button in the cab, and rotating the second motor to enable the solar panel automatic cleaning device to be in a standby state; then pressing a cleaning start button in the cab, starting to identify and calculate the characteristics and the pose of the solar panel based on the recognition camera 27 trained in advance by deep learning, and transmitting the result to a controller, wherein the controller drives the first motor 4, the second motor and the third motor to enable the rotary table 5, the rotary shaft sleeve 8 and the screw to rotate, drives the two cylinder rods 11 to extend, and finally enables the cleaning agent atomizing nozzle 26 to be opposite to the center of the panel surface of the solar panel; after two seconds, the controller sends a signal to the second electromagnetic valve to enable the valve core of the second electromagnetic valve to be opened, the valve core is closed after waiting for one second, and during the opening and closing of the valve core, cleaning agent flows into the liquid inlet shell 18 through the cleaning agent outlet straight pipe 43, the cleaning agent outlet hose 47, the cleaning agent inlet shell hose and the cleaning agent inlet shell straight pipe, flows to the cleaning agent atomizing nozzle 26 through the liquid inlet shell 18 and the cleaning agent telescopic pipe 25, and is uniformly sprayed on a solar panel to react with pollutants after high-pressure atomization; after waiting ten seconds, the controller sends a signal to the first electromagnetic valve 39 to enable the valve core of the first electromagnetic valve 39 to be opened, after waiting three seconds, the valve core is closed, clear water flows into the liquid inlet shell 18 through the clear water outlet straight pipe 36, the clear water outlet hose 40, the clear water inlet shell hose and the clear water inlet shell straight pipe during the opening and closing of the valve core, flows to the high-pressure water spray head 22 through the liquid inlet shell 18 and the clear water telescopic pipe 21, is pressurized and sprayed on a solar panel, and during the period, the third motor drives the tail end cleaning device to rotate within the range of-20 degrees to increase the flushing area, the pollutants reacted on the panel and residual cleaning agent are flushed, the flushed sewage falls on the recovery funnel 31 and flows into the sewage tank through the recovery device straight pipe 32, the recovery device hose 33, the sewage inlet box hose 50 and the sewage inlet box straight pipe 49; then clean water and cleaning agent keep overflowing, the solar panel automatic cleaning device automatically recovers to a standby state, and residual clean water on the solar panel can be evaporated to dryness at the ambient temperature in a short time; after the first solar panel is cleaned, the running device moves forward and stops in the cleanable range of the next solar panel, a cleaning start button in a cab is pressed, the characteristic and the pose of the solar panel are identified and calculated by an identification camera 27, the result is transmitted to a controller, the controller drives a first motor 4, a second motor and a third motor to enable a rotary table 5, a rotary shaft sleeve 8 and a screw rod to rotate, two cylinder rods 11 are driven to extend, a cleaning agent atomizing nozzle 26 is enabled to be opposite to the surface of the solar panel again, and the subsequent cleaning mode is the same as the cleaning mode of the first solar panel until all the solar panels are cleaned; the driver presses the stop cleaning button, the solar panel automatic cleaning device is restored to the storage state, and finally the clean water telescopic pipe 21, the cleaning agent telescopic pipe 25 and the recovery device telescopic rod 29 are retracted to the positions when in the storage state.
As can be seen from the technical scheme, the invention has the following characteristics:
(A) The invention relates to a multi-degree-of-freedom cantilever type solar panel automatic cleaning device which is arranged on a running device and can clean a solar panel at multiple angles instead of directly operating on the surface of the solar panel, and the device cannot generate irreversible damage to an operating object due to the self weight of the device.
(B) The cleaning agent and clean water designed by the invention are respectively washed, and compared with the traditional single clean water high-pressure washing, the cleaning agent has strong dirt removing capability and excellent cleaning effect.
(C) The recovery device designed by the invention can timely recover the sewage generated after operation, has no detergent residue, and prolongs the service life of the solar panel.
(D) The multi-sensor integrated binocular camera is installed to identify and automatically adjust the pose, the cleaning agent and the water are used for cleaning, the camera can identify the cleaned solar panel and judge the cleaning effect, and the degree of automation, intellectualization and mechanization is high.
(E) The device designed by the invention has the advantages of simple structure, low cost, convenient manufacturing and processing, high performance reliability, stable working state and strong anti-interference capability.
Claims (8)
1. The multi-degree-of-freedom cantilever type solar panel cleaning device is characterized by comprising a car hopper (1), a water supply device, a cleaning liquid supply device, a waste liquid collection device, an upright post (3), a rotary table (5), a first telescopic device, a second telescopic device, a third telescopic device, a high-pressure water spray head (22), a cleaning agent atomizing spray head (26) and a recovery funnel (31);
the water supply device, the cleaning liquid supply device and the waste liquid collection device are all arranged on the car hopper (1);
the lower end of the upright post (3) is connected with the car hopper (1), one end of the rotary table (5) is rotationally connected with the top end of the upright post (3) through a first driving mechanism, and the first driving mechanism can drive the rotary table (5) to rotate along a plane perpendicular to the axis of the upright post (3); the other end of the rotary table (5) is connected with a second driving mechanism;
one end of the first telescopic device is connected with the second driving mechanism, the second driving mechanism can drive the first telescopic device to rotate along the vertical surface, and the other end of the first telescopic device is connected with one end of the second telescopic device and one end of the third telescopic device; the second telescopic device is parallel to the axis of the third telescopic device and is positioned right above the third telescopic device;
the recovery funnel (31) is arranged at the other end of the third telescopic device, an opening of the recovery funnel (31) faces the second telescopic device, and the high-pressure water spray head (22) and the cleaning agent atomization spray head (26) are used for cleaning the solar panel and are arranged at the other end of the second telescopic device;
the high-pressure water spray head (22), the cleaning agent atomization spray head (26) and the recovery funnel (31) are respectively connected with the water supply device, the cleaning agent supply device and the waste liquid collection device;
the second telescopic device and the third telescopic device are telescopic rods;
the mouth part of the recovery funnel (31) is rectangular, and the long side of the mouth part of the recovery funnel (31) is perpendicular to the axis of the third telescopic device.
2. The multi-degree-of-freedom cantilever type solar panel cleaning device according to claim 1, wherein the first driving mechanism comprises a first motor (4), the first motor (4) is arranged at the top end of the upright post (3), the axis of an output shaft of the first motor (4) is parallel to the axis of the upright post (3), and the output shaft of the first motor (4) is vertically connected with the rotary table (5).
3. The multi-degree-of-freedom cantilever type solar panel cleaning device according to claim 1, wherein the second driving mechanism comprises a fixed shaft, a second motor, a rotating shaft sleeve (8) and a first connecting rod (9), a U-shaped notch is formed in the end portion of the rotating table (5), the fixed shaft is arranged on one side of the U-shaped notch, and one end of the rotating shaft sleeve (8) is sleeved on the fixed shaft;
the other end of the rotating shaft sleeve (8) extends into the other side of the U-shaped notch and is in clearance fit or rotating connection with the side of the U-shaped notch, and an output shaft of the second motor is coaxially connected with the end of the rotating shaft sleeve (8); one end of a first connecting rod (9) is vertically connected with the rotating shaft sleeve (8), and the other end of the first connecting rod (9) is fixedly connected with the first telescopic device.
4. The multi-degree-of-freedom cantilever type solar panel cleaning device according to claim 1, wherein the first telescopic device comprises a cylinder barrel (10), a cylinder rod (11) and a third motor (14), the cylinder barrel (10) is connected with the second driving mechanism, the cylinder rod (11) is installed in the cylinder barrel (10), a disc (12) is installed at the outer end of the cylinder rod (11), and the disc (12) is connected with the second telescopic device and the third telescopic device; the third motor (14) is arranged on the disc (12), a screw rod is coaxially connected to an output shaft of the third motor (14), and a nut which is matched and connected with the screw rod is arranged on the cylinder barrel (10).
5. The multi-degree-of-freedom cantilever type solar panel cleaning apparatus according to claim 1, wherein the fixed ends of the second telescopic device and the third telescopic device are respectively provided with a fixed shaft sleeve in a sleeved mode.
6. The multi-degree-of-freedom cantilever type solar panel cleaning device according to claim 1, wherein the water supply device comprises a water tank (34) and a first metering pump (35), the water tank (34) is arranged on the car hopper (1), an inlet of the first metering pump (35) is communicated with the water tank (34), and an outlet of the first metering pump (35) is connected with the high-pressure water spray head (22);
the cleaning solution supplying device comprises a cleaning solution tank (41) and a second quantitative pump (42), the cleaning solution tank (41) is arranged on the car hopper (1), an inlet of the second quantitative pump (42) is communicated with the cleaning solution tank (41), and an outlet of the second quantitative pump (42) is connected with the cleaning solution atomizing nozzle (26);
the waste liquid collecting device comprises a sewage tank (48), the sewage tank (48) is arranged on the car hopper (1), and the outlet of the recovery funnel (31) is connected with the sewage tank (48) through a pipeline.
7. The multi-degree-of-freedom cantilever type solar panel cleaning apparatus according to claim 1, further comprising a controller and an identification camera (27) capable of identifying the characteristics and the pose of the solar panel, wherein the identification camera (27) is connected with the controller, and the controller is further connected with a first telescoping device, a water supply device, a cleaning liquid supply device, a first driving mechanism and a second driving mechanism.
8. The multi-degree-of-freedom cantilever type solar panel cleaning apparatus according to claim 1, further comprising a traveling device on which the hopper (1) is mounted.
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| CN202111194485.9A CN113972889B (en) | 2021-10-13 | 2021-10-13 | Multi-degree-of-freedom cantilever type solar panel cleaning device |
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| JP2021069270A (en) * | 2019-10-28 | 2021-04-30 | 石鴻偉 | Solar panel cleaning robot of photovoltaic power plant |
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| KR20130105130A (en) * | 2012-03-16 | 2013-09-25 | (주)마미로봇 | Apparatus for washing solar cell |
| CN205797844U (en) * | 2016-07-13 | 2016-12-14 | 宁夏瑞博新能源服务有限公司 | photovoltaic solar panel cleaning vehicle |
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