CN114161386A - Photovoltaic module cleaning device intelligent movement robot - Google Patents
Photovoltaic module cleaning device intelligent movement robot Download PDFInfo
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- CN114161386A CN114161386A CN202111264521.4A CN202111264521A CN114161386A CN 114161386 A CN114161386 A CN 114161386A CN 202111264521 A CN202111264521 A CN 202111264521A CN 114161386 A CN114161386 A CN 114161386A
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- guide rail
- transverse
- sliding block
- cleaning device
- longitudinal
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- 238000004140 cleaning Methods 0.000 title claims abstract description 90
- 230000033001 locomotion Effects 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 17
- 239000000428 dust Substances 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The utility model provides a photovoltaic module cleaning device intelligent movement robot, includes automobile body and aligning gear, and aligning gear installs on the automobile body, and aligning gear includes six degrees of freedom motion control mechanism, butt joint drive mechanism and gesture detection system, and six degrees of freedom motion control mechanism locate on the automobile body, and butt joint drive mechanism locates on the six degrees of freedom motion control mechanism, and gesture detection system links to each other with six degrees of freedom motion control mechanism. The photovoltaic module cleaning device can be flexibly carried, and the photovoltaic module cleaning device can realize the cleaning work of front and back, high and low crossing and long-distance crossing among photovoltaic modules.
Description
Technical Field
The invention relates to an intelligent mobile robot, in particular to an intelligent mobile robot for a photovoltaic module cleaning device.
Background
In order to effectively improve the efficiency of cleaning dust on the surface of a photovoltaic module, a photovoltaic power station is automatically and periodically cleaned by arranging and installing a cleaning device at each row of photovoltaic group prices, so that the power generation efficiency is improved, and the disadvantages of low manual operation and maintenance safety, poor terrain adaptability, incapability of 24-hour service and the like can be effectively relieved. The working principle is that the cleaning brush rotates at a high speed, and the rotating direction is opposite to the advancing direction of the travelling wheels. In the rotating process of the brush, the dust is firstly brushed from the surface of the component, and then the dust is driven to the gap of the component to fall off under the combined action of the impact of the brush and the rotating airflow.
Because photovoltaic module cleaning device can't stride row work, lead to equipment cost high. For a flat-terrain concentrated photovoltaic plant, tens of cleaning devices may need to be invested per megawatt of photovoltaic modules. A single photovoltaic module cleaning device is quite expensive and difficult to maintain, and devices are exposed to sunlight all year round to accelerate aging, so that the equipment is seriously hindered from being applied to operation and maintenance of a centralized photovoltaic power station.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide an intelligent mobile robot for a photovoltaic module cleaning device, which can realize flexible transportation of the photovoltaic module cleaning device and enables the photovoltaic module cleaning device to realize the cleaning work of front and back, high and low spanning and long-distance spanning among photovoltaic modules.
The invention solves the technical problem by adopting the technical scheme that the intelligent mobile robot for the photovoltaic module cleaning device comprises a vehicle body and an alignment mechanism, wherein the alignment mechanism is arranged on the vehicle body and comprises a six-degree-of-freedom motion control mechanism, a butt joint transmission mechanism and an attitude detection system, the six-degree-of-freedom motion control mechanism is arranged on the vehicle body, the butt joint transmission mechanism is arranged on the six-degree-of-freedom motion control mechanism, and the attitude detection system is connected with the six-degree-of-freedom motion control mechanism.
Further, the six-degree-of-freedom motion control device comprises an upper platform, a lower platform and six servo electric cylinders, wherein the six servo electric cylinders are arranged between the upper platform and the lower platform, the upper ends of the servo electric cylinders are connected with the upper platform, the lower ends of the servo electric cylinders are connected with the lower platform, and the six servo electric cylinders are used for completing the motion of translating along an x axis, translating along a y axis, translating along a z axis, rotating around the x axis, rotating around the y axis and rotating around the z axis by six degrees of freedom by virtue of telescopic motion of the six servo electric cylinders.
Furthermore, the butt joint transmission mechanism comprises a transverse guide rail, the transverse guide rail is arranged on a transverse guide rail supporting bracket, the transverse guide rail supporting bracket is arranged at the top of the six-degree-of-freedom motion control device, a cleaning device supporting plate is arranged at the top of the transverse guide rail, a transverse sliding block is fixedly arranged at the bottom of the cleaning device supporting plate, and the transverse sliding block can slide in the transverse guide rail.
Further, the transverse guide rail comprises a transverse guide rail and a transverse lower guide rail, the transverse guide rail is installed at the upper end of the transverse guide rail supporting bracket, the transverse lower guide rail is installed at the lower end of the transverse guide rail supporting bracket, the transverse sliding block comprises an upper sliding block and a lower sliding block, the upper sliding block is fixedly installed at the upper end of the bottom of the cleaning device supporting plate, the lower sliding block is fixedly installed at the lower end of the bottom of the cleaning device supporting plate, the upper sliding block can slide in the transverse guide rail, and the lower sliding block can slide in the transverse lower guide rail.
Further, the butt joint transmission mechanism comprises a transverse guide rail and a longitudinal guide rail, the transverse guide rail is arranged on a transverse guide rail support bracket, the transverse guide rail support bracket is arranged at the top of the six-freedom-degree motion control device, a longitudinal guide rail support plate is arranged at the top of the transverse guide rail, a transverse sliding block is fixedly arranged at the bottom of the longitudinal guide rail support plate, and the transverse sliding block can slide in the transverse guide rail; the longitudinal guide rail is arranged on the longitudinal guide rail supporting plate, the cleaning device supporting plate is arranged at the top of the longitudinal guide rail, the longitudinal sliding block is fixedly arranged at the bottom of the cleaning device supporting plate, and the longitudinal sliding block can slide in the longitudinal guide rail.
Further, the butt joint transmission mechanism comprises a transverse guide rail and a longitudinal guide rail, the transverse guide rail comprises a transverse guide rail and a transverse lower guide rail, the transverse guide rail is installed at the upper end of a transverse guide rail supporting bracket, the transverse lower guide rail is installed at the lower end of the transverse guide rail supporting bracket, the transverse guide rail supporting bracket is installed at the top of a six-degree-of-freedom motion control device, a longitudinal guide rail supporting plate is installed at the top of the transverse guide rail, an upper sliding block is fixedly installed at the bottom of the upper end of the longitudinal guide rail supporting plate, a lower sliding block is fixedly installed at the bottom of the lower end of the longitudinal guide rail supporting plate, the upper sliding block can slide in the transverse guide rail, the lower sliding block can slide in the transverse lower guide rail, the longitudinal guide rail is installed on the longitudinal guide rail supporting plate, a cleaning device supporting plate is installed at the top of the longitudinal guide rail, a longitudinal sliding block is fixedly installed at the bottom of the cleaning device supporting plate, and the longitudinal sliding block can slide in the longitudinal guide rail.
Furthermore, longitudinal auxiliary guide rails are respectively arranged on two sides of the longitudinal guide rail and are arranged on the longitudinal guide rail supporting plate; the two sides of the longitudinal sliding block are respectively provided with a longitudinal auxiliary sliding block, the auxiliary sliding blocks are arranged at the bottom of the supporting plate of the cleaning device, and the auxiliary sliding blocks can slide in the auxiliary guide rails.
Further, cleaning device supporting bracket is installed at cleaning device backup pad top, is equipped with the brush board that charges on the cleaning device supporting bracket, and photovoltaic module cleaning device bottom is equipped with the brush piece that charges.
Further, the attitude detection system comprises an attitude detection sensor and an attitude detection controller, and the attitude detection sensor is connected with the attitude detection controller.
Further, the vehicle body comprises a walking chassis, an autonomous navigation sensor and a navigation controller, the autonomous navigation sensor is connected with the navigation controller, and the autonomous navigation sensor and the navigation controller are installed on the walking chassis.
Compared with the prior art, the invention has the following advantages:
the intelligent mobile robot can realize flexible carrying of the photovoltaic module cleaning device, prevents the photovoltaic module cleaning device from being exposed to sunlight all the year round, realizes automatic butt joint of the photovoltaic module cleaning device and a photovoltaic panel, and further enables the photovoltaic module cleaning device to realize cleaning work of front-back, high-low crossing and long-distance crossing rows among photovoltaic modules.
Drawings
Fig. 1 is a schematic structural view of embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of the embodiment shown in fig. 1 with the photovoltaic module cleaning device.
1-walking chassis, 2-slide rail device, 3-dust cover, 4-transverse guide rail support bracket, 5-transverse guide rail, 6-longitudinal guide rail backup pad, 7-longitudinal guide rail, 8-cleaning device backup pad, 9-cleaning device support bracket, 10-RTK measuring apparatu, 11-brush board that charges, 12-horizontal lower guideway, 13-location lidar, 14-lower platform, 15-servo electronic jar, 16-upper platform, 17-navigation lidar, 18-ultrasonic radar, 19-two mesh structure light camera, 20-crashproof strip, 21-high accuracy three-dimensional stereo camera, 22-photovoltaic module cleaning device.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
Example 1
Photovoltaic module cleaning device intelligent movement robot includes automobile body and alignment mechanism, and alignment mechanism installs on the automobile body.
The vehicle body comprises a walking chassis 1, an autonomous navigation sensor and a navigation controller, the autonomous navigation sensor is connected with the navigation controller, the autonomous navigation sensor and the navigation controller are installed on the walking chassis 1, and the walking chassis 1 is an all-terrain walking chassis and can adapt to complex ground. The front end of the walking chassis 1 is provided with an anti-collision strip 20.
Referring to fig. 1 and 2, the autonomous navigation sensor includes a navigation laser radar 17, a binocular structured light camera 19, an ultrasonic radar 18, and an RTK measuring instrument 10, the navigation laser radar 17, the binocular structured light camera 19, and the ultrasonic radar 18 are disposed at the front end of the walking chassis 1, and the RTK measuring instrument 10 is disposed at one side of the walking chassis 1. The navigation laser radar 17, the binocular structured light camera 19, the ultrasonic radar 18 and the RTK measuring instrument 10 are all connected with the navigation controller. In this embodiment, the navigation lidar 17 is a solid state lidar.
The quantity of navigation laser radar 17 is two, and walking chassis 1 front end is located to the symmetry, and two mesh structure light cameras 19 are located between two navigation laser radar 17 tops, and the quantity of ultrasonic radar 18 is two, and the top both sides of two mesh structure light cameras 19 are located to the symmetry. The number of the RTK measuring instruments 10 is two, and the RTK measuring instruments are symmetrically arranged on one side of the walking chassis 1.
The alignment mechanism comprises a six-degree-of-freedom motion control mechanism, a butt joint transmission mechanism and an attitude detection system, the six-degree-of-freedom motion control mechanism is arranged on the vehicle body, the butt joint transmission mechanism is arranged on the six-degree-of-freedom motion control mechanism, and the attitude detection system is connected with the six-degree-of-freedom motion control mechanism.
The six-degree-of-freedom motion control mechanism comprises an upper platform 16, a lower platform 14 and six servo electric cylinders 15, wherein the six servo electric cylinders 15 are arranged between the upper platform 16 and the lower platform 14, the upper ends of the servo electric cylinders 15 are connected with the upper platform 16 through universal hinges, and the lower ends of the servo electric cylinders 15 are connected with the lower platform 14 through the universal hinges. By means of the telescopic motion of the six servo electric cylinders 15, the motions of six degrees of freedom including translation along the x axis, translation along the y axis, translation along the z axis, rotation around the x axis, rotation around the y axis and rotation around the z axis are completed, and therefore various spatial motion postures are simulated.
The butt joint transmission mechanism comprises a longitudinal guide rail 7 and a transverse guide rail, the transverse guide rail comprises a transverse guide rail 5 and a transverse lower guide rail 12, the transverse guide rail is arranged on a transverse guide rail support bracket 4, the transverse guide rail 5 is arranged at the upper end of the transverse guide rail support bracket 4, the transverse lower guide rail 12 is arranged at the lower end of the transverse guide rail support bracket 4, the transverse guide rail support bracket 4 is arranged on an upper platform 16 of the six-freedom-degree motion control mechanism, a longitudinal guide rail support plate 6 is arranged at the top of the transverse guide rail, an upper slide block is fixedly arranged at the bottom of the upper end of the longitudinal guide rail support plate 6, a lower slide block is fixedly arranged at the bottom of the lower end, the upper slide block can slide in the transverse guide rail 5, the lower slide block can slide in the transverse lower guide rail 12, the longitudinal guide rail 7 is arranged on the longitudinal guide rail support plate 6, a cleaning device support plate 8 is arranged at the top of the longitudinal guide rail 7, and a longitudinal slide block is fixedly arranged at the bottom of the cleaning device support plate 8, the longitudinal slide can slide in the longitudinal guide 7. Cleaning device supporting bracket 9 is installed at cleaning device backup pad 8 top, is equipped with charging brush board 11 on cleaning device supporting bracket 9, and photovoltaic module cleaning device 22 bottom is equipped with the brush piece that charges. Longitudinal auxiliary guide rails are respectively arranged on two sides of the longitudinal guide rail 7 and are arranged on the longitudinal guide rail supporting plate 6; two sides of the longitudinal sliding block are respectively provided with a longitudinal auxiliary sliding block, the auxiliary sliding blocks are fixedly arranged at the bottom of the cleaning device supporting plate 8, and the auxiliary sliding blocks can slide in the auxiliary guide rails.
The attitude detection system comprises an attitude detection sensor and an attitude detection controller, and the attitude detection sensor is connected with the attitude detection controller. The attitude detection sensor comprises a positioning laser radar 13 and a high-precision three-dimensional camera 21, and the positioning laser radar 13 and the high-precision three-dimensional camera 21 are both arranged on an upper platform 16 of the freedom degree motion control device. On location laser radar 13 located degree of freedom motion control device's upper platform 16 through slide rail device 2, slide rail device 2 includes radar guide rail, radar slide, and radar guide rail installs in degree of freedom motion control device's upper platform 16, and location laser radar 13 installs in radar slide top, and radar slide can slide in radar guide rail. A dust cover 3 is arranged above the positioning laser radar 13, and the dust cover 3 is fixed on the radar sliding block. In this embodiment, the positioning laser radar 13 is a solid-state laser radar.
Example 2
Example 2 differs from example 1 only in that: the number of the transverse guide rails of the butt joint transmission mechanism is one, and the number of the corresponding transverse sliding blocks is also one, which is the same as that of the embodiment 1.
Example 3
Example 3 differs from example 2 only in that: the butt joint transmission mechanism does not comprise a longitudinal guide rail 7, a longitudinal slide block, a longitudinal guide rail support plate 6, an auxiliary guide rail and an auxiliary slide block, and a transverse slide block is fixedly arranged at the bottom of a cleaning device support plate 8, and the rest is the same as that of the embodiment 2.
During operation, carry photovoltaic module cleaning device 22 to photovoltaic module cleaning device intelligent Mobile robot's butt joint drive mechanism on, navigation control ware walks according to the data control automobile body of independently navigating sensor collection, and when the automobile body moved to photovoltaic panel, first step was tentatively fixed a position, specifically is: a positioning laser radar 13 on the intelligent mobile robot of the photovoltaic module cleaning device scans a scene to obtain three-dimensional point cloud, an attitude detection controller calculates according to the scanned three-dimensional point cloud to obtain a coarse precision pose, a six-degree-of-freedom motion control mechanism adjusts the attitude to enable the photovoltaic module cleaning device 22 to be in coarse butt joint with a photovoltaic panel, meanwhile, a high-precision three-dimensional camera 21 aligns to a calibration object on the photovoltaic panel, and the coarse positioning precision is about 3 cm; and secondly, carrying out accurate positioning, specifically comprising the following steps: after rough positioning, the high-precision three-dimensional camera 21 is basically aligned to a calibration object, the high-precision three-dimensional camera 21 scans the calibration object to obtain point clouds, the attitude detection controller calculates according to the scanned point clouds to obtain a high-precision relative pose of the photovoltaic module cleaning device 22 relative to the photovoltaic module, a high-precision position relation of the photovoltaic module cleaning device 22 relative to the photovoltaic module is obtained, and the six-freedom-degree motion control mechanism is adjusted according to the high-precision pose, so that the butt joint transmission mechanism is adjusted to align the photovoltaic module cleaning device 22 with the photovoltaic panel. The vertical rails of the docking transmission mechanism can adjust the height position of the photovoltaic module cleaning device 22, thereby adapting to photovoltaic panels of different installation heights. After photovoltaic module cleaning device 22 aligns with the photovoltaic panel, photovoltaic module cleaning device 22 moves to the photovoltaic panel through the transverse guide rail, cleans the photovoltaic panel assembly, and after the completion of cleaning the photovoltaic panel assembly, photovoltaic module cleaning device 22 is aligned through the aligning gear and is retrieved to the photovoltaic module cleaning device intelligent mobile robot.
The intelligent mobile robot can realize flexible carrying of the photovoltaic module cleaning device 22, avoid the photovoltaic module cleaning device 22 from being exposed to sunlight all the year round, realize automatic butt joint of the photovoltaic module cleaning device 22 and a photovoltaic panel, and further enable the photovoltaic module cleaning device 22 to realize cleaning work of front-back, high-low crossing and long-distance crossing among photovoltaic modules.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention provided they are within the scope of the claims of the present invention and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (10)
1. The utility model provides a photovoltaic module cleaning device intelligent movement robot which characterized in that: the automatic alignment device comprises a vehicle body and an alignment mechanism, wherein the alignment mechanism is arranged on the vehicle body and comprises a six-degree-of-freedom motion control mechanism, a butt joint transmission mechanism and a posture detection system, the six-degree-of-freedom motion control mechanism is arranged on the vehicle body, the butt joint transmission mechanism is arranged on the six-degree-of-freedom motion control mechanism, and the posture detection system is connected with the six-degree-of-freedom motion control mechanism.
2. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 1, wherein: the six-degree-of-freedom motion control device comprises an upper platform, a lower platform and six servo electric cylinders, wherein the six servo electric cylinders are arranged between the upper platform and the lower platform, the upper ends of the servo electric cylinders are connected with the upper platform, the lower ends of the servo electric cylinders are connected with the lower platform, and the six servo electric cylinders are used for completing the motion of translating along an x axis, translating along a y axis, translating along a z axis, rotating around the x axis, rotating around the y axis and rotating around the z axis by six degrees of freedom.
3. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 1, wherein: the butt joint transmission mechanism comprises a transverse guide rail, the transverse guide rail is arranged on a transverse guide rail supporting bracket, the transverse guide rail supporting bracket is arranged at the top of the six-degree-of-freedom motion control device, a cleaning device supporting plate is arranged at the top of the transverse guide rail, a transverse sliding block is fixedly arranged at the bottom of the cleaning device supporting plate, and the transverse sliding block can slide in the transverse guide rail.
4. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 3, wherein: the transverse guide rail comprises a transverse guide rail and a transverse lower guide rail, the transverse guide rail is installed at the upper end of the transverse guide rail supporting bracket, the transverse lower guide rail is installed at the lower end of the transverse guide rail supporting bracket, the transverse sliding block comprises an upper sliding block and a lower sliding block, the upper sliding block is fixedly installed at the upper end of the bottom of the cleaning device supporting plate, the lower sliding block is fixedly installed at the lower end of the bottom of the cleaning device supporting plate, the upper sliding block can slide in the transverse guide rail, and the lower sliding block can slide in the transverse lower guide rail.
5. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 1, wherein: the butt joint transmission mechanism comprises a transverse guide rail and a longitudinal guide rail, the transverse guide rail is arranged on a transverse guide rail support bracket, the transverse guide rail support bracket is arranged at the top of the six-degree-of-freedom motion control device, a longitudinal guide rail support plate is arranged at the top of the transverse guide rail, a transverse sliding block is fixedly arranged at the bottom of the longitudinal guide rail support plate, and the transverse sliding block can slide in the transverse guide rail; the longitudinal guide rail is arranged on the longitudinal guide rail supporting plate, the cleaning device supporting plate is arranged at the top of the longitudinal guide rail, the longitudinal sliding block is fixedly arranged at the bottom of the cleaning device supporting plate, and the longitudinal sliding block can slide in the longitudinal guide rail.
6. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 1, wherein: the butt joint transmission mechanism comprises a transverse guide rail and a longitudinal guide rail, the transverse guide rail comprises a transverse guide rail and a transverse lower guide rail, the transverse guide rail is installed at the upper end of a transverse guide rail supporting bracket, the transverse lower guide rail is installed at the lower end of the transverse guide rail supporting bracket, the transverse guide rail supporting bracket is installed at the top of a six-degree-of-freedom motion control device, a longitudinal guide rail supporting plate is installed at the top of the transverse guide rail, an upper sliding block is fixedly installed at the bottom of the upper end of the longitudinal guide rail supporting plate, a lower sliding block is fixedly installed at the bottom of the lower end of the longitudinal guide rail supporting plate, the upper sliding block can slide in the transverse guide rail, the lower sliding block can slide in the transverse lower guide rail, the longitudinal guide rail is installed on the longitudinal guide rail supporting plate, a cleaning device supporting plate is installed at the top of the longitudinal guide rail, a longitudinal sliding block is fixedly installed at the bottom of the cleaning device supporting plate, and the longitudinal sliding block can slide in the longitudinal guide rail.
7. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 5 or 6, wherein: longitudinal auxiliary guide rails are respectively arranged on two sides of the longitudinal guide rail and are arranged on the longitudinal guide rail supporting plate; the two sides of the longitudinal sliding block are respectively provided with a longitudinal auxiliary sliding block, the auxiliary sliding blocks are arranged at the bottom of the supporting plate of the cleaning device, and the auxiliary sliding blocks can slide in the auxiliary guide rails.
8. The intelligent mobile robot for photovoltaic module cleaning devices as claimed in any one of claims 4 to 6, wherein: cleaning device supporting bracket is installed at cleaning device backup pad top, is equipped with the brush board that charges on the cleaning device supporting bracket, and photovoltaic module cleaning device bottom is equipped with the brush piece that charges.
9. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 1, wherein: the attitude detection system comprises an attitude detection sensor and an attitude detection controller, and the attitude detection sensor is connected with the attitude detection controller.
10. The intelligent mobile robot for cleaning a photovoltaic module as claimed in claim 1, wherein: the vehicle body comprises a walking chassis, an autonomous navigation sensor and a navigation controller, wherein the autonomous navigation sensor is connected with the navigation controller, and the autonomous navigation sensor and the navigation controller are installed on the walking chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111264521.4A CN114161386A (en) | 2021-10-28 | 2021-10-28 | Photovoltaic module cleaning device intelligent movement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111264521.4A CN114161386A (en) | 2021-10-28 | 2021-10-28 | Photovoltaic module cleaning device intelligent movement robot |
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| Publication Number | Publication Date |
|---|---|
| CN114161386A true CN114161386A (en) | 2022-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111264521.4A Pending CN114161386A (en) | 2021-10-28 | 2021-10-28 | Photovoltaic module cleaning device intelligent movement robot |
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| CN109231065A (en) * | 2018-09-28 | 2019-01-18 | 北京卫星制造厂有限公司 | A kind of six degree of freedom posture adjusting system based on Omni-mobile module |
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2021
- 2021-10-28 CN CN202111264521.4A patent/CN114161386A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204669300U (en) * | 2015-06-16 | 2015-09-23 | 安徽理工大学 | A kind of solar photovoltaic cell panel is followed the tracks of and cleaning plant |
| KR101802955B1 (en) * | 2016-08-11 | 2017-12-05 | (주)에코브라이트코리아 | Incline moving apparatus for a cleaning device of solar cell panels |
| CN107774647A (en) * | 2017-04-04 | 2018-03-09 | 内蒙古硕博自动化科技有限公司 | A kind of portable photovoltaic panel sweeping robot system |
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| CN109047086A (en) * | 2018-08-02 | 2018-12-21 | 南京师范大学 | A kind of photovoltaic battery plate sweeping robot carrier and method for carrying |
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