CN114499392A - Single-master-single-slave self-adjusting cleaning robot suitable for preset track photovoltaic assembly - Google Patents
Single-master-single-slave self-adjusting cleaning robot suitable for preset track photovoltaic assembly Download PDFInfo
- Publication number
- CN114499392A CN114499392A CN202210150365.7A CN202210150365A CN114499392A CN 114499392 A CN114499392 A CN 114499392A CN 202210150365 A CN202210150365 A CN 202210150365A CN 114499392 A CN114499392 A CN 114499392A
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- Prior art keywords
- cleaning
- photovoltaic
- assembly
- component
- slave
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- 238000004140 cleaning Methods 0.000 title claims abstract description 91
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 abstract description 15
- 238000010248 power generation Methods 0.000 description 6
- 239000002390 adhesive tape Substances 0.000 description 5
- 238000003491 array Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a single-master-single-slave self-adjusting cleaning robot suitable for a preset track photovoltaic assembly, and belongs to the technical field of cleaning devices. The cleaning robot comprises a cleaning component mounting frame; the left end of the cleaning component mounting frame is connected with the driven component, the right end of the cleaning component mounting frame is connected with the driving component, and the lower end of the cleaning component mounting frame is connected with the cleaning component; the right end of the cleaning component mounting rack is also provided with an angle sensor for monitoring the inclination angle of the cleaning component mounting rack; on photovoltaic module one end's the plane was arranged in to driven subassembly, photovoltaic module's the other end set up the track of equipartition hole, drive gear and equipartition hole meshing transmission on the drive assembly. The cleaning robot provided by the invention can be suitable for a photovoltaic assembly with a track pre-arranged on the assembly frame, can stably run, can reduce the installation cost and the installation difficulty of the robot, and can be suitable for the situation that an active driving assembly cannot be installed due to small space at one end of a photovoltaic array.
Description
Technical Field
The invention relates to the technical field of cleaning devices, in particular to a single-master and single-slave self-adjusting cleaning robot suitable for a preset track photovoltaic assembly.
Background
Photovoltaic power generation is a clean energy with a very wide prospect, and dust in the air seriously influences the power generation efficiency of a photovoltaic component. Data show that the photovoltaic module plate is not cleaned in one year, the power generation efficiency is influenced by more than 20%, and accumulated snow can only be melted naturally. Therefore, it is very necessary that each power generation array is provided with a set of photovoltaic cleaning robot, a walking track of each photovoltaic cleaning robot is fixedly arranged on a photovoltaic module frame, each power generation station is also provided with an operation program in communication connection with the photovoltaic cleaning robot, an operator sends a cleaning instruction to the photovoltaic cleaning robot through the operation program, and the photovoltaic cleaning robot automatically cleans the photovoltaic module according to the instruction sent by the operation program. However, the inventor of the present invention finds that the existing photovoltaic cleaning robot has the following defects: although the photovoltaic cleaning robot with the track runs stably, the installation cost and the installation difficulty of the track are high, so that the willingness of a power station to install the photovoltaic cleaning robot is not strong, and the power generation efficiency of a photovoltaic module is influenced.
The traditional rail type automatic cleaning system has higher rail installation cost and installation difficulty.
Disclosure of Invention
In view of the above, in order to solve the problem that the existing photovoltaic cleaning robot needs to be provided with a track, and although the operation is relatively stable, the installation cost and the installation difficulty of the track are relatively high, the invention provides the single-master-slave self-adjusting cleaning robot which is suitable for presetting the photovoltaic modules of the track, can be suitable for presetting the track on the photovoltaic modules on the module frame, can stably operate, can reduce the installation cost and the installation difficulty of the robot, and can be suitable for the situation that the space at one end of a photovoltaic array is small and an active driving module cannot be installed.
In order to achieve the purpose, the invention provides the following technical scheme:
single master and slave self-adjusting cleaning robot suitable for preset track photovoltaic module, including: a cleaning assembly mounting bracket;
the left end of the cleaning component mounting frame is connected with the driven component, the right end of the cleaning component mounting frame is connected with the driving component, and the lower end of the cleaning component mounting frame is connected with the cleaning component;
the right end of the cleaning component mounting rack is also provided with an angle sensor for monitoring the inclination angle of the cleaning component mounting rack;
the driven component is arranged on the plane of one end of the photovoltaic component, the other end of the photovoltaic component is provided with a track with uniformly distributed holes, and the driving gear on the driving component is in meshed transmission with the uniformly distributed holes.
Preferably, the driving assembly comprises a motor bracket connected with the right end of the cleaning assembly mounting rack, a driving motor fixed on the motor bracket, and a driving gear connected with the output end of the driving motor;
the driving gear is meshed with the uniformly distributed holes.
Preferably, the driven assembly comprises a driven motor bracket connected with the cleaning assembly mounting frame, a driven motor arranged on the driven motor bracket, and a roller arranged on the driven motor bracket;
the roller is in contact with the frame of the photovoltaic assembly and moves along the frame of the photovoltaic assembly.
Preferably, the cleaning component is a glue strip.
Compared with the prior art, the invention has the following beneficial effects:
1. the single-master-single-slave self-adjusting cleaning robot suitable for the photovoltaic module with the preset track, provided by the invention, can be suitable for the photovoltaic module with the track preset on the module frame, can stably run, can reduce the installation cost and the installation difficulty of the robot, and can be suitable for the situation that the space at one end of a photovoltaic array is small and an active driving module cannot be installed.
2. According to the single-master single-slave self-adjusting cleaning robot suitable for the preset track photovoltaic module, the inclination of the cleaning module mounting frame can be adjusted by arranging the angle sensor on the cleaning module mounting frame, and the inclination of the cleaning module mounting frame is adjusted to keep small range fluctuation by adjusting the rotating speed of the motors at two ends; because the driven component sets up on the photovoltaic module plane, so cleaning machines people can freely walk on the photovoltaic module array under various operating modes.
3. One end of the cleaning robot is provided with a driving assembly, the driving assembly is rigidly connected with the cleaning assembly mounting frame, the other end of the cleaning robot is rigidly connected with a driven assembly, and the cleaning robot can freely walk on the photovoltaic assembly array under different working conditions; the surface of the photovoltaic module glass is wiped through the adhesive tape to realize a cleaning function.
4. The invention has stable and reliable operation by using a gear and track meshing mode; the tracks are preset on the photovoltaic module frame, track installation of the robot is omitted, and installation cost and installation difficulty of the robot are reduced.
Drawings
FIG. 1 is a schematic view of the present invention mounted on a photovoltaic module;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of a driving assembly;
in the figure, 1, a cleaning robot, 2, a photovoltaic module, 3, a driving module, 31, a driving motor, 32, a driving motor mounting seat, 33, a driving gear, 34, a rotating mechanism, 35, a driving roller, 4, a cleaning module mounting frame, 5, a cleaning module, 6, a driven module and 7, an angle sensor are arranged.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
As shown in fig. 1, the cleaning robot 1 provided by the invention is assembled on a photovoltaic module 2;
as shown in fig. 2, the present invention provides a single master-single slave self-adjusting cleaning robot for a preset track photovoltaic module, comprising: a cleaning assembly mounting frame 4;
the left end of the cleaning component mounting frame 4 is connected with the driven component 6, the right end of the cleaning component mounting frame is connected with the driving component 3, and the lower end of the cleaning component mounting frame is connected with the cleaning component 5;
the right end of the cleaning component mounting rack 4 is also provided with an angle sensor 7 for monitoring the inclination angle of the cleaning component mounting rack 4;
driven component 6 arranges in on the plane of photovoltaic module 2 one end, photovoltaic module 2's the other end sets up the track of equipartition hole, drive gear 33 on the drive assembly 3 with equipartition hole meshing transmission.
The invention provides the single-master single-slave self-adjusting cleaning robot suitable for the preset track photovoltaic assembly, wherein:
presetting a track photovoltaic module: the tracks are preset onto the frame of the photovoltaic module 2.
Single master and single slave: one end of the driving component 3 is driven to move automatically, and the other end of the driven component 6 is driven to move automatically.
Self-adjustment: the inclination of the cleaning component mounting frame 4 is detected through the angle sensor 7, and the inclination of the cleaning component mounting frame 4 is adjusted to be kept within a small range fluctuation by adjusting the rotating speed of the motors at the two ends;
the cleaning robot 1 is meshed with the uniformly distributed holes in the frame of the photovoltaic component 2 through the gear on the driving component 3 and can walk on the photovoltaic component array;
one end of the cleaning component mounting frame 4 is hinged with the driving component 3, and the other end is rigidly connected with the driven component 6; the inclination of the cleaning component mounting frame 4 can be detected through the angle sensor 7, and the inclination of the cleaning component mounting frame 4 is adjusted to be kept within a small range fluctuation by adjusting the rotating speed of the motors at the two ends; because the driven assembly 6 is on the photovoltaic module 2 plane, so cleaning robot 1 can freely walk on the photovoltaic module array under various operating modes.
As shown in fig. 3, in the present invention, the driving assembly 3 includes a driving motor mounting seat 32 connected to the right end of the cleaning assembly mounting frame 4, a driving motor 31 fixed to the driving motor mounting seat 32, and a driving gear 33 connected to the output end of the driving motor 31;
the driving gear 33 is engaged with the evenly distributed holes.
In the invention, the driven assembly 6 comprises a driven motor mounting seat connected with the cleaning assembly mounting frame, a driven driving motor arranged on the driven motor mounting seat, and a driven roller arranged on the driven motor mounting seat;
the driven roller is in contact with the frame of the photovoltaic assembly and moves along the frame of the photovoltaic assembly.
It should be noted that the structure of the driven assembly 6 provided by the present invention is similar to that of the driving assembly 3, except that the driven assembly 6 does not include a structure in which the gear in the driving assembly 3 is meshed with the track;
the driving component 3 can also be provided with a driving roller 35 on the motor bracket, and the rolling groove of the driving roller 35 is contacted with the two sides of the track and moves along the extending direction of the track so as to ensure the running reliability of the equipment; meanwhile, a rotating mechanism 34 can be arranged on the driving motor mounting seat 32 to meet the requirements of photovoltaic modules of different arrays and errors among photovoltaic module arrays.
The track can be connected with the frame of the photovoltaic module through the track support.
In the invention, the cleaning component 5 is an adhesive tape, the cleaning component 5 (adhesive tape) is arranged at the lower part of the cleaning component mounting frame 4, the lower edge angle of the adhesive tape is tightly attached to the glass surface of the photovoltaic component 2, and the adhesive tape can scrape dust on the photovoltaic component 2 along with the driving component 3 and the driven component 6 driving the cleaning component mounting frame 4 to walk on the photovoltaic component array, so that the aim of cleaning the photovoltaic component 2 is achieved.
The above are merely preferred embodiments of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by the equivalent or modified embodiments and the modified concepts of the present invention.
Claims (5)
1. The single-master-single-slave self-adjusting cleaning robot is suitable for a preset track photovoltaic assembly and is characterized by comprising a cleaning assembly mounting frame;
the left end of the cleaning component mounting frame is connected with the driven component, the right end of the cleaning component mounting frame is connected with the driving component, and the lower end of the cleaning component mounting frame is connected with the cleaning component;
the right end of the cleaning component mounting rack is also provided with an angle sensor for monitoring the inclination angle of the cleaning component mounting rack;
the driven component is arranged on the plane of one end of the photovoltaic component, the other end of the photovoltaic component is provided with a track with uniformly distributed holes, and the driving gear on the driving component is in meshed transmission with the uniformly distributed holes.
2. The single-master single-slave self-adjusting cleaning robot suitable for the preset-track photovoltaic assembly as claimed in claim 1, wherein the driving assembly comprises a driving motor mounting seat connected with the right end of the cleaning assembly mounting frame, a driving motor fixed on the driving motor mounting seat, and a driving gear connected with the output end of the driving motor.
3. The single master and single slave self-adjusting cleaning robot for a pre-set track photovoltaic module of claim 1, wherein the slave module comprises a slave motor mount coupled to the cleaning module mount, a slave drive motor mounted to the slave motor mount, and a slave roller mounted to the slave motor support;
the driven roller is in contact with the frame of the photovoltaic assembly and moves along the frame of the photovoltaic assembly.
4. The single master-single slave self-adjusting cleaning robot suitable for the preset track photovoltaic assembly according to any one of claims 1-3, wherein the cleaning assembly is a rubber strip.
5. The single-master single-slave self-propelled cleaning robot suitable for the photovoltaic module with the preset track as claimed in claim 1, wherein the driving force provided by the driven roller of the driven module is slightly larger than the friction force of the nearby rubber strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210150365.7A CN114499392B (en) | 2022-02-18 | 2022-02-18 | Single-master single-slave self-adjusting cleaning robot suitable for preset track photovoltaic module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210150365.7A CN114499392B (en) | 2022-02-18 | 2022-02-18 | Single-master single-slave self-adjusting cleaning robot suitable for preset track photovoltaic module |
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| Publication Number | Publication Date |
|---|---|
| CN114499392A true CN114499392A (en) | 2022-05-13 |
| CN114499392B CN114499392B (en) | 2024-08-06 |
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| CN202210150365.7A Active CN114499392B (en) | 2022-02-18 | 2022-02-18 | Single-master single-slave self-adjusting cleaning robot suitable for preset track photovoltaic module |
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| CN214429509U (en) * | 2021-02-08 | 2021-10-19 | 杭州舜海光伏科技有限公司 | Single-motor single-track photovoltaic cleaning robot |
| CN113560229A (en) * | 2021-07-09 | 2021-10-29 | 华能山东发电有限公司众泰电厂 | Photovoltaic cleaning equipment capable of adapting to unevenness of surface of photovoltaic module array |
-
2022
- 2022-02-18 CN CN202210150365.7A patent/CN114499392B/en active Active
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| CN114499392B (en) | 2024-08-06 |
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