CN114785269A - Photovoltaic power plant solar panel cleaning robot - Google Patents
Photovoltaic power plant solar panel cleaning robot Download PDFInfo
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- CN114785269A CN114785269A CN202210319605.1A CN202210319605A CN114785269A CN 114785269 A CN114785269 A CN 114785269A CN 202210319605 A CN202210319605 A CN 202210319605A CN 114785269 A CN114785269 A CN 114785269A
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- solar panel
- cleaning
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- photovoltaic power
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- 238000004140 cleaning Methods 0.000 title claims abstract description 123
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 11
- 241000510097 Megalonaias nervosa Species 0.000 claims description 9
- 238000005406 washing Methods 0.000 claims description 6
- 238000007605 air drying Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 description 16
- 238000000034 method Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000007790 scraping Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000000861 blow drying Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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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
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
Landscapes
- Cleaning In General (AREA)
Abstract
The invention relates to the technical field of robots, and discloses a photovoltaic power station solar panel cleaning robot which comprises a traveling vehicle body, wherein extension arm mechanisms are symmetrically arranged on two sides of the traveling vehicle body, a mounting frame is arranged on each extension arm mechanism, a folding cleaning mechanism is arranged on each mounting frame, each folding cleaning mechanism comprises swinging opening and closing driving components symmetrically arranged on two sides of each mounting frame, a first cleaning plate and a second cleaning plate, the first cleaning plate and the second cleaning plate are respectively connected with the two groups of swinging opening and closing driving components, and the first cleaning plate and the second cleaning plate are hinged close to each other. The folding robot has a folding function, and the size of the robot in a non-use state can be greatly reduced. And a positioning navigation module and an automatic control module can be carried, so that unmanned automatic cleaning is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a solar panel cleaning robot for a photovoltaic power station.
Background
In order to improve the power generation efficiency of the photovoltaic power station, impurities which affect the light transmission performance, such as dust, leaves, bird droppings and the like deposited on the surface of the solar panel, must be cleaned regularly.
The cleaning method generally adopted in the prior art comprises the following steps: spraying water or air to the surface of the solar panel; arranging a device similar to a sweeping robot on the surface of the solar cell panel; and cleaning the arm using a robot.
For example, the solar panel cleaning device using vehicles such as trucks as carriers provided by the prior art carries a large mechanical cleaning arm on the carrier, cleans the solar panel through the mechanical cleaning arm, but the mechanical cleaning arm cannot be the same as the angle of swinging the arm when cleaning, so that the solar panel can have the phenomenon that part of the surface is omitted, and after the mechanical cleaning arm cleans, residual water stain or fine dust can be generated, the cleaning can be performed only by secondary operation, and the cleaning efficiency is not high.
In addition, the technical scheme of mechanical arm cleaning is adopted, a long arm length can be set for increasing the cleaning efficiency, the cleaning robot is long in length and large in size, the gravity center of a carrier is prone to being unstable, and inconvenience is brought to the moving and using processes. In particular, the ground of some photovoltaic power stations is not flat, but has a certain slope or undulation (for example, the ground is arranged on a hilly land or a mountain slope), and if the center of gravity is unstable, the carrier is turned over, so that the application range of the mechanical cleaning arm is limited.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the photovoltaic power station solar panel cleaning robot provided by the scheme has a folding function, and the size of the robot in a non-use state can be greatly reduced; the gravity center is stable, and the device can be applied to environments such as hills, hills and the like; the automatic cleaning can be realized after the navigation module and the automatic control module are carried.
The technical scheme adopted by the invention is as follows: this scheme photovoltaic power plant solar panel cleaning robot, including the automobile body that traveles, the automobile body bilateral symmetry that traveles is equipped with extension arm mechanism, be equipped with the mounting bracket in the extension arm mechanism, be equipped with folding wiper mechanism on the mounting bracket, folding wiper mechanism opens and shuts the drive assembly including the symmetry locates the swing of mounting bracket both sides to and open and shut the cleaning sheet one and rinse board two that the drive assembly is connected with two sets of swings respectively, it is articulated each other by the side to rinse board one and rinse board two.
As a further optimization of this scheme, the swing drive assembly that opens and shuts includes track one, swing power seat, swing power pole, transfer line, the power seat that opens and shuts and the power pole that opens and shuts, track one is located on the mounting bracket, the swing power seat slides and locates on the track one, transfer line one end is rotated through connecting axle one and is located on the mounting bracket, the one end that the transfer line is close to connecting axle one is equipped with the extension rod, swing power pole both ends are articulated with swing power seat and extension rod respectively, be equipped with the spout on the transfer line, the power seat that opens and shuts slides and locates in the spout, the power pole that opens and shuts articulates and locates on the power seat that opens and shuts, be equipped with the extension axle on the mounting bracket, the free end of extension axle extends to and washes between board one and the cleaning plate two, it is epaxial, two sets of power poles that open and shut in the swing drive assembly articulate with protruding seat on cleaning plate one and the cleaning plate two respectively and the cleaning plate two, and open and shut the power pole that two sets of power pole that open and shut in the swing drive assembly The extension axle is kept away from to the convex seat, utilizes the swing power seat to slide in track one, can drive the transfer line through the swing power pole and be in vertical state or the state of keeping flat, slides in the spout through the power pole that opens and shuts and can be in fold condition or expansion state through opening and shutting the power seat.
In order to realize the movement of the swing power seat, a first screw rod is rotatably arranged in the first rail, a first bevel gear is arranged at the outer end of the first screw rod, a double-head motor is arranged on the mounting frame, and two ends of the double-head motor are respectively meshed with the first bevel gears at the outer ends of the two groups of screw rods.
In order to realize the movement of the opening and closing power seat, a second screw rod is rotatably arranged in the sliding groove, an opening and closing motor is arranged in the transmission rod, and the output end of the opening and closing motor is fixedly connected with the second screw rod.
Preferably, an air drying fan is arranged on the mounting rack.
As a further optimization of the scheme, the extension arm mechanism comprises a fixed arm and a telescopic arm, the fixed arm is arranged on the traveling vehicle body, the telescopic arm is arranged on the fixed arm in a sliding mode, the mounting frame is arranged on the telescopic arm, a push rod is arranged in the fixed arm, and the push rod is fixedly connected with the telescopic arm.
As the further optimization of this scheme, all rotate in wash board one and the wash board two and be equipped with the multiunit and wash the roller brush, be equipped with the motor of being connected with the washing roller brush on wash board one and the wash board two, be equipped with the water tank on the automobile body of traveling, be equipped with the washing shower nozzle in wash board one and the wash board two, the washing shower nozzle passes through the hose and is connected with the water tank.
Preferably, the inner rear sides of the first cleaning plate and the second cleaning plate are both provided with elastic wiper plates.
Preferably, the running vehicle body is an unmanned running vehicle body having an automatic running capability.
Further preferably, the unmanned traveling vehicle body is provided with a positioning navigation module and an automatic control module, and can automatically complete cleaning operation.
The invention adopting the structure has the following beneficial effects: according to the scheme, the swinging opening and closing driving component can swing upwards and stand up through the transmission rod when the robot does not work to drive the first cleaning plate and the second cleaning plate to be lifted away from the solar panel, and the opening and closing power rod is used for pushing the first cleaning plate and the second cleaning plate to be folded and close to each other; meanwhile, the push rod is utilized to drive the swinging opening and closing driving assembly to approach to the direction of the running vehicle body, so that the occupied space of the robot is greatly reduced, and the robot is convenient to transport, retract and release. And can accomplish cleaning work automatically, use manpower sparingly.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to its full scope and content.
FIG. 1 is a schematic diagram of the overall structure of a photovoltaic power station solar panel cleaning robot in the scheme;
FIG. 2 is a top view of the photovoltaic power station solar panel cleaning robot in the scheme;
FIG. 3 is a side view of a photovoltaic power plant solar panel cleaning robot swinging opening and closing driving assembly according to the scheme;
fig. 4 is an enlarged view of a portion a in fig. 2 of the photovoltaic power station solar panel cleaning robot in the scheme.
The automatic cleaning device comprises a traveling vehicle body 1, a traveling vehicle body 2, an extension arm mechanism 3, a mounting frame 4, a swinging opening and closing driving assembly 5, a cleaning plate I, a cleaning plate II, a cleaning plate 7, a track I, a swinging power seat 8, a swinging power seat 9, a swinging power rod 10, a transmission rod 11, an opening and closing power seat 12, an opening and closing power rod 13, an extension rod 14, a sliding groove 15, an extension shaft 16, a convex seat 17, a screw rod I, a bevel gear I, a double-head motor 19, a double-head motor 20, a bevel gear II, a screw rod 22, an elastic water scraping plate 23, an air drying fan 24, a fixed arm 25, a telescopic arm 26, a cleaning roller brush 27, a water tank 28 and a cleaning nozzle.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-2, this scheme photovoltaic power plant solar panel cleaning robot, including the automobile body 1 that traveles, 1 bilateral symmetry of automobile body that traveles is equipped with extension arm mechanism 2, be equipped with mounting bracket 3 on the extension arm mechanism 2, be equipped with folding wiper mechanism on the mounting bracket 3, folding wiper mechanism opens and shuts drive assembly 4 including the swing that the symmetry located 3 both sides of mounting bracket, and open and shut 5 of cleaning sheet and two 6 of cleaning sheet that drive assembly 4 is connected with two sets of swings respectively, it is articulated near each other to wash 5 of sheet and cleaning sheet two 6, be equipped with on the mounting bracket 3 and air-dry fan 23.
As shown in fig. 1 to 4, the swing opening and closing driving assembly 4 includes a first rail 7, a swing power seat 8, a swing power rod 9, a transmission rod 10, an opening and closing power seat 11, and an opening and closing power rod 12, the first rail 7 is disposed on the mounting frame 3, the swing power seat 8 is slidably disposed on the first rail 7, one end of the transmission rod 10 is rotatably disposed on the mounting frame 3 through a first connecting shaft, an extension rod 13 is disposed at one end of the transmission rod 10 close to the first connecting shaft, two ends of the swing power rod 9 are respectively hinged to the swing power seat 8 and the extension rod 13, a sliding chute 14 is disposed on the transmission rod 10, the opening and closing power seat 11 is slidably disposed in the sliding chute 14, the opening and closing power rod 12 is hinged to the opening and closing power seat 11, an extension shaft 15 is disposed on the mounting frame 3, a free end of the extension shaft 15 extends between the first cleaning plate 5 and the second cleaning plate 6, the first cleaning plate 5 and the second cleaning plate 6 are rotatably disposed on the extension shaft 15 near each other side, two groups of opening and closing power rods 12 in the two groups of swinging opening and closing driving assemblies 4 are respectively hinged with convex seats 16 on the first cleaning plate 5 and the second cleaning plate 6, and the convex seats 16 are far away from the extension shaft 15.
As shown in fig. 2 to fig. 3, a first screw rod 17 is rotatably disposed in the first track 7, a first bevel gear 18 is disposed at an outer end of the first screw rod 17, a double-head motor 19 is disposed on the mounting frame 3, and two ends of the double-head motor 19 are respectively engaged with two sets of second bevel gears 20 of the first bevel gears 18 at outer ends of the screw rods.
As shown in fig. 4, a second screw 21 is rotatably disposed in the sliding slot 14, an opening/closing motor (not shown) is disposed in the transmission rod 10, and an output end of the opening/closing motor is fixedly connected to the second screw 21.
As shown in fig. 1 to 2, the extension arm mechanism 2 includes a fixed arm 24 and a telescopic arm 25, the fixed arm 24 is disposed on the traveling vehicle body 1, the telescopic arm 25 is slidably disposed on the fixed arm 24, the mounting frame 3 is disposed on the telescopic arm 25, a push rod (not shown) is disposed in the fixed arm 24, and the push rod is fixedly connected with the telescopic arm 25.
As shown in fig. 3, a plurality of groups of cleaning roller brushes 26 are rotatably arranged in the first cleaning plate 5 and the second cleaning plate 6, motors (not shown) connected with the cleaning roller brushes 26 are arranged on the first cleaning plate 5 and the second cleaning plate 6, a water tank 27 is arranged on the traveling vehicle body 1, cleaning nozzles 28 are arranged in the first cleaning plate 5 and the second cleaning plate 6, the cleaning nozzles 28 are connected with the water tank 27 through hoses, and elastic wiper plates 22 are arranged on the inner rear sides of the first cleaning plate 5 and the second cleaning plate 6.
In one embodiment, the traveling vehicle body 1 is placed on a solar panel (for example, a photovoltaic power station with a plurality of solar panels arranged on a roof or on a water surface and closely connected), the first cleaning plate 5 and the second cleaning plate 6 are lifted and folded, the push rod is started to extend to push two sets of mounting frames 3 away from each other, then the opening and closing motor is started to drive the second screw rod 21 to rotate so that the opening and closing power seat 11 moves towards the direction close to the mounting frames 3 along the sliding groove 14, so that the two sets of opening and closing power rods 12 pull the first cleaning plate 5 and the second cleaning plate 6 in a folded state to gradually expand into a linear state, then the double-headed motor 19 is started to drive the first screw rod 17 to rotate so as to drive the swinging power seat 8 to move towards the free end of the mounting frames 3, so that the driving rod 10 is pushed by the swinging power rod 9 to swing from a vertical state to a horizontal state, and the bottom sides of the first cleaning plate 5 and the second cleaning plate 6 after expansion contact with the solar panel, in the moving process of the traveling vehicle body 1, the cleaning spray head 28 sprays water to the solar panel and the cleaning roller brush 26, the cleaning roller brush 26 rotates to scrub the solar panel, the elastic water scraping plate 22 on the rear side is used for scraping off sewage, and in the moving process of the robot, the air drying fan 23 on the mounting rack 3 dries the cleaned solar panel.
In another embodiment of the present invention, the photovoltaic power plant solar panel cleaning robot further comprises a central processing module 40, and the traveling vehicle body 1 comprises a communication module 30, a positioning navigation module 31 and an automatic control module 32. The communication module 30 is in communication connection with the central processing module 40, and is in communication connection with the positioning navigation module 31 and the automatic control module 32 respectively, so as to realize the communication connection between the central processing module 40 and the positioning navigation module 31 and the automatic control module 32. The central processing module 40 is internally provided with three-dimensional coordinate data of each solar panel in the photovoltaic power plant station relative to an original point coordinate, wherein the three-dimensional coordinate data comprises X-axis distance and Y-axis distance data of the solar panel relative to the original point coordinate and height difference data of a Z axis; central processing module40, receiving the power output data of each solar panel in real time, and automatically judging whether the solar panels need to be cleaned according to the power output data. The judgment method comprises the steps of calculating the power deviation coefficient delta of each solar panel according to the formula I, and calculating the power deviation coefficient delta of each solar panel according to the formula InAnd if the preset threshold value is exceeded, the nth solar panel is judged to need to be cleaned.
δn＝(PBn÷PMn-PB0÷PM0)÷(PB0÷PM0) [ formula I ]]
Wherein, PB isnIs the output power data of the nth solar panel at 10 am, PMnIs the output power of the nth solar panel at day 12; PB (PB)0Is the output power data (sampling time period and PB) of all solar panels in the photovoltaic power station at 10 hours in the morningnThe sampling period of time of (c) is kept consistent), PM0Is the output power of all solar panels in the photovoltaic power station at day 12. Since the blocking rate of the small amount of dust deposited on the surface of the solar panel is higher for direct sunlight than for oblique sunlight, the PB ÷ PM value is higher than average for solar panels with more severe dust deposition.
The positioning navigation module 31 can receive the instruction of the central processing module 40 and control the traveling vehicle body 1 to automatically move to the position of any solar panel to be cleaned. The automatic control module 32 can control the operation of each component arranged on the extension arm 2, and can automatically complete the cleaning and drying of the solar panel. When the automatic cleaning function is realized, the communication module 30 receives an instruction sent by the central processing module 40, where the instruction includes the three-dimensional coordinate data of one or more solar panels to be cleaned and the current inclination angle data of the solar panels to be cleaned. The communication module 30 transmits the three-dimensional coordinate data of one or more solar panels to be cleaned to the positioning navigation module 31, and the positioning navigation module 31 automatically plans a traveling route according to the relative position of the current position of the traveling vehicle body 1 and the origin coordinate. And the solar panel cleaning machine can sequentially move to the corresponding positions of the solar panels to be cleaned according to a preset moving principle, and move to the next position after cleaning operation is finished. The advancing principle comprises that if two adjacent battery plates need to be cleaned, the two battery plates are advanced to the middle position of the two battery plates. The communication module 30 transmits the current tilt angle data of the solar panel to be cleaned to the automatic control module 32. After reaching the corresponding position, the automatic control module 32 automatically controls the extension arm mechanisms 2 on the two sides of the running vehicle body 1 and each component arranged on the extension arm 2 according to the inclination angle to automatically complete the cleaning and blow-drying of the solar panel to be cleaned. In order to avoid the phenomenon that the center of gravity of the single-side unfolding extension arm mechanism 2 is unstable in the cleaning operation, even if only one solar panel on one side needs to be cleaned, the automatic control module 32 still controls the extension arm mechanisms 2 on two sides of the running vehicle body 1 to be unfolded simultaneously, and the solar panels on two sides of the running vehicle body 1 are cleaned simultaneously.
It should be noted that, the sunrise time of the photovoltaic power station in different areas is different, and the sampling time of PB is set too early or too late, which may cause δnThe results of the calculations of (a) lack significance. In one embodiment, the sampling time of the PB is adjusted according to the actual conditions of different regions to achieve the best calculation result. In addition, the threshold value of the power offset coefficient δ is set too low, and the number of cleaning times is increased, which may result in an increase in cleaning cost; the threshold value of the power offset coefficient δ is set too high, and the number of times of cleaning is reduced, but the power output is reduced. In a specific embodiment, a reasonable threshold value for δ should be set according to the actual conditions of the photovoltaic power plant.
In another embodiment of the invention, the traveling vehicle body 1 of the photovoltaic power station solar panel cleaning robot is placed on the ground, and the extension arm mechanism 2 can extend upwards from the gap of the solar panel so that the horizontal height of the mounting rack 3 is higher than the solar panel, so as to complete the cleaning of the surface of the solar panel. The running vehicle body 1 includes an automatic control module 32 and a center of gravity sensing module 33. The automatic control module 32 is in communication with the center of gravity sensing module 33. The gravity center sensing module 33 can sense the gravity center position of the photovoltaic power station solar panel cleaning robot. When the gravity center perception module 33 finds that the gravity center of the photovoltaic power station solar panel cleaning robot continuously shifts and exceeds a preset safety range, the gravity center perception module 33 sends an instruction to the automatic control module 32 to control the extension arm mechanism 2 on one side or two sides of the running vehicle body 1 to extend or retract so as to adjust the position of the gravity center to return to the safety range. The method for sensing the gravity center position comprises the steps that pressure sensing devices 34 are respectively arranged on bearings of bearing wheels, which are in contact with the ground, of the running vehicle body 1, each pressure sensing device 34 is in communication connection with a gravity center sensing module 33, and the gravity center sensing module 33 calculates the gravity center position of the photovoltaic power station solar panel cleaning robot according to pressure data transmitted by each pressure sensing device 34 in real time.
It is to be noted that in the present specification, relational terms such as first, second, third, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring, defining, or implying any order or order between such entities or actions. Furthermore, in the present specification, "include", or any other variation thereof means "including but not limited to", including non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (10)
1. The utility model provides a photovoltaic power plant solar panel cleaning robot which characterized in that: including the automobile body (1) that traveles, it is equipped with extension arm mechanism (2) to travel automobile body (1) bilateral symmetry, be equipped with mounting bracket (3) on extension arm mechanism (2), be equipped with folding wiper mechanism on mounting bracket (3), folding wiper mechanism opens and shuts drive assembly (4) including the swing of symmetry locating mounting bracket (3) both sides to and open and shut wash board (5) and wash board two (6) that drive assembly (4) are connected with two sets of swings respectively, it is articulated to be close to the side each other with washing board two (6) to wash board (5).
2. The photovoltaic power plant solar panel cleaning robot of claim 1, characterized in that: the swing opening and closing driving assembly (4) comprises a track (7), a swing power seat (8), a swing power rod (9), a transmission rod (10), an opening and closing power seat (11) and an opening and closing power rod (12), wherein the track (7) is arranged on the mounting frame (3), the swing power seat (8) is arranged on the track (7) in a sliding manner, one end of the transmission rod (10) is arranged on the mounting frame (3) through the rotation of a connecting shaft, an extension rod (13) is arranged at one end, close to the connecting shaft I, of the transmission rod (10), the two ends of the swing power rod (9) are respectively hinged with the swing power seat (8) and the extension rod (13), a sliding groove (14) is formed in the transmission rod (10), the opening and closing power seat (11) is arranged in the sliding groove (14) in a sliding manner, the opening and closing power rod (12) is hinged on the opening and closing power seat (11), an extension shaft (15) is arranged on the mounting frame (3), the free end of extension axle (15) extends to between cleaning plate (5) and the cleaning plate two (6), cleaning plate (5) and cleaning plate two (6) are rotated and are located and extend axle (15), and are two sets of swing two sets of power rods (12) that open and shut in opening and shutting drive assembly (4) are articulated with convex seat (16) on cleaning plate (5) and the cleaning plate two (6) respectively, extend axle (15) are kept away from in convex seat (16).
3. The photovoltaic power plant solar panel cleaning robot of claim 2, characterized in that: the screw rod I (17) is arranged in the track I (7) in a rotating mode, a bevel gear I (18) is arranged at the outer end of the screw rod I (17), a double-end motor (19) is arranged on the mounting rack (3), and two ends of the double-end motor (19) are respectively meshed with the bevel gears II (20) at the outer ends of the two groups of screw rods, wherein the bevel gears I (18) are meshed with the bevel gears II.
4. The photovoltaic power plant solar panel cleaning robot of claim 2, characterized in that: the sliding chute (14) is provided with a second screw rod (21) in a rotating mode, the transmission rod (10) is internally provided with an opening and closing motor, and the output end of the opening and closing motor is fixedly connected with the second screw rod (21).
5. The photovoltaic power plant solar panel cleaning robot of claim 1, characterized in that: and an air drying fan (23) is arranged on the mounting rack (3).
6. The photovoltaic power plant solar panel cleaning robot of claim 1, characterized in that: extension arm mechanism (2) are including fixed arm (24) and flexible arm (25), fixed arm (24) are located and are gone on automobile body (1), flexible arm (25) slide and locate on fixed arm (24), mounting bracket (3) are located on flexible arm (25), be equipped with the push rod in fixed arm (24), the push rod concreties with flexible arm (25).
7. The photovoltaic power plant solar panel cleaning robot of claim 1, characterized in that: all rotate in cleaning plate (5) and cleaning plate two (6) and be equipped with multiunit washing roller brush (26), be equipped with the motor of being connected with washing roller brush (26) on cleaning plate (5) and cleaning plate two (6), be equipped with water tank (27) on the automobile body of traveling (1), be equipped with in cleaning plate (5) and cleaning plate two (6) and wash shower nozzle (28), it is connected with water tank (27) to wash shower nozzle (28) through the hose.
8. The photovoltaic power plant solar panel cleaning robot of claim 7, characterized in that: and elastic wiper plates (22) are arranged on the inner rear sides of the first cleaning plate (5) and the second cleaning plate (6).
9. The photovoltaic power plant solar panel cleaning robot of claim 1, characterized in that: the running vehicle body (1) is a remote control unmanned running vehicle body.
10. The photovoltaic power plant solar panel cleaning robot of claim 1, characterized in that: the running vehicle body (1) comprises a communication module (30), a positioning navigation module (31) and an automatic control module (32).
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| CN202210319605.1A CN114785269A (en) | 2022-03-29 | 2022-03-29 | Photovoltaic power plant solar panel cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118142924A (en) * | 2024-04-30 | 2024-06-07 | 敦为技术(佛山)有限公司 | Intelligent cleaning robot and cleaning method for solar photovoltaic panel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118142924A (en) * | 2024-04-30 | 2024-06-07 | 敦为技术(佛山)有限公司 | Intelligent cleaning robot and cleaning method for solar photovoltaic panel |
| CN118142924B (en) * | 2024-04-30 | 2024-07-02 | 敦为技术(佛山)有限公司 | Intelligent cleaning robot and cleaning method for solar photovoltaic panel |
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