CN115415216A - Force feedback manipulator for cleaning photovoltaic panel - Google Patents
Force feedback manipulator for cleaning photovoltaic panel Download PDFInfo
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- CN115415216A CN115415216A CN202211052103.3A CN202211052103A CN115415216A CN 115415216 A CN115415216 A CN 115415216A CN 202211052103 A CN202211052103 A CN 202211052103A CN 115415216 A CN115415216 A CN 115415216A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 146
- 230000007246 mechanism Effects 0.000 claims abstract description 206
- 230000005484 gravity Effects 0.000 claims abstract description 16
- 238000005452 bending Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000001447 compensatory effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000004580 weight loss Effects 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
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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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 invention discloses a force feedback manipulator for cleaning a photovoltaic panel, which comprises a cleaning mechanism, a compensation mechanism, a lifting mechanism and a state switching mechanism, wherein the cleaning mechanism utilizes a brush arranged on the surface of the cleaning mechanism to be in contact with the surface of the photovoltaic panel so as to enable the surface of the photovoltaic panel to generate reaction force on the brush; the compensation mechanism provides compensation force for the cleaning mechanism and ensures that the sum of the compensation force and the reaction force is equal to the self gravity of the cleaning mechanism, so that the self gravity of the cleaning mechanism is completely balanced by the compensation force and the reaction force; the lifting mechanism is used for adjusting the angle and the distance between the cleaning mechanism and the surface of the photovoltaic panel; the state switching mechanism is used for switching the working states of the compensation mechanism and the lifting mechanism. According to the invention, the self gravity of the cleaning mechanism is balanced by the compensation force of the compensation mechanism and the reaction force of the surface of the photovoltaic panel, so that the cleaning mechanism achieves the effect of zero gravity in space, the manufacturing cost is effectively saved, and the passive mechanical working mode is safe and reliable and can save energy consumption.
Description
Technical Field
The invention relates to the technical field of photovoltaic panel cleaning, in particular to a force feedback manipulator for cleaning a photovoltaic panel.
Background
With the continuous growth of the photovoltaic industry, the photovoltaic panel cleaning industry is also continuously developing. And the market of early photovoltaic board clean trade mainly adopts artifical clean mode, and its cleaning efficiency is low, and the price is very expensive, has greatly increased photovoltaic power plant's fortune dimension cost. At present, a photovoltaic panel cleaning vehicle and an intelligent photovoltaic panel cleaning robot are developed in the photovoltaic panel cleaning market, the intelligent photovoltaic panel cleaning robot is usually fixed on one or a plurality of rows of photovoltaic panels and reciprocates among the photovoltaic panels through a rail, but the requirement on the environment for building the foundation of a photovoltaic power station is high, the photovoltaic panel cleaning robot cannot be popularized generally, the operation and maintenance cost is high, and the maintenance frequency is high. The photovoltaic panel is cleaned through the photovoltaic panel cleaning vehicle, the photovoltaic panel is cleaned through the conventional photovoltaic panel cleaning vehicle which is often provided with a water storage device and a water spraying device, a large amount of water resources are wasted, and according to the special geographical environment and the practical characteristics of the photovoltaic power station in China, the photovoltaic panel cleaning vehicle is suitable for being installed in the northwest region of the photovoltaic power station but is the region which is most lack of water and is most difficult to clean the photovoltaic panel, so that the waterless cleaning mode can obtain great market prospect when the photovoltaic industry in the northwest region is developed.
Under the current technical development, the photovoltaic panel cleaning vehicle on the market relies on a microcomputer and a sensing technology in order to improve the working efficiency, and relies on a large number of sensing units and calculation programs to adjust the spatial position of an execution manipulator so as to keep the relative static position with the photovoltaic panel all the time, so as to ensure the cleaning effect and the cleaning efficiency, meanwhile, the response speed and the response precision of a driving device need to be continuously upgraded, the manufacturing, operation and maintenance costs of the photovoltaic panel cleaning vehicle are invisibly and greatly enhanced, and the complex design concept inevitably causes negative influences on the economic benefit and the maintenance difficulty.
Disclosure of Invention
The invention aims to provide a force feedback manipulator for cleaning a photovoltaic panel, which balances the self gravity of a cleaning mechanism through an interaction force and a compensation force of a compensation mechanism, so that the cleaning mechanism achieves the weight loss effect in space, does not depend on the functions of a sensor and a microcomputer, and is safe and reliable in a passive mechanical working mode and can save energy consumption.
The invention provides a force feedback manipulator for cleaning a photovoltaic panel, which comprises a cleaning mechanism, a compensation mechanism, a lifting mechanism and a state switching mechanism, wherein the cleaning mechanism comprises:
the cleaning mechanism is connected with the compensation mechanism, the surface of the cleaning mechanism is provided with a brush, the brush is contacted with the surface of the photovoltaic panel to enable the surface of the photovoltaic panel to generate reaction force on the brush and ensure the bending of the brush, and the surface of the photovoltaic panel is cleaned by the contact of the brush arranged on the cleaning mechanism and the surface of the photovoltaic panel;
the compensation mechanism is used for providing compensation force for the cleaning mechanism and ensuring that the sum of the compensation force provided by the compensation mechanism and the reaction force of the surface of the photovoltaic panel on the cleaning mechanism is equal to the self gravity of the cleaning mechanism so that the self gravity of the cleaning mechanism is completely offset and balanced by the compensation force of the compensation mechanism and the reaction force of the surface of the photovoltaic panel;
the lifting mechanism is connected with the cleaning mechanism and used for driving the cleaning mechanism to lift so as to adjust the angle and the distance between the cleaning mechanism and the surface of the photovoltaic panel;
and the state switching mechanism is respectively connected with the lifting mechanism and the compensating mechanism and used for switching the working states of the compensating mechanism and the lifting mechanism, when the compensating mechanism needs to work, the lifting mechanism is switched to a standby state through the state switching mechanism, and when the compensating mechanism does not need to work, the lifting mechanism is switched to the working state through the state switching mechanism.
Preferably, compensation mechanism includes cushion cylinder, pressure control valve and pressure spring, be equipped with the piston rod in the cushion cylinder and divide into two cylinder bodies with the cushion cylinder through the piston rod, and the cushion cylinder passes through the piston rod and cleans mechanism fixed connection, two the cylinder body all is connected with the pressure control valve and is used for controlling the pressure that corresponds in the cylinder body and then control the cushion cylinder to cleaning the compensation power of mechanism, and the pressure spring symmetric position cleans the both sides of mechanism and is used for the reinforcing to clean the laminating between mechanism and the photovoltaic board surface.
Preferably, the buffer cylinder is a buffer cylinder or a buffer oil cylinder.
Preferably, compensation mechanism includes montant, balancing weight, tight pulley, division link chain and linear guide, and the lower extreme activity of montant has cup jointed the structure arm of being connected with the mechanism of cleaning, and the tight pulley is located the upper end tip of montant, and the open-loop link chain is around locating on the tight pulley, and the one end of division link chain is fixed with the balancing weight, and the other end of division link chain is fixed with the structure arm, and linear guide fixes on the montant and the balancing weight slides and locates linear guide, provides the compensatory power for cleaning the mechanism through the balancing weight.
Preferably, the contact surface that cleans mechanism and photovoltaic board surface and contact is the rectangle, and cleans the brush length that sets up on the mechanism and be greater than the length on photovoltaic board surface.
Preferably, elevating system includes first driving piece and second driving piece, and compensation mechanism's upper end is located to first driving piece, and the drive end of first driving piece is connected with the mechanism of cleaning and is used for driving the mechanism oscilaltion of cleaning and be used for adjusting the distance between mechanism and the photovoltaic board surface, and compensation mechanism's lower extreme is located to the second driving piece, and the drive end of second driving piece be equipped with clean the driven gear accordant connection's that sets up on the mechanism driving gear, through second driving piece drive driving gear and then drive driven gear and rotate the angle in order to adjust the mechanism of cleaning.
Preferably, the state switching mechanism is a clutch or a switching valve group.
Preferably, the cleaning device further comprises an ultrasonic sensor for detecting the distance between the cleaning mechanism and the surface of the photovoltaic panel.
Preferably, the first driving member and the second driving member are both driving motors.
Compared with the prior art, the force feedback manipulator for cleaning the photovoltaic panel provided by the invention has the advantages that the brush arranged on the cleaning mechanism is contacted with the surface of the photovoltaic panel to generate an interaction force, the compensation mechanism provides a compensation force for the cleaning mechanism, the sum of the reaction force generated by the brush on the surface of the photovoltaic panel and the compensation force provided by the compensation mechanism is ensured to be offset with the gravity of the cleaning mechanism, the cleaning mechanism achieves a weightlessness effect in space, the interaction force between the brush and an external photovoltaic panel is ensured to be stable all the time, the cleaning of the surface of the photovoltaic panel can be realized without depending on the functions of a sensor and a microcomputer, and a passive mechanical working mode is safe and reliable and can save energy consumption, so that the manipulator has the characteristics of low manufacturing cost, safe and reliable work, high efficiency and low energy consumption.
Drawings
FIG. 1 is a schematic structural view of a force feedback robot for cleaning photovoltaic panels according to the present invention,
figure 2 is a schematic structural view of one embodiment of the present invention,
fig. 3 is a schematic structural view of another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention is further described in detail below with reference to the accompanying drawings.
In the present invention, the terms "first" and "second" only refer to different components, and do not refer to the order, and taking fig. 1 as an example, the vertical paper surface is upward, the vertical paper surface is downward, the vertical paper surface is leftward, the vertical paper surface is rightward, the vertical paper surface is inward, and the vertical paper surface is outward.
As shown in fig. 1-3, a force feedback manipulator for cleaning photovoltaic panels comprises a cleaning mechanism, a compensation mechanism, a lifting mechanism and a state switching mechanism, wherein:
the cleaning mechanism is connected with the compensation mechanism, the surface of the cleaning mechanism is provided with a brush, the brush is contacted with the surface of the photovoltaic panel to enable the surface of the photovoltaic panel to generate reaction force on the brush and ensure the bending of the brush, and the surface of the photovoltaic panel is cleaned by the contact of the brush arranged on the cleaning mechanism and the surface of the photovoltaic panel;
the compensation mechanism is used for providing compensation force for the cleaning mechanism and ensuring that the sum of the compensation force provided by the compensation mechanism and the reaction force of the surface of the photovoltaic panel on the cleaning mechanism is equal to the self gravity of the cleaning mechanism so that the self gravity of the cleaning mechanism is completely offset and balanced by the compensation force of the compensation mechanism and the reaction force of the surface of the photovoltaic panel;
the lifting mechanism is connected with the cleaning mechanism and used for driving the cleaning mechanism to lift so as to adjust the angle and the distance between the cleaning mechanism and the surface of the photovoltaic panel;
and the state switching mechanism is respectively connected with the lifting mechanism and the compensating mechanism and used for switching the working states of the compensating mechanism and the lifting mechanism, when the compensating mechanism needs to work, the lifting mechanism is switched to a standby state through the state switching mechanism, and when the compensating mechanism does not need to work, the lifting mechanism is switched to the working state through the state switching mechanism.
In the embodiment, the mechanical arm utilizes the brush arranged on the cleaning mechanism to contact with the surface of the photovoltaic plate to generate an interaction force, meanwhile, the compensation mechanism provides a compensation force for the cleaning mechanism, and the sum of the reaction force generated by the brush on the surface of the photovoltaic plate and the compensation force provided by the compensation mechanism is balanced with the gravity of the cleaning mechanism, so that the cleaning mechanism achieves the weightless effect in the space, the interaction force between the brush and the external photovoltaic plate is always stable, the cleaning of the surface of the photovoltaic plate can be realized without depending on the functions of a sensor and a microcomputer, and the passive mechanical working mode is safe and reliable, can save energy consumption, and has the characteristics of low manufacturing cost, safe and reliable work, high efficiency and low energy consumption.
The state switching mechanism is a clutch or a switching valve group. When the laminating angle distance between the surface of the photovoltaic panel and the cleaning mechanism needs to be adjusted, the working states of the lifting mechanism and the compensating mechanism are switched through the clutch or the switching valve group, and the height and angle adjustment of the cleaning mechanism can be realized through the lifting mechanism.
As shown in fig. 2, in one embodiment, the compensating mechanism includes a buffer cylinder, a pressure control valve (not shown in the figure) and a pressure spring, a piston rod is disposed in the buffer cylinder and divides the buffer cylinder into two cylinder bodies, the buffer cylinder is fixedly connected to the cleaning mechanism through the piston rod, the two cylinder bodies are connected to the pressure control valve for controlling the pressure in the corresponding cylinder body and further controlling the compensating force of the buffer cylinder on the cleaning mechanism, and the pressure spring is symmetrically disposed on two sides of the cleaning mechanism for enhancing the adhesion between the cleaning mechanism and the surface of the photovoltaic panel.
In this embodiment, the cushion cylinder is a cushion cylinder or a cushion cylinder. The pressure control valve is used for controlling the pressure in the corresponding cylinder body, so that compensation force can be provided for the cleaning mechanism, and when the interaction force between the brush and the surface of the photovoltaic panel is increased, the buffer cylinder automatically reduces the compensation force based on the pressure control valve; when the interaction force between the brush and the surface of the photovoltaic panel is reduced, the buffer cylinder automatically adjusts the compensation force based on the pressure control valve, so that the compensation force provided by the buffer cylinder and the reaction force of the surface of the photovoltaic panel on the brush are equal to the gravity of the cleaning mechanism, and the cleaning mechanism is always in a weightless state. And the pressing springs arranged on the two sides of the cleaning mechanism can effectively enhance the attaching effect between the brush on the cleaning mechanism and the surface of the photovoltaic panel.
As shown in fig. 3, in another embodiment, the compensation mechanism includes a vertical rod, a weight block, a fixed wheel, an open-loop chain and a linear guide rail, a structural arm connected with the sweeping mechanism is movably sleeved at the lower end of the vertical rod, the fixed wheel is located at the upper end of the vertical rod, the open-loop chain is wound on the fixed wheel, one end of the open-loop chain is fixed with the weight block, the other end of the open-loop chain is fixed with the structural arm, the linear guide rail is fixed on the vertical rod, the weight block is slidably arranged on the linear guide rail, and the compensation force is provided for the sweeping mechanism through the weight block.
In the embodiment, through the matching of the balancing weight, the fixed wheel and the open-loop chain, the weight of the balancing weight is used for providing quantitative compensation force for the cleaning mechanism, and the weight of the required balancing weight can be accurately calculated based on the interaction force generated by the brush and the surface of the photovoltaic panel and the self gravity of the cleaning mechanism, so that the sum of the compensation force provided by the brush to the balancing weight under the normal cleaning state of the surface of the photovoltaic panel and the reaction force of the surface of the photovoltaic panel to the brush is equal to the self gravity of the cleaning mechanism, and the cleaning mechanism is in a weightless state. And set up the balancing weight and can effectively reduce sliding friction resistance on linear guide rail, practiced thrift the energy consumption to a certain extent.
The contact surface of the cleaning mechanism, which is in contact with the surface of the photovoltaic panel, is rectangular, and the length of a brush arranged on the cleaning mechanism is larger than that of the surface of the photovoltaic panel. The structure can ensure that the surface of the photovoltaic panel is cleaned at one time, and the cost increase caused by repeated labor is avoided.
Wherein, elevating system includes first driving piece and second driving piece, and compensation mechanism's upper end is located to first driving piece, and the drive end of first driving piece is connected with the mechanism of cleaning and is used for driving the mechanism oscilaltion of cleaning and be used for adjusting the distance between cleaning mechanism and the photovoltaic board surface, and compensation mechanism's lower extreme is located to the second driving piece, and the drive end of second driving piece be equipped with clean the driven gear accordant connection's that sets up in the mechanism driving gear, through second driving piece drive driving gear and then drive driven gear and rotate the angle in order to adjust cleaning the mechanism.
In this embodiment, the first driving member and the second driving member are both driving motors. When the surface of the photovoltaic panel does not need to be cleaned, the first driving piece can be used for driving the cleaning mechanism to lift up and down, so that the distance between the cleaning mechanism and the surface of the photovoltaic panel can be actively adjusted; when needs are adjusted photovoltaic board surface cleaning angle, can utilize second driving piece drive driving gear to drive driven gear and rotate, driven gear drives whole mechanism rotation of cleaning and then has realized the angular adjustment to cleaning the mechanism.
The cleaning device further comprises an ultrasonic sensor used for detecting the distance between the cleaning mechanism and the surface of the photovoltaic panel. In this structure, utilize ultrasonic sensor can real-time detection clean the distance between mechanism and the photovoltaic board surface, and then has effectively guaranteed the normal effective operation of manipulator.
It should be noted that, in other embodiments, the compensation mechanism may also be any other active element with a buffer and floating type in a neutral state, as long as it is ensured that the compensation mechanism can provide a corresponding compensation force for the cleaning mechanism, and the sum of the compensation force and the reaction force of the surface of the photovoltaic panel to the brush is equal to the self-gravity of the cleaning mechanism. The cleaning mechanism can be in a belt form, a roller form, a combined disc type and the like, and can be applied to all actuating mechanisms with cleaning and dust removing functions in the photovoltaic panel cleaning industry.
In the present embodiment, the brush is made of polyester fiber, but in other embodiments, any material with cleaning and dust removing effects may be used.
The force feedback manipulator for cleaning the photovoltaic panel provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a force feedback manipulator for rinsing photovoltaic board which characterized in that, is including cleaning mechanism, compensation mechanism, elevating system and state switching mechanism, wherein:
the cleaning mechanism is connected with the compensation mechanism, the surface of the cleaning mechanism is provided with a brush, the brush is contacted with the surface of the photovoltaic panel to enable the surface of the photovoltaic panel to generate reaction force on the brush and ensure the bending of the brush, and the surface of the photovoltaic panel is cleaned through the contact of the brush arranged on the cleaning mechanism and the surface of the photovoltaic panel;
the compensation mechanism is used for providing compensation force for the cleaning mechanism and ensuring that the sum of the compensation force provided by the compensation mechanism and the reaction force of the surface of the photovoltaic panel on the cleaning mechanism is equal to the self gravity of the cleaning mechanism so that the self gravity of the cleaning mechanism is completely offset and balanced by the compensation force of the compensation mechanism and the reaction force of the surface of the photovoltaic panel;
the lifting mechanism is connected with the cleaning mechanism and used for driving the cleaning mechanism to lift so as to adjust the angle and the distance between the cleaning mechanism and the surface of the photovoltaic panel;
and the state switching mechanism is respectively connected with the lifting mechanism and the compensating mechanism and used for switching the working states of the compensating mechanism and the lifting mechanism, when the compensating mechanism needs to work, the lifting mechanism is switched to a standby state through the state switching mechanism, and when the compensating mechanism does not need to work, the lifting mechanism is switched to the working state through the state switching mechanism.
2. The force feedback manipulator for cleaning photovoltaic panels as claimed in claim 1, wherein the compensation mechanism includes a buffer cylinder, a pressure control valve and a pressure spring, a piston rod is disposed in the buffer cylinder and divides the buffer cylinder into two cylinder bodies, the buffer cylinder is fixedly connected to the cleaning mechanism through the piston rod, the two cylinder bodies are connected to the pressure control valve for controlling the pressure in the corresponding cylinder body and further controlling the compensation force of the buffer cylinder on the cleaning mechanism, and the pressure spring is symmetrically disposed at two sides of the cleaning mechanism for enhancing the adhesion between the cleaning mechanism and the surface of the photovoltaic panel.
3. The force feedback robot for cleaning a photovoltaic panel as recited in claim 2, wherein the cushion cylinder is a cushion cylinder or a cushion ram.
4. The force feedback manipulator for cleaning photovoltaic panels as claimed in claim 1, wherein the compensation mechanism comprises a vertical rod, a weight block, a fixed wheel, an open-loop chain and a linear guide rail, a structural arm connected with the cleaning mechanism is movably sleeved at the lower end of the vertical rod, the fixed wheel is located at the upper end of the vertical rod, the open-loop chain is wound on the fixed wheel, one end of the open-loop chain is fixed with the weight block, the other end of the open-loop chain is fixed with the structural arm, the linear guide rail is fixed on the vertical rod, the weight block is slidably arranged on the linear guide rail, and the compensation force is provided for the cleaning mechanism through the weight block.
5. The force feedback manipulator for cleaning photovoltaic panels as claimed in any one of claims 1 to 4, wherein the contact surface of the cleaning mechanism contacting with the surface of the photovoltaic panel is rectangular, and the length of the brush arranged on the cleaning mechanism is longer than that of the surface of the photovoltaic panel.
6. The force feedback manipulator for cleaning photovoltaic panels as claimed in claim 5, wherein the lifting mechanism comprises a first driving member and a second driving member, the first driving member is disposed at the upper end of the compensation mechanism, the driving end of the first driving member is connected to the cleaning mechanism for driving the cleaning mechanism to move up and down for adjusting the distance between the cleaning mechanism and the surface of the photovoltaic panel, the second driving member is disposed at the lower end of the compensation mechanism, and the driving end of the second driving member is provided with a driving gear which is connected to a driven gear disposed on the cleaning mechanism in a matching manner, and the driving gear is driven by the second driving member to drive the driven gear to rotate so as to adjust the angle of the cleaning mechanism.
7. The force feedback robot for cleaning photovoltaic panels of claim 6, wherein the state switching mechanism is a clutch or a set of switching valves.
8. The force feedback robot for cleaning photovoltaic panels of claim 7, further comprising an ultrasonic sensor for detecting the distance between the cleaning mechanism and the surface of the photovoltaic panel.
9. The force feedback robot for cleaning a photovoltaic panel as recited in claim 6 wherein the first and second actuators are each a drive motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211052103.3A CN115415216A (en) | 2022-08-31 | 2022-08-31 | Force feedback manipulator for cleaning photovoltaic panel |
| CN202311110000.2A CN117013953A (en) | 2022-08-31 | 2023-08-31 | Force feedback cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211052103.3A CN115415216A (en) | 2022-08-31 | 2022-08-31 | Force feedback manipulator for cleaning photovoltaic panel |
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| CN115415216A true CN115415216A (en) | 2022-12-02 |
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| CN202211052103.3A Pending CN115415216A (en) | 2022-08-31 | 2022-08-31 | Force feedback manipulator for cleaning photovoltaic panel |
| CN202311110000.2A Pending CN117013953A (en) | 2022-08-31 | 2023-08-31 | Force feedback cleaning device |
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| CN202311110000.2A Pending CN117013953A (en) | 2022-08-31 | 2023-08-31 | Force feedback cleaning device |
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| CN112337852A (en) * | 2020-11-09 | 2021-02-09 | 深圳市凯之成智能装备有限公司 | Photovoltaic cleaning vehicle adopting waterless cleaning mode to clean photovoltaic panel |
| CN112605033A (en) * | 2020-12-18 | 2021-04-06 | 长春吉电能源科技有限公司 | Photovoltaic panel posture recognition and cleaning regulation and control device and method |
| CN215745037U (en) * | 2021-07-08 | 2022-02-08 | 华能山东发电有限公司众泰电厂 | Photovoltaic self-cleaning equipment elastic connection device |
| CN114172452A (en) * | 2021-12-06 | 2022-03-11 | 深圳市凯之成智能装备有限公司 | Photovoltaic board motor sweeper and photovoltaic board cleaning device |
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| CN117013953A (en) | 2023-11-07 |
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