CN115722473A - Photovoltaic cleaning robot for tracking support - Google Patents
Photovoltaic cleaning robot for tracking support Download PDFInfo
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- CN115722473A CN115722473A CN202211612120.8A CN202211612120A CN115722473A CN 115722473 A CN115722473 A CN 115722473A CN 202211612120 A CN202211612120 A CN 202211612120A CN 115722473 A CN115722473 A CN 115722473A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000001939 inductive effect Effects 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004062 sedimentation Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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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
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Abstract
According to the photovoltaic cleaning robot for the tracking support, the power module is fixedly arranged on the bottom surface of the cross beam along the central line of the cross beam, and the bottom of the power module is provided with the driving wheel with the moving direction consistent with the direction of the central line of the cross beam; two ends of the beam are respectively provided with an end part limiting module, and the inner side surface of the end part limiting module is coupled with a driven wheel corresponding to the driving wheel; and a brush module linked with the power module is arranged between the end part limiting module and the power module. Most of the cleaning robot is concentrated in the middle, and the two ends of the cleaning robot are light in weight, so that the problem of component settlement is greatly improved. Measures such as adding a pressing block at the tail end of the component and reducing component settlement are not needed, and material cost and labor cost are greatly saved. The quick assembly disassembly of consumptive materials such as clean brush is favorable to, reduces the maintenance cost in later stage. The obstacle crossing capability of the robot when the robot passes through the dynamic bridge is improved, the adaptability of the robot is improved, the requirement on the rotation precision of the tracking support is lowered, and the application range of the cleaning robot is widened.
Description
Technical Field
The invention relates to a photovoltaic cleaning robot, in particular to a photovoltaic cleaning robot for a tracking support.
Background
With the large-scale construction of solar photovoltaic power stations, the photovoltaic panel automatic cleaning robot is rapidly researched and developed. The flat single-axis tracking system is adopted, the motion of the sun can be tracked in real time, and sunlight is directly irradiated onto the photovoltaic component, so that the solar radiation quantity received by the photovoltaic component is increased, and the total generating capacity of the solar photovoltaic power generation system is improved. Based on the characteristics of a flat single-axis system, the flat single-axis tracking system is widely applied to photovoltaic power stations.
Various suppliers are also curious as to how to reduce costs on tracking rack power stations. The current mainstream method is as follows: and the wall thickness of the material is reduced and the length of the purline is shortened from the tracking bracket. And a component manufacturer adopts a high-power plate, increases the size of the component and reduces the thickness of the aluminum frame.
The cleaning robots which are put into practical use today are mainly customized according to the dimensions of the photovoltaic panels, with power boxes arranged essentially at both ends of the assembly. And the structure of big subassembly and short purlin lets the terminal intensity greatly reduced of subassembly, and the robot walks at the both ends of subassembly, and is big to the terminal pressure of tracking support subassembly, and when the robot passes, has caused great settlement for the subassembly.
In order to improve the problem of the sedimentation of the tail ends of the components when the robot is used, most manufacturers currently agree to increase the form of tail end pressing blocks, connect the components together, and share the weight of the robot together to reduce the sedimentation of the components. In such a way, the cost of the tail end pressing block and the labor cost for installing the tail end pressing block are increased, the number of the pressing blocks is large, and a long requirement is provided for the construction period. Meanwhile, the pressing blocks designed by different manufacturers have the risk of falling, and certain difficulty is caused to operation and maintenance.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a photovoltaic cleaning robot for a tracking support.
In order to achieve the above object, the present invention adopts the following technical solutions:
a photovoltaic cleaning robot for a tracking bracket comprises a cross beam;
the bottom surface of the cross beam is fixedly provided with a power module along the center line of the cross beam, and the bottom of the power module is provided with a driving wheel with the moving direction consistent with the center line direction of the cross beam;
end limiting modules are respectively arranged at two ends of the cross beam, and the inner side surfaces of the end limiting modules are in shaft connection with driven wheels corresponding to the driving wheels;
and a brush module linked by the power module is arranged between the end part limiting module and the power module.
The length of above-mentioned crossbeam and photovoltaic panel's width adaptation.
The brush module includes bristles adhered to a brush shaft.
The end limiting module comprises a side plate arranged on the end side of the cross beam, and the driven wheel is connected to the inner side surface of the side plate in a shaft connection mode; the bottom of the side plate is suspended with an L-shaped anti-drop hook folded towards the bottom of the driven wheel.
The power module comprises a driving wheel driving motor and a brush driving motor which are respectively connected with the main control module, and the power module supplies power through the main control module;
the driving wheel driving motor is used for driving a wheel shaft of the driving wheel;
the brush driving motor is used for driving a brush shaft of the brush module.
Furthermore, a stopping hook is arranged at the end side of the power module, and the stopping hook is driven by a stopping motor through a hook transmission unit to lift;
the hook transmission unit comprises a screw rod transmission structure
The parking motor is connected with the main control module.
Furthermore, the power module is also provided with an induction switch connected with the main control module, and the induction switch is used for inducing the stop point position;
the main control module starts and stops the parking motor according to the feedback of the inductive switch, and the parking motor is linked with the parking hook to hook the parking point position;
the stop point position and the photovoltaic panel are integrally arranged.
Furthermore, a photovoltaic charging panel is arranged on the top surface of the cross beam and used for charging the power module.
The photovoltaic panels are 2n (n is more than or equal to 1) groups along the length direction of the cross beam, and the driving wheel moves along the frame of the photovoltaic panels;
the bottom surface of the power module is provided with a limiting wheel, and the limiting wheel is limited in the gap between adjacent photovoltaic panel frames.
The invention has the advantages that:
the photovoltaic cleaning robot for the tracking bracket has the following advantages:
1) The center of gravity of the cleaning robot with the same weight is in the middle. The weight of a conventional robot is distributed at both ends, causing large settlement to the components. Most of the weight of the cleaning robot is concentrated on the power module in the middle, the weight of two ends is light, the pressure on the tail end of the component is far less than that of the conventional cleaning robot, and the sedimentation problem of the component is greatly improved. Meanwhile, the driving wheel of the middle power module is pressed on the middle assembly frame, the middle assembly frame is high in strength at the position close to the purline of the main beam, the settlement of the middle assembly frame is very little, and the settlement can be ignored. By using the cleaning robot, measures such as adding a component tail end pressing block and the like to reduce component settlement are not needed, and the material cost and the labor cost are greatly saved. Meanwhile, the construction period can be relatively shortened.
2) The cleaning robot structure is beneficial to quick disassembly and assembly of consumables such as a cleaning brush and the like, and is beneficial to reduction of later maintenance cost.
3) The angle error of the adjacent tracking supports is particularly obvious at the tail end of the assembly, and the angle error of the middle part is relatively gentle. The cleaning robot structure is beneficial to improving the obstacle crossing capability when the cleaning robot passes through a dynamic bridge and increasing the adaptability of the cleaning robot. Meanwhile, the requirement on the rotation precision of the tracking support is lowered, the cleaning robot can be arranged on the tracking support with poor tracking system precision, and the application range of the cleaning robot is widened.
Drawings
Fig. 1 is a schematic structural view of a cleaning robot.
Fig. 2 is a schematic structural view of an end limiting module.
Fig. 3 is a schematic structural diagram of the power module.
Fig. 4 is a use state diagram of the cleaning robot.
Fig. 5 is a front view of a use state diagram of the cleaning robot.
The designations in the drawings have the following meanings: 1. crossbeam, 2, power module, 3, photovoltaic charging panel, 4, brush module, 5, the spacing module of tip, 6, curb plate, 7, mousing-hook, 8, follow driving wheel, 9, brush driving motor, 10, brush transmission assembly, 11, action wheel driving motor, 12, the motor of berthing, 13, host system, 14, power module, 15, action wheel, 16, spacing wheel, 17, the couple of berthing, A, dynamic bridge.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
A photovoltaic cleaning robot for a tracking support is composed of a cross beam 1, a power module 2, an end limiting module 5 and a brush module 4.
Taking the photovoltaic panel shown in fig. 4 as an example, two groups of photovoltaic panels are arranged along the width direction, and the two groups of photovoltaic panels are respectively fixed by the frames, and a certain gap is left between the frames.
The length of crossbeam 1 and the width adaptation of two sets of photovoltaic panels. Along the central line direction of the width direction of the beam 1, the power module 2 is fixedly arranged on the bottom surface of the beam 1. The power module 2 comprises a module frame, a main control module 13, a driving wheel 15 driving motor 11, a brush driving motor 9, a stopping motor 12 and a power module 14, wherein the main control module 13, the driving wheel 15 driving motor 11, the brush driving motor 9, the stopping motor 12 and the power module 14 are arranged in the module frame; the driving wheel 15 driving motor 11, the brush driving motor 9 and the stopping motor 12 are respectively connected with the main control module 13; the power supply module 14 is connected with the main control module 13 and supplies power through the main control module 13; the photovoltaic charging plate 3 is laid on the top surface of the beam 1 and used for charging the power module 14.
The bottom of the module frame is provided with driving wheels 15 (the wheel shafts are transversely arranged), as shown in fig. 4, two pairs of driving wheels are provided, and a plurality of pairs of driving wheels can be provided according to the use requirement. The driving wheel 15 is driven by the driving wheel 15 driving motor 11, and actually, according to the layout in the cavity of the module frame, the driving wheel 15 driving motor 11 can drive the driving wheel 15 through a transmission box with a built-in transmission shaft or a chain wheel and a chain. The driving wheel 15 spans the frames of the two groups of photovoltaic panels, and the moving direction along the frames is consistent with the central line direction of the beam 1.
The bottom of the module frame is also provided with a limiting wheel 16 (the wheel shaft is arranged longitudinally), and the limiting wheel 16 is arranged in the gap of the photovoltaic panel frame.
The end side of the module frame is provided with a stopping hook 17, preferably, as shown in fig. 4, the stopping hook 17 is arranged along the longitudinal direction, that is, the end side wall of the module frame is provided with a longitudinal sliding groove, and the stopping hook 17 can slide along the sliding groove; the parking hook 17 is driven by the parking motor 12 to ascend or descend through a screw rod transmission structure, for example: the top side of the parking hook 17 is fixedly connected with a nut which is in threaded connection with a screw rod, and the end part of the screw rod estimates the shaft of the parking motor 12.
Corresponding to the stop hook 17, a frame of the photovoltaic panel (or a bracket of the support frame) is provided with a stop point; if the stop point position is arranged at the frame (the side wall of the gap) of the photovoltaic panel, the stop point position can be arranged as a hook groove matched with the stop hook 17; if the stop point position is arranged at the position of the support (the bottom wall of the gap), the stop point position can be arranged as a column groove. Preferably, the bottom of the module frame is provided with an inductive switch for sensing the stop position. The inductive switch can select a magnetic induction device, and a magnetic block is correspondingly arranged at the stop point. The main control module 13 starts and stops the parking motor 12 according to the feedback of the inductive switch, and the linkage parking hook 17 is hooked at a parking point; namely, the stop hook 17 hooks the hook groove or extends into the column groove.
The end sides of the cross beam 1 are respectively provided with an end limiting module 5, and the end limiting module 5 consists of a side plate 6, an anti-disengaging hook 7 and a driven wheel 8. Lateral plate 6 along the distolateral side of crossbeam 1 is located in the subsides of longitudinal fixation, and the medial surface of lateral plate 6 is violently established from the installation axle of driving wheel 8, installs from the epaxial of driven wheel 8 installation, adopts the axle card spacing. The driven wheel 8 is arranged opposite to the driving wheel 15, and preferably, the axle of the driven wheel 8 and the axle of the driving wheel 15 are on the same axis. The anti-disengaging hook 7 is L-shaped and is suspended at the bottom of the side plate 6, the L-shaped anti-disengaging hook 7 is folded towards the bottom of the driven wheel 8, and a certain distance is kept between the L-shaped anti-disengaging hook 7 and the bottom of the driven wheel 8, and the distance is slightly larger than the thickness of the photovoltaic panel. The inner side surface of the side plate 6 is also provided with a bearing sleeve, and one end of the brush shaft is arranged in the bearing sleeve and fixed by a positioning pin; the other end is driven by a brush driving motor 9 through a brush transmission assembly 10. The brush shaft is adhered with brush hairs to form a brush module 4. The surface of the photovoltaic panel is cleaned through the rotating brush.
The working process is as follows:
the cleaning robot is suitable for tracking the support, a proper gap (gap between photovoltaic panel frames) delta A is reserved in the middle assembly, and the robot can adapt to cleaning operation at different angles.
When the robot is installed, the robot is lifted above the photovoltaic panel components, the driving wheels 15 of the power module 2 respectively span the frames of the two groups of components, and the limiting wheels 16 are positioned in the gaps of the middle components. The limiting wheels 16 are not attached to the wall, certain redundancy is reserved, so that the robot can normally walk and shake, various indexes such as inclination and the like are in a control range, and the driven wheel 8 is always kept on the frame of the photovoltaic panel.
When the cleaning robot is ready to start working, the parking motor 12 drives the parking hook 17 to fold. After receiving the information received by the parking hook 17, the main control module 13 starts to perform cleaning operation: the driving wheel 15 driving motor 11 drives the driving wheel 15 on the power module 2 to move forward or backward, and the brush driving motor 9 drives the brush shafts on the two sides to perform cleaning operation. Under the drive of the power module 2, the driven wheel 8 at the end part moves forwards or backwards along with the power module, and simultaneously, the settlement of the brush is limited, so that the gaps between the two ends of the cleaning brush and the surface of the photovoltaic panel are always kept consistent.
The cleaning robot returns to the stop position after completing the cleaning task, the inductive switch is triggered after the cleaning robot reaches the stop position, and the stop motor 12 drives the stop hook 17 to descend, so that the cleaning robot is stably stopped in the stop position.
When the utility model is used in practice,
cleaning the robot and cleaning the in-process, if when meeting with the special condition of strong wind, the robot is fixed a position immediately and is confirmed whether the robot is on photovoltaic module or static bridge, judge that cleaning the robot and berth on photovoltaic module or static bridge, but not after dynamic bridge A, robot driving motor and brush motor stop running, berth motor 12 and drive and berth couple 17 and descend, the couple 17 of berthing that descends supports module frame and crossbeam 1 up, the L type anticreep hook 7 at both ends catches on the bottom surface of photovoltaic panel (frame) simultaneously, under the synergism, make the stable berth of robot, in order to avoid being blown away by strong wind.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (9)
1. A photovoltaic cleaning robot for a tracking bracket is characterized by comprising a cross beam;
the bottom surface of the cross beam is fixedly provided with a power module along the center line of the cross beam, and the bottom of the power module is provided with a driving wheel with the moving direction consistent with the center line direction of the cross beam;
end limiting modules are respectively arranged at two ends of the cross beam, and the inner side surfaces of the end limiting modules are in shaft connection with driven wheels corresponding to the driving wheels;
and a brush module linked by the power module is arranged between the end part limiting module and the power module.
2. The cleaning robot as claimed in claim 1, wherein the beam has a length adapted to the width of the photovoltaic panel.
3. The cleaning robot as claimed in claim 1, wherein the brush module includes bristles adhered to a brush shaft.
4. The cleaning robot as claimed in claim 1, wherein the end position limiting module includes a side plate provided on an end side of the cross member, and the driven wheel is coupled to an inner side surface of the side plate; the bottom of the side plate is suspended with an L-shaped anti-drop hook folded towards the bottom of the driven wheel.
5. The cleaning robot as claimed in claim 1, wherein the power module comprises a driving wheel driving motor and a brush driving motor respectively connected to the main control module, and the power module supplies power through the main control module;
the driving wheel driving motor is used for driving a wheel shaft of the driving wheel;
the brush driving motor is used for driving a brush shaft of the brush module.
6. The cleaning robot as claimed in claim 5, wherein a stop hook is provided at an end side of the power module, and the stop hook is driven by a stop motor through a hook transmission unit to lift;
the hook transmission unit comprises a screw rod transmission structure
The parking motor is connected with the main control module.
7. The cleaning robot as claimed in claim 6, wherein the power module further comprises an inductive switch connected to the main control module, the inductive switch being used for sensing a stop position;
the main control module starts and stops the parking motor according to the feedback of the inductive switch, and links the parking hook to hook the parking point;
the stop point position and the photovoltaic panel are integrally arranged.
8. The cleaning robot as claimed in claim 5, wherein the top surface of the cross member is provided with a photovoltaic charging panel for charging the power module.
9. The cleaning robot as claimed in claim 2, wherein the photovoltaic panels are in 2n (n is more than or equal to 1) groups along the length direction of the cross beam, and the driving wheels travel along the frame of the photovoltaic panels;
the bottom surface of the power module is provided with a limiting wheel, and the limiting wheel is limited in the gap between adjacent photovoltaic panel frames.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211612120.8A CN115722473A (en) | 2022-12-15 | 2022-12-15 | Photovoltaic cleaning robot for tracking support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211612120.8A CN115722473A (en) | 2022-12-15 | 2022-12-15 | Photovoltaic cleaning robot for tracking support |
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| Publication Number | Publication Date |
|---|---|
| CN115722473A true CN115722473A (en) | 2023-03-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211612120.8A Pending CN115722473A (en) | 2022-12-15 | 2022-12-15 | Photovoltaic cleaning robot for tracking support |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104467649A (en) * | 2014-12-23 | 2015-03-25 | 张意铃 | Photovoltaic module automatic sweeping device |
| CN104984942A (en) * | 2015-07-10 | 2015-10-21 | 上海联星股权投资管理有限公司 | Photovoltaic cleaning robot |
| CN107309230A (en) * | 2017-08-01 | 2017-11-03 | 喀什博思光伏科技有限公司 | Photovoltaic module automatic cleaning device |
| CN107470210A (en) * | 2017-10-01 | 2017-12-15 | 本溪瀚光能源科技有限公司 | A kind of photovoltaic battery panel cleaner |
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| CN111701893A (en) * | 2020-05-06 | 2020-09-25 | 上海储轩智能科技有限公司 | Photovoltaic cleaning robot device with flat single-shaft tracking support |
| CN114400967A (en) * | 2022-01-18 | 2022-04-26 | 南京天创电子技术有限公司 | Multi-section photovoltaic module cleaning system and robot strong wind protection method |
| CN114558808A (en) * | 2022-03-01 | 2022-05-31 | 北京天骥空间科技有限公司 | Photovoltaic power station cleaning robot and using method |
-
2022
- 2022-12-15 CN CN202211612120.8A patent/CN115722473A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104467649A (en) * | 2014-12-23 | 2015-03-25 | 张意铃 | Photovoltaic module automatic sweeping device |
| CN104984942A (en) * | 2015-07-10 | 2015-10-21 | 上海联星股权投资管理有限公司 | Photovoltaic cleaning robot |
| CN107309230A (en) * | 2017-08-01 | 2017-11-03 | 喀什博思光伏科技有限公司 | Photovoltaic module automatic cleaning device |
| CN107470210A (en) * | 2017-10-01 | 2017-12-15 | 本溪瀚光能源科技有限公司 | A kind of photovoltaic battery panel cleaner |
| CN209935317U (en) * | 2019-05-06 | 2020-01-14 | 南京天创电子技术有限公司 | Flexible driving device of photovoltaic module cleaning robot and robot thereof |
| CN110681622A (en) * | 2019-10-09 | 2020-01-14 | 燕山大学 | Photovoltaic board intelligence cleaning machines people |
| CN111701893A (en) * | 2020-05-06 | 2020-09-25 | 上海储轩智能科技有限公司 | Photovoltaic cleaning robot device with flat single-shaft tracking support |
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