CN205817877U - A kind of adaptive control system of mechanical arm - Google Patents
A kind of adaptive control system of mechanical arm Download PDFInfo
- Publication number
- CN205817877U CN205817877U CN201620690874.9U CN201620690874U CN205817877U CN 205817877 U CN205817877 U CN 205817877U CN 201620690874 U CN201620690874 U CN 201620690874U CN 205817877 U CN205817877 U CN 205817877U
- Authority
- CN
- China
- Prior art keywords
- cleaning
- control system
- lowering
- hoisting gear
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Cleaning In General (AREA)
Abstract
The utility model discloses the adaptive control system of a kind of mechanical arm, it is arranged on the cleaning Vehicle body for cleaning solar energy cell plate, including control system, lowering or hoisting gear and cleaning arm, lowering or hoisting gear is arranged on cleaning Vehicle body, cleaning arm is arranged on lowering or hoisting gear, cleaning arm is provided with range sensor and angle regulator, range sensor and angle regulator and all electrically connects with control system, the dynamical system electrical connection of control system and lowering or hoisting gear.This utility model can drive cleaning arm to be finely adjusted, the real-time distance gathered between range sensor and solar panel, if described distance is not in predetermined value range, control angle regulator by control system and lowering or hoisting gear drives cleaning arm, make cleaning arm and solar panel be maintained at the distance that cleaning performance is optimal.
Description
Technical field
This utility model relates to solar panel, particularly relates to the adaptive control system of a kind of mechanical arm.
Background technology
Solar energy power generating factory is the clean energy resource form of current spread, and its cell panel needs regular clear
Except surface floating dust could effectively generate electricity.The most conventional solar panel cleaning way is manual cleaning, inefficiency
And cleaning performance is poor, it is therefore necessary to research and develop special wash equipment and substitute manual work.Current existing solaode
Plate wash equipment mainly has vehicle formula equipment and rail mounted to equip two classes, and rail mounted equipment is high to place construction requirements, therefore joins
Overlap relatively costly, be unfavorable for promoting, especially not there is in the place having local relief practicality.And vehicle formula equipment energy
Enough be applicable to the place of surface relief, but surface relief can make cleaning equipment shake up and down, cause cleaning performance reduce or
Cleaning equipment is caused to collide with solar panel.
Utility model content
The purpose of this utility model is, it is provided that the adaptive control system of a kind of mechanical arm, uses native system to make
Cleaning equipment operationally, in the range of being maintained at a certain distance with solar panel, thus prevents cleaning equipment and the sun
Can collide by cell panel, and can effectively improve cleaning performance.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that:
The adaptive control system of a kind of mechanical arm, is arranged on the cleaning Vehicle body for cleaning solar energy cell plate,
Including control system, lowering or hoisting gear and cleaning arm, lowering or hoisting gear is arranged on cleaning Vehicle body, and cleaning arm is arranged on lowering or hoisting gear
On, cleaning arm is provided with range sensor and angle regulator, range sensor and angle regulator all and control system
Electrical connection, the dynamical system electrical connection of control system and lowering or hoisting gear.Wherein, cleaning arm is provided with for cleaning solaode
The equipment of plate, such as: Electric brush of bristles, water injector, dust exhaust apparatus etc..Lowering or hoisting gear can drive cleaning arm to rise or decline,
Angle regulator can drive cleaning arm to adjust the angle with horizontal plane.
In the adaptive control system of aforesaid a kind of mechanical arm, described cleaning arm growth strip, described range sensor
Being laser range sensor, the quantity of laser range sensor is two, and two laser range sensors lay respectively at cleaning arm
Two ends.
It is hydraulic cylinder for regulating the described angle regulator of cleaning arm angle, one end of hydraulic cylinder and cleaning arm hinge
Connecing, the other end and lowering or hoisting gear are hinged, the control valve of angle regulator and control system electrical connection.
Compared with prior art, this utility model can drive cleaning arm to be finely adjusted, real-time collection range sensor
And the distance between solar panel, if described distance is not in predetermined value range, control angle by control system
Adjusting means and lowering or hoisting gear drive cleaning arm, make cleaning arm and solar panel be maintained at the distance that cleaning performance is optimal.
The two ends of cleaning arm are equipped with range sensor, and control system just may be used by the size of current comparing two range sensor feedbacks
With judge cleaning arm whether with solar panel keeping parallelism.
Accompanying drawing explanation
Fig. 1 is the working state structure schematic diagram of a kind of embodiment of the present utility model；
Fig. 2 is the partial enlarged drawing of Fig. 1；
Fig. 3 is the schematic diagram of electric-control system；
Fig. 4 is the off working state structural representation of a kind of embodiment of the present utility model.
Reference: 1-cleaning Vehicle body, 2-angle regulator, 3-cleaning arm, 4-lowering or hoisting gear, 5-Distance-sensing
Device, 6-dynamical system, 7-control system, 8-control valve.
With detailed description of the invention, this utility model is further described below in conjunction with the accompanying drawings.
Detailed description of the invention
Embodiment 1 of the present utility model: as shown in Figure 1, Figure 2 and Figure 3, the adaptive control system of a kind of mechanical arm, peace
Being contained in the cleaning Vehicle body 1 for cleaning solar energy cell plate, cleaning Vehicle body 1 is provided with the dress of cleaning solar energy cell plate
Put, if solaode needs to clean, then control the cleaning Vehicle body 1 arrangement route along solar panel, travel
During solar panel is carried out.Including control system 7, lowering or hoisting gear 4 and cleaning arm 3, lowering or hoisting gear 4 is installed
On cleaning Vehicle body 1, cleaning arm 3 is arranged on lowering or hoisting gear 4, and cleaning arm 3 is provided with range sensor 5 and angular adjustment dress
Putting 2, range sensor 5 and angle regulator 2 all electrically connect with control system 7, control system 7 and the power of lowering or hoisting gear 4
System 6 electrically connects.In the present embodiment, cleaning arm 3 is provided with Electric brush of bristles, water injector and dust exhaust apparatus, Electric brush of bristles, water spray
Device and dust exhaust apparatus all can be with independent operatings, it is also possible to run in groups；As: Electric brush of bristles and water injector coordinate operation, or
Person's Electric brush of bristles and dust exhaust apparatus coordinate operation.
Embodiment 2: as shown in Figure 1, Figure 2 and Figure 3, the adaptive control system of a kind of mechanical arm, it is arranged on for cleaning
On the cleaning Vehicle body 1 of solar panel, including control system 7, lowering or hoisting gear 4 and cleaning arm 3, lowering or hoisting gear 4 is arranged on
On cleaning Vehicle body 1, cleaning arm 3 is arranged on lowering or hoisting gear 4, and cleaning arm 3 is provided with range sensor 5 and angle regulator
2, range sensor 5 and angle regulator 2 all electrically connect with control system 7, control system 7 and the dynamical system of lowering or hoisting gear 4
System 6 electrical connection.In the present embodiment, the dynamical system 6 of lowering or hoisting gear 4 is hydraulic cylinder, control system 7 and the switch of aforementioned hydraulic cylinder
Valve electrically connects.
Described cleaning arm 3 is grown up strip, and described range sensor 5 is laser range sensor, laser range sensor
Quantity is two, and two laser range sensors lay respectively at the two ends of cleaning arm 3.
Embodiment 3: as shown in Figure 1, Figure 2 and Figure 3, the adaptive control system of a kind of mechanical arm, it is arranged on for cleaning
On the cleaning Vehicle body 1 of solar panel, including control system 7, lowering or hoisting gear 4 and cleaning arm 3, lowering or hoisting gear 4 is arranged on
On cleaning Vehicle body 1, cleaning arm 3 is arranged on lowering or hoisting gear 4, and cleaning arm 3 is provided with range sensor 5 and angle regulator
2, range sensor 5 and angle regulator 2 all electrically connect with control system 7, control system 7 and the dynamical system of lowering or hoisting gear 4
System 6 electrical connection.
Described cleaning arm 3 is grown up strip, and described range sensor 5 is laser range sensor, laser range sensor
Quantity is two, and two laser range sensors lay respectively at the two ends of cleaning arm 3.Described angle regulator 2 is hydraulic cylinder,
One end and the cleaning arm 3 of hydraulic cylinder are hinged, and the other end and lowering or hoisting gear 4 are hinged, the control valve 8 of angle regulator 2 and control
System 7 electrically connects.
The operation principle of a kind of embodiment of the present utility model: cleaning Vehicle body 1 under non-operating state as shown in Figure 4,
Meanwhile, cleaning Vehicle body 1 is additionally provided with draw off gear, is used for controlling adaptive control system along vertical axes axial-rotation, makes clear
Wash arm alignment solar panel, then matched by angle regulator 2 and lowering or hoisting gear 4, make cleaning, the hairbrush on 3
Fit with solar panel.
If cleaning Vehicle body 1 pitches because of Uneven road, shakes, two range sensors on cleaning arm 35 with too
Distance between sun energy cell panel will change, and range sensor 5 feeds back to the current signal of control system 7 and will occur
Change, control system 7 is Programmable Logic Controller, it is possible to the described current signal received is converted to number of actual measurements value.As
Really the current signal of two range sensor 5 feedbacks of cleaning arm 3 differs, then explanation cleaning arm and solar panel are not
Parallel, control system 7 makes cleaning arm 3 and solar panel protect according to the inclination angle of the size adjustment angle regulator of difference
Maintain an equal level row.If the distance surveyed is excessive or too small, control system 7 will control dynamical system 6 drive cleaning arm 3 to raise or
Person reduces, and makes cleaning arm 3 and solar panel be maintained in the distance range specified.
Claims (3)
1. an adaptive control system for mechanical arm, is arranged on the cleaning Vehicle body (1) for cleaning solar energy cell plate,
It is characterized in that, including control system (7), lowering or hoisting gear (4) and cleaning arm (3), lowering or hoisting gear (4) is arranged on cleaning Vehicle body
(1), on, cleaning arm (3) is arranged on lowering or hoisting gear (4), and cleaning arm (3) is provided with range sensor (5) and angle regulator
(2), range sensor (5) and angle regulator (2) all electrically connect with control system (7), control system (7) and lowering or hoisting gear
(4) dynamical system (6) electrical connection.
The adaptive control system of a kind of mechanical arm the most according to claim 1, it is characterised in that described cleaning arm (3)
Growth strip, described range sensor (5) is laser range sensor, and the quantity of laser range sensor is two, and two are swashed
Ligh-ranging sensor lays respectively at the two ends of cleaning arm (3).
The adaptive control system of a kind of mechanical arm the most according to claim 1 and 2, it is characterised in that described angle is adjusted
Regulating device (2) is hydraulic cylinder, and one end of hydraulic cylinder and cleaning arm (3) are hinged, and the other end and lowering or hoisting gear (4) are hinged, and angle is adjusted
The control valve (8) of regulating device (2) and control system (7) electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620690874.9U CN205817877U (en) | 2016-07-01 | 2016-07-01 | A kind of adaptive control system of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620690874.9U CN205817877U (en) | 2016-07-01 | 2016-07-01 | A kind of adaptive control system of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205817877U true CN205817877U (en) | 2016-12-21 |
Family
ID=57566471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620690874.9U Expired - Fee Related CN205817877U (en) | 2016-07-01 | 2016-07-01 | A kind of adaptive control system of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205817877U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108031135A (en) * | 2017-12-27 | 2018-05-15 | 天津君歌分子蒸馏设备有限公司 | A kind of solar panels heating arrangements for distiller |
-
2016
- 2016-07-01 CN CN201620690874.9U patent/CN205817877U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108031135A (en) * | 2017-12-27 | 2018-05-15 | 天津君歌分子蒸馏设备有限公司 | A kind of solar panels heating arrangements for distiller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106881709B (en) | Feeding manipulator for automatic production line | |
| CN103599907B (en) | A kind of photovoltaic battery panel Full-automatic of auto-navigation | |
| CN202105809U (en) | Solar panel cleaning device | |
| CN204448644U (en) | Photovoltaic solar cell plate surface dirt automatic cleaning machine people | |
| CN105080923A (en) | Cleaning adjusting device for photovoltaic panels | |
| CN203900061U (en) | Adjusting device used for photovoltaic panel cleaning | |
| CN109261578A (en) | Solar panel cleans vehicle | |
| CN208787009U (en) | Photovoltaic panel wind energy dust-extraction unit | |
| CN205966589U (en) | Novel solar cell panel cleaning robot | |
| CN207399112U (en) | A kind of solar panels for facilitating adjusting | |
| CN103441705A (en) | Photovoltaic sun tracking system and control method thereof | |
| CN205817877U (en) | A kind of adaptive control system of mechanical arm | |
| CN206168835U (en) | Photovoltaic board cleaning brush device | |
| CN109347431A (en) | A kind of solar panels cleaning plant | |
| CN204523721U (en) | A kind of solar panel cleaning Vehicle | |
| CN115242186A (en) | Photovoltaic panel system with clean function | |
| CN106183380A (en) | A kind of solar battery sheet scraper for silk-screen printing device | |
| CN207288118U (en) | A kind of photovoltaic panel cleaning equipment | |
| CN209303272U (en) | Solar panel cleaning equipment | |
| CN208924955U (en) | One kind being equipped with automatic egg picking machine equipment | |
| CN204906303U (en) | Belt cleaning device of solar photovoltaic board that electric machine control goes up and down | |
| CN218217257U (en) | Solar photovoltaic electroplax self-cleaning system based on dust thickness detects | |
| CN207884563U (en) | A kind of solar energy photovoltaic panel | |
| CN202877148U (en) | Device adjusting relative positions of deduster and surface of photovoltaic module | |
| CN205407694U (en) | Surface of water photovoltaic power generation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161221 Termination date: 20200701 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |