CN206643042U - Solar panel Intelligent cleaning robot - Google Patents

Abstract

The utility model provides an intelligent cleaning robot for solar panels, which comprises a main control device, an intelligent walking device and an automatic cleaning device. Four central steering gears distributed, four suction cup mechanical feet installed on the central steering gear, the automatic cleaning device includes a front cleaning arm, a rear cleaning arm, a cleaning pad and a vacuum cleaner; the suction cup bracket and the front and rear cleaning arms All are equipped with edge detection devices, and the main control device is installed on the central steering wheel frame, including a single-chip processor, a signal transceiver device and a storage battery. The utility model can automatically clean the surface of the inclined solar panel, and has the advantages of easy manipulation, flexible movement and steering, stable walking, good cleaning effect and simple structure.

Description

Smart cleaning robot with solar panels

technical field

The utility model relates to an intelligent cleaning device, in particular to an intelligent cleaning robot for solar panels.

Background technique

As an inexhaustible clean and non-polluting renewable energy, solar energy is of great significance to ensure sustainable economic development. In recent years, my country's solar power generation industry has developed rapidly, and the main components of solar power generation systems are solar panels. Because the solar panel is installed in the open air, some dust, snow, leaves and other shading objects will be deposited on the surface during use, which reduces the effective area of the solar panel to receive sunlight and seriously affects the performance of the solar power generation system. work efficiency. At present, domestic cleaning measures for solar panels include natural purification, manual cleaning and mechanical cleaning. Natural purification is to use rainfall and other environmental factors to self-clean the dust on the surface of solar panels, but this method is only suitable for areas with abundant precipitation. Manual cleaning generally uses a high-pressure water gun to directly rinse the stains on the battery components. This method has a better cleaning effect, but it will cause a waste of manpower and water resources. Mechanical cleaning mostly uses mechanical spraying, which requires spraying water pipes to be laid under the battery panel components. Spraying cannot remove stubborn stains on the surface of the battery boards, and the investment cost is high. In cold regions, the spraying water pipes are prone to freezing and cracking in winter. If can develop a kind of robot that can automatically finish cleaning work on the inclined solar panel, will solve above-mentioned technical problem.

Contents of the invention

The technical problem solved by the utility model is to provide a solar panel intelligent cleaning robot that can automatically clean the surface of the inclined solar panel. The cleaning robot has the advantages of easy manipulation, flexible movement and steering, stable walking and good cleaning effect The advantage of simple structure.

In order to achieve the above object, the utility model adopts the following technical solutions:

A solar panel intelligent cleaning robot is characterized in that: it includes a main control device, an intelligent walking device and an automatic cleaning device, and the intelligent walking device includes a disc-shaped center steering wheel frame, which is installed on the center steering wheel frame and is evenly distributed Four central steering gears, four suction cup mechanical feet installed on the central steering gear, the suction cup mechanical feet include the first U-shaped bracket, the second U-shaped bracket, the No. Three U-shaped brackets, the fourth U-shaped bracket, the second steering gear of the foot, the fifth U-shaped bracket, the inclined U-shaped corner bracket, the suction cup bracket, and the suction cup, the first U-shaped bracket is connected with the central steering gear, and the A negative pressure air pump is provided on the suction cup bracket, and the negative pressure air pump is connected with the suction cup through an air suction pipeline; Cleaning arm, the front cleaning arm and the rear cleaning arm are equipped with rotating cleaning pads and vacuum cleaners; the suction cup bracket and the front and rear cleaning arms are equipped with edge detection devices, and the main control device is installed on the central steering wheel The rack includes a single-chip processor, a signal transceiver device and a storage battery.

As a further improvement of the technical solution, the edge detection device includes an ultrasonic sensor and an infrared sensor.

As a further improvement of the technical solution, a cleaning wall elevating steering gear is provided between the front and rear cleaning arms and the central steering wheel frame, and a DC rotating motor is provided on the rotating cleaning pad.

The solar battery panel intelligent cleaning robot of the utility model can realize free walking on the inclined solar panel surface by using four sucker-type mechanical feet of the intelligent walking device, and the intelligent walking device drives the front and rear cleaning arms to scrub and remove dust. In the process, the front cleaning arm and the rear cleaning arm can be lifted by using the cleaning wall lifting servo to cross the frame barrier between adjacent solar panels for continuous cleaning.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the solar panel intelligent cleaning robot described in the present invention.

Fig. 2 is a schematic diagram of the framework of the central control device of the present invention.

The corresponding relationship between component names and reference signs in the figure is:

1 center rudder frame; 2 center steering gear; 3 first U-shaped bracket; 4 second U-shaped bracket; 5 No. 1 steering gear on the foot; 6 third U-shaped bracket; No. 2 steering gear; 9 fifth U-shaped bracket; 10 inclined U-shaped corner bracket; 11 suction cup bracket; 12 suction cup; 13 negative pressure air pump; 14 edge detection device; 15 front cleaning arm; 16 rear cleaning arm; 17 rotating cleaning pad ; 18 vacuum cleaner; 19 middle control device; 20 cleaning wall lifting steering gear; 21 DC rotating motor.

detailed description

The technical solution in this embodiment will be clearly and completely described below in conjunction with the accompanying drawings, and the embodiment is only a part of the embodiments of the present utility model, rather than all embodiments. All other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present utility model.

Please refer to shown in Fig. 1, the utility model provides a kind of solar panel intelligent cleaning robot, comprises main control device, intelligent walking device and automatic cleaning device, and described intelligent walking device comprises disc-shaped center rudder frame 1, Four central steering gears 2 evenly distributed on the periphery of the center steering wheel frame, four suction cup mechanical feet installed on the central steering gear, the suction cup mechanical feet include the first U-shaped bracket 3 and the second U-shaped bracket connected in sequence. Shaped bracket 4, foot No. 1 steering gear 5, third U-shaped bracket 6, fourth U-shaped bracket 7, foot No. 2 steering gear 8, fifth U-shaped bracket 9, inclined U-shaped corner bracket 10, suction cup bracket 11. Suction cup 12, the first U-shaped bracket 3 is connected with the central steering gear 2, the suction cup bracket is provided with a negative pressure air pump 13, the negative pressure air pump is connected with the suction cup through the suction pipeline, and the suction cup bracket is provided with There is an edge detection device 14; the automatic cleaning device includes a front cleaning arm 15 installed at the front of the center steering wheel frame and a rear cleaning arm 16 installed at the rear of the center steering wheel frame, on the front cleaning arm and the rear cleaning arm Both are provided with a rotating cleaning pad 17 and a vacuum cleaner 18; the main control device 19 is installed on the central steering wheel frame, and includes a single-chip processor, a signal transceiver and a storage battery. The edge detection device includes an ultrasonic sensor and an infrared sensor. A cleaning wall elevating steering gear 20 is provided between the front cleaning arm, the rear cleaning arm and the central steering wheel frame, and a DC rotating motor 21 is provided on the rotating cleaning pad.

The control principle block diagram of control device 20 in the utility model is as shown in Figure 2, and single-chip processor adopts the STM32 single-chip processor of ARM Cortex-M3 kernel, and signal transceiver device receives external indication command, and edge detection device 14 provides route change for single-chip processor signal, the single-chip processor provides action instructions for the central steering gear 2, the No. 1 steering gear 5 of the foot, the No. 2 steering gear 8 of the foot, the cleaning wall lifting steering gear 20, and the DC rotating motor 21, and the battery provides electric energy for the overall equipment.

The suction cup mechanical foot of the intelligent walking device is made of nitrile rubber suction cup. Compared with other materials, nitrile rubber has the advantages of good wear resistance, good oil resistance, and strong adhesion. The edge detection device includes an ultrasonic sensor and an infrared sensor. The ultrasonic sensor detects the distance between the robot and the edge of the solar panel in real time, and the infrared sensor detects the road conditions directly in front of the robot, thereby realizing the function of obstacle avoidance.

The walking process of the robot is as follows: start the switch to enter the ready-to-walk state, retract the four suction cup mechanical feet, and at this time, the four negative pressure air pumps 13 enter the working state at the same time, and at the same time suck the air in the suction cup 12, so that the robot is fixed on the surface of the solar panel . When walking, the negative pressure air pumps of two diagonal suction cup mechanical feet stop pumping air, and the negative pressure air pumps of the other group of two diagonal suction cup mechanical feet still pump air, so that only two diagonal The sucker-type mechanical feet are adsorbed on the working surface, and the No. 2 steering gear of the two sucker-type mechanical feet that will walk lifts the suction cups from the working surface to a certain height. The No. 1 steering gear and the corresponding center steering gear The synchronous operation drives the suction cup to move forward. After the movement, the No. 2 steering gear of the foot will put down the suction cup, and then the suction cup mechanical feet of the two feet will re-enter the working state, so that the device is adsorbed on the surface of the solar panel. Another set of two diagonal suction-cup mechanical feet repeats the above-mentioned action, thereby realizing the continuous travel of the device on the inclined solar panel without losing the adsorption force.

The automatic cleaning device operates synchronously when the robot is moving, and the automatic cleaning device needs to control the lifting and lowering of the rotating cleaning pad 17 and the vacuum cleaner 18 to avoid frame obstacles between adjacent solar panels. The DC rotary motor 21 drives the rotary cleaning pad 17 to run and scrub, and the vacuum cleaner 18 sucks away the dust after sweeping.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to the above-described embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (3)

1. A solar panel intelligent cleaning robot is characterized in that: comprise main control device, intelligent walking device and automatic cleaning device, described intelligent walking device comprises disc-shaped center steering wheel frame, is installed on the center steering wheel frame outer periphery Four central steering gears evenly distributed, four suction cup mechanical feet installed on the central steering gear, the suction cup mechanical feet include the first U-shaped bracket, the second U-shaped bracket, and the No. 1 steering gear connected in sequence , the third U-shaped bracket, the fourth U-shaped bracket, the second steering gear on the foot, the fifth U-shaped bracket, the inclined U-shaped corner bracket, the suction cup bracket, the suction cup, the first U-shaped bracket is connected with the central steering gear, The suction cup bracket is provided with a negative pressure air pump, and the negative pressure air pump is connected with the suction cup through an air suction pipeline; the automatic cleaning device includes a front cleaning arm installed at the front of the center steering wheel frame and a The rear cleaning arm is provided with a rotating cleaning pad and a vacuum cleaner on the front cleaning arm and the rear cleaning arm; edge detection devices are provided on the suction cup bracket and the front and rear cleaning arms, and the main control device is installed in the center On the steering wheel frame, it includes a single-chip processor, a signal transceiver and a storage battery. 2. The solar panel intelligent cleaning robot according to claim 1, wherein the edge detection device includes an ultrasonic sensor and an infrared sensor. 3. The solar panel intelligent cleaning robot according to claim 1, characterized in that: a cleaning wall elevating steering gear is provided between the front cleaning arm, the rear cleaning arm and the central rudder plate frame, and a DC rotating cleaning pad is provided on the rotating cleaning pad. motor.