CN212627801U - Permanent magnet grabbing and releasing device for photovoltaic panel unmanned aerial vehicle cleaning system - Google Patents
Permanent magnet grabbing and releasing device for photovoltaic panel unmanned aerial vehicle cleaning system Download PDFInfo
- Publication number
- CN212627801U CN212627801U CN202021140079.5U CN202021140079U CN212627801U CN 212627801 U CN212627801 U CN 212627801U CN 202021140079 U CN202021140079 U CN 202021140079U CN 212627801 U CN212627801 U CN 212627801U
- Authority
- CN
- China
- Prior art keywords
- magnetic base
- stepping motor
- permanent magnet
- unmanned aerial
- aerial vehicle
- 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.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a permanent magnet grabbing and releasing device of a photovoltaic panel unmanned aerial vehicle cleaning system, which comprises: a magnetic base; the stepping motor is fixedly connected to the side part of the magnetic base and is connected with the permanent magnet of the magnetic base, the stepping motor rotates to drive the permanent magnet of the stepping motor to rotate so as to switch the on-off state of the magnetic base, and the stepping motor is electrically connected with the controller; the controller is electrically connected with the wireless communication module; and a wireless communication module. The problems of high operation requirement, power consumption and unreliability in the prior art are solved.
Description
Technical Field
The utility model relates to a mechanical device technical field especially relates to a device is grabbed and put to photovoltaic board unmanned aerial vehicle cleaning system permanent magnetism.
Background
Photovoltaic power generation is a clean energy power generation technology, which is a technology for directly converting light energy into electric energy by utilizing the photovoltaic effect of a semiconductor interface. The solar energy power generation system mainly comprises a solar panel (assembly), a controller and an inverter, and the main components are electronic components. The solar cells are connected in series and then are packaged and protected to form a large-area solar cell module, and then the photovoltaic power generation device is formed by matching with components such as a power controller and the like. Wherein the sunshine intensity is received to the photovoltaic board is one of the leading factors that influence photovoltaic generating efficiency, if the photovoltaic board surface is stained with the dust or is covered by debris, will make the sunshine intensity of photovoltaic board receipt decline relatively to make generating efficiency reduce, consequently in order to guarantee generating efficiency, it is indispensable to carry out regular clearance to the photovoltaic board surface.
In the prior art, the following method is mainly adopted for cleaning the photovoltaic panel:
1) manual cleaning has the problems of low labor efficiency, high cleaning cost in the face of large-scale photovoltaic power stations and danger in cleaning photovoltaic panels installed at high positions by users;
2) the method has the problems that a set of device needs to be additionally arranged on the photovoltaic panel, and the additional device causes the reconstruction cost of the photovoltaic panel to be very high;
3) the cleaning brush is swept on the upper surface of the photovoltaic panel in the process of moving the vehicle by using the vehicle with the cleaning brush, so that the photovoltaic panel is cleaned.
In order to solve the problems, the applicant researches a photovoltaic panel unmanned aerial vehicle cleaning system, but the applicant finds that the use of a common grabbing and releasing device, such as a mechanical grabbing and releasing device, needs to align a hand grip or a hook with a grabbing handle, so that the operation requirement is high; if adopt install ferromagnetic material on unmanned aerial vehicle earlier additional, then use the electro-magnet appeal to inhale the robot of sweeping the floor on unmanned aerial vehicle, in order to keep the electro-magnet appeal at the in-process that snatchs, need be circular telegram always to the electro-magnet, can cause the electric energy waste like this, be not suitable for very much to this system of using electromagnetism to in case the electro-magnet falls the electricity and will make the robot of sweeping the floor break away from unmanned aerial vehicle and drop, consequently use the electro-magnet still to have unreliable problem.
Disclosure of Invention
In order to solve the shortcoming and the weak point of above prior art, the utility model aims at providing a device is grabbed and put to photovoltaic board unmanned aerial vehicle cleaning system permanent magnetism.
The technical scheme of the utility model is that: the utility model provides a device is grabbed and put to photovoltaic board unmanned aerial vehicle cleaning system permanent magnetism, includes:
a magnetic base;
the stepping motor is fixedly connected to the side part of the magnetic base and is connected with the permanent magnet of the magnetic base, the stepping motor rotates to drive the permanent magnet of the stepping motor to rotate so as to switch the on-off state of the magnetic base, and the stepping motor is electrically connected with the controller;
the controller is electrically connected with the wireless communication module;
and a wireless communication module.
Further, step motor passes through tilting mechanism and is connected with magnetic base permanent magnet, tilting mechanism includes:
the rocker is provided with a guide groove along the length direction of the rocker, and one end of the rocker is fixedly connected to a rotating shaft of the magnetic base permanent magnet;
the crank, crank one end fixed connection is in step motor's pivot, and the crank other end fixed connection round pin, round pin and guide way match, and round pin slidable mounting is in the guide way.
Further, the turnover mechanism satisfies the following formula:
wherein y is the farthest distance from the guide groove to the rotating shaft of the magnetic base permanent magnet, x is the distance from the round pin to the rotating shaft of the stepping motor, l is the distance from the rotating shaft of the stepping motor to the rotating shaft of the magnetic base, and z is the length of the guide groove.
The utility model has the advantages that: compared with the prior art, the method has the advantages that,
1) the utility model discloses fly unmanned aerial vehicle directly over the robot of sweeping the floor earlier when using, then unmanned aerial vehicle descends, when ferromagnetic plate contact magnetic base, send magnetic base opening instruction to unmanned aerial vehicle, unmanned aerial vehicle sends magnetic base opening instruction to wireless communication module, wireless communication module sends the signal received to the controller, the controller control step motor rotates certain angle and opens magnetic base to make the magnetism of magnetic base produce suction to ferromagnetic plate; the ferromagnetic plate has larger area, so that the ferromagnetic plate of the unmanned aerial vehicle is controlled to be more simply contacted with the magnetic base, alignment is not needed, and the operation requirement is low; in addition, the attraction of the magnetic base to the ferromagnetic plate does not need to consume energy, and compared with an electromagnet, the energy-saving magnetic base is more energy-saving, and the permanent magnet in the magnetic base does not have attraction due to the problems of power failure and the like, so that the magnetic base is more reliable;
2) the utility model discloses a step motor passes through tilting mechanism and connects magnetic base permanent magnet for control step motor rotates, just can make the crank drive the rocker swing certain angle, thereby make magnetic base permanent magnet overturn certain angle, make the on-off state of magnetic base switch over, tilting mechanism's use compares and directly uses step motor directly to link magnetic base permanent magnet pivot, because of the limiting displacement of guide way, rocker swing angle is fixed all the time, and can not produce the accumulative error, use more reliable and more stable;
3) the utility model discloses a relation to x, y, z and l is injectd for tilting mechanism rotation angle is 90 degrees all the time, ensures if make after the upset of magnetic force seat permanent magnet close then suction minimum, and if open after the upset then suction maximum, can stably snatch when guaranteeing to snatch, and can in time release during the release.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a partial view of FIG. 1B;
FIG. 3 is a front view of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
fig. 5 is a circuit connection block diagram of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments:
example 1: this embodiment a device is grabbed and put to photovoltaic board unmanned aerial vehicle cleaning system permanent magnetism includes: a magnetic base 302;
the stepping motor 303 is connected to the side of the magnetic base 302 through a bolt, the stepping motor 303 is connected with the permanent magnet of the magnetic base 302, the stepping motor 303 rotates to drive the permanent magnet of the stepping motor 303 to rotate so as to switch the on-off state of the magnetic base 302, and the stepping motor 303 is electrically connected with the controller 5; the controller 5 is electrically connected with the wireless communication module 6; and a wireless communication module 6. The controller 5 here may be a controller with peripheral circuits such as arduino, and the wireless communication module 6 here may be a wifi module, a bluetooth module, or a 4G module.
Further, the step motor 303 is connected with the permanent magnet of the magnetic base 302 through the turnover mechanism 4, and the turnover mechanism 4 includes: a rocker 401, wherein a guide groove 4011 along the length direction of the rocker 401 is formed on the rocker 401, and one end of the rocker 401 is welded on a rotating shaft of the permanent magnet of the magnetic base 302; one end of the crank 402 is connected to a rotating shaft of the stepping motor 303 in a welding mode, the other end of the crank 402 is connected with a round pin 4021 in a welding mode, the round pin 4021 is matched with the guide groove 4011, and the round pin 4021 is installed in the guide groove 4011 in a sliding mode. The round pin 4021 has a diameter much smaller than the length of the guide slot 4011.
Further, the turnover mechanism 4 satisfies the following formula:
wherein y is the farthest distance from the guide groove 4011 to the rotating shaft of the permanent magnet of the magnetic base 302, x is the distance from the round pin 4021 to the rotating shaft of the stepping motor 303, l is the distance from the rotating shaft of the stepping motor 303 to the rotating shaft of the magnetic base 302, and z is the length of the guide groove 4011.
Example 2: this embodiment a photovoltaic board unmanned aerial vehicle scavenging system includes: an unmanned aerial vehicle 1; the robot 2 of sweeping the floor, the robot 2 of sweeping the floor is connected with unmanned aerial vehicle 1 through grabbing putting device 3, grab and put device 3 and unmanned aerial vehicle 1 wireless connection. Grab and put device 3 and can make electro-magnet and iron plate, iron plate bolted connection is in unmanned aerial vehicle 1 lower part, and electro-magnet bolted connection is on 2 people upper portions of sweeping the floor machine. The drone may be a Paparazzi UAV drone or a longitude and latitude M600 Pro drone produced by the company of great Xinjiang. The sweeping robot can adopt a household sweeping robot produced by millet and other companies, and can also use a glass girl window wiping robot.
Further, the pick-and-place device 3 comprises: the ferromagnetic plate 301, the ferromagnetic plate 301 is made of ferromagnetic material, and the ferromagnetic plate 301 is connected to the lower part of the unmanned aerial vehicle 1; the magnetic base 302 is connected to the upper part of the sweeping robot 2 through bolts, and the magnetic suction surface of the magnetic base 302 faces upwards; the stepping motor 303, the stepping motor 303 is connected with the permanent magnet of the magnetic base 302, the stepping motor 303 rotates to drive the permanent magnet of the stepping motor 303 to rotate so as to switch the on-off state of the magnetic base 302, and the stepping motor 303 is electrically connected with the controller 5; the controller 5 is arranged on the sweeping robot 2, and the controller 5 is electrically connected with the wireless communication module 6; and the wireless communication module 6 is electrically connected with the unmanned aerial vehicle 1. The controller 5 here may be a controller with peripheral circuits such as arduino, and the wireless communication module 6 here may be a wifi module, a bluetooth module, or a 4G module.
Further, the ferromagnetic plate 301 is connected below the drone 1 through a connecting rod 304.
Further, the connecting rod 304 includes: the upper end of the main cylinder 3041 is bolted with the unmanned aerial vehicle 1, and the main cylinder 3041 is vertical; a pressure spring 3043, the pressure spring 3043 is arranged in the main cylinder 3041, and the upper end of the pressure spring 3043 is connected to the main cylinder 3041; a pull rod 3044, the upper end of the pull rod 3044 is connected with the lower end of the pressure spring 3043 by bolts or welding, the outer diameter of the pull rod 3044 is smaller than the inner diameter of the main cylinder 3041, and the distance from the upper end of the pull rod 3044 to the upper end of the pressure spring 3043 is smaller than the distance from the lower end of the main cylinder 3041 to the upper end of the pressure spring 3043; wherein the ferromagnetic plate 301 is bolted or welded to the lower end of the tie bar 3044.
Further, the connecting rod 304 further comprises: the tension sensor 3042, the upper end of the pressure spring 3043 is connected to the main cylinder 3041 through the tension sensor 3042, and the tension sensor 3042 is electrically connected to the unmanned aerial vehicle 1. The tension sensor 3042 herein may employ a JLBS-MD kino S-type weighing cell.
Further, the step motor 303 is connected with the permanent magnet of the magnetic base 302 through the turnover mechanism 4, and the turnover mechanism 4 includes: a rocker 401, wherein a guide groove 4011 along the length direction of the rocker 401 is formed on the rocker 401, and one end of the rocker 401 is welded on a rotating shaft of the permanent magnet of the magnetic base 302; one end of the crank 402 is connected to a rotating shaft of the stepping motor 303 in a welding mode, the other end of the crank 402 is connected with a round pin 4021 in a welding mode, the round pin 4021 is matched with the guide groove 4011, and the round pin 4021 is installed in the guide groove 4011 in a sliding mode. The round pin 4021 has a diameter much smaller than the length of the guide slot 4011.
Further, the turnover mechanism 4 satisfies the following formula:
wherein y is the farthest distance from the guide groove 4011 to the rotating shaft of the permanent magnet of the magnetic base 302, x is the distance from the round pin 4021 to the rotating shaft of the stepping motor 303, l is the distance from the rotating shaft of the stepping motor 303 to the rotating shaft of the magnetic base 302, and z is the length of the guide groove 4011.
A release control method of a photovoltaic panel drone cleaning system, the method comprising the steps of:
s11, controlling the unmanned aerial vehicle 1 to convey the sweeping robot 2 to the position above the photovoltaic panel;
s12, controlling the unmanned aerial vehicle 1 to descend until the tension value detected by the tension sensor 3042 is smaller than a preset release value M1 stored in the unmanned aerial vehicle 1, wherein M1 is smaller than the sum of the weights of the sweeping robot 2 and the grabbing and releasing device 3;
s13, the unmanned aerial vehicle 1 sends a closing instruction of the magnetic base 302 to the wireless communication module 6, and the controller 5 controls the stepping motor 303 to rotate clockwise or anticlockwise by 90 degrees after receiving the closing instruction of the magnetic base 302 sent by the wireless communication module 6, so that the magnetic base 302 is closed.
A grabbing control method of a photovoltaic panel unmanned aerial vehicle sweeping system comprises the following steps:
s21, controlling the unmanned aerial vehicle 1 to move right above the sweeping robot 2;
s22, controlling the unmanned aerial vehicle 1 to descend until the tension value detected by the tension sensor 3042 is smaller than a first preset gripping value M2 stored in the unmanned aerial vehicle 1, wherein M2 is smaller than the sum of the weights of the ferromagnetic plate 301, the pull rod 3044 and the spring;
s23, controlling the unmanned aerial vehicle 1 to vertically ascend until the tension value detected by the tension sensor 3042 is larger than or equal to a second preset grabbing value M3 stored in the unmanned aerial vehicle 1, wherein M3 is smaller than the sum of the weights of the sweeping robot 2 and the grabbing and releasing device 3;
s24, the unmanned aerial vehicle 1 sends an opening instruction of the magnetic base 302 to the wireless communication module 6, and the controller 5 controls the stepping motor 303 to rotate clockwise or anticlockwise by 90 degrees after receiving the opening instruction of the magnetic base 302 sent by the wireless communication module 6, so that the magnetic base 302 is opened.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.
Claims (2)
1. The utility model provides a device is grabbed and put to photovoltaic board unmanned aerial vehicle cleaning system permanent magnetism which characterized in that includes:
a magnetic base (302);
the stepping motor (303), the stepping motor (303) is fixedly connected to the side of the magnetic base (302), the stepping motor (303) is connected with the permanent magnet of the magnetic base (302), the stepping motor (303) rotates to drive the permanent magnet of the stepping motor (303) to rotate so as to switch the on-off state of the magnetic base (302), and the stepping motor (303) is electrically connected with the controller (5);
a controller (5), the controller (5) being electrically connected with a wireless communication module (6);
a wireless communication module (6).
2. The photovoltaic panel unmanned aerial vehicle cleaning system permanent magnet grabbing and releasing device of claim 1, wherein the stepping motor (303) is connected with the magnetic base (302) through a turnover mechanism (4) and the permanent magnet is connected with the turnover mechanism (4), and the turnover mechanism (4) comprises:
the magnetic force sensor comprises a rocker (401), wherein a guide groove (4011) along the length direction of the rocker (401) is formed in the rocker (401), and one end of the rocker (401) is fixedly connected to a rotating shaft of a permanent magnet of a magnetic base (302);
the crank (402), crank (402) one end fixed connection is in step motor (303)'s pivot, and crank (402) other end fixed connection round pin (4021), round pin (4021) and guide way (4011) phase-match, and round pin (4021) slidable mounting is in guide way (4011).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021140079.5U CN212627801U (en) | 2020-06-18 | 2020-06-18 | Permanent magnet grabbing and releasing device for photovoltaic panel unmanned aerial vehicle cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021140079.5U CN212627801U (en) | 2020-06-18 | 2020-06-18 | Permanent magnet grabbing and releasing device for photovoltaic panel unmanned aerial vehicle cleaning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212627801U true CN212627801U (en) | 2021-02-26 |
Family
ID=74755381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021140079.5U Active CN212627801U (en) | 2020-06-18 | 2020-06-18 | Permanent magnet grabbing and releasing device for photovoltaic panel unmanned aerial vehicle cleaning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212627801U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113634534A (en) * | 2021-07-27 | 2021-11-12 | 东北电力大学 | Solar photovoltaic panel multi-agent cleaning system |
-
2020
- 2020-06-18 CN CN202021140079.5U patent/CN212627801U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113634534A (en) * | 2021-07-27 | 2021-11-12 | 东北电力大学 | Solar photovoltaic panel multi-agent cleaning system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106677658B (en) | A kind of electric double-open inner swing door | |
| CN202176206U (en) | Automatic door control system for charging room of intelligent patrol inspection robot in substation | |
| CN212627801U (en) | Permanent magnet grabbing and releasing device for photovoltaic panel unmanned aerial vehicle cleaning system | |
| CN208906728U (en) | A kind of gate coordinated control system | |
| CN208627941U (en) | One kind climbing wall rust removing robot | |
| CN105110010B (en) | A kind of Pneumatic pipeline transmission method of business hall and device | |
| CN212401559U (en) | Unmanned aerial vehicle permanent magnetism is grabbed and is put device tilting mechanism | |
| CN212627800U (en) | Photovoltaic board unmanned aerial vehicle cleaning system | |
| CN212401560U (en) | Unmanned aerial vehicle grabbing and releasing device buffer mechanism | |
| CN116253235A (en) | Electromagnetic adsorption type energy-saving metal material recycling facility | |
| CN202510816U (en) | Intelligent permanent magnet control valve | |
| CN203975773U (en) | Belt feeder brake equipment | |
| CN213067869U (en) | Dust fall real-time supervision intelligence dust fall pole station | |
| CN212736057U (en) | Electromagnetic adsorption transfer manipulator | |
| CN104135602B (en) | Mine explosion-suppression dollying system | |
| CN208506838U (en) | A kind of self power generation remote access control system | |
| CN218661814U (en) | Automatic hook lifting and adjusting device for industrial and mining internal combustion locomotive | |
| CN210260283U (en) | Conveying equipment with variable magnetic force | |
| CN105752126A (en) | Electromechanical integration remote control lifting transport vehicle | |
| CN211046857U (en) | Photovoltaic module cleaning device | |
| CN109052185A (en) | A kind of fork truck hood lifting mounting device and its installation method | |
| CN107299624B (en) | A kind of intelligent robot for being used to clear up algae based on Internet of Things | |
| CN209410338U (en) | It is a kind of for recycling the hanging basket of photovoltaic robot | |
| CN206617078U (en) | A kind of intelligent substation fence based on wifi remote controls | |
| CN110756791A (en) | Hot metal bottle flip driving full-automatic control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |