CN217528488U

CN217528488U - Photovoltaic board cleaning robot

Info

Publication number: CN217528488U
Application number: CN202121478891.3U
Authority: CN
Inventors: 高敬业; 汪金芝; 孙慧平; 吕冰珂; 王林
Original assignee: Ningbo University of Technology
Current assignee: Ningbo University of Technology
Priority date: 2021-07-01
Filing date: 2021-07-01
Publication date: 2022-10-04
Anticipated expiration: 2031-07-01

Abstract

The utility model discloses a photovoltaic board cleaning robot, including the bottom frame, be equipped with the apron piece that seals bottom frame open-ended at bottom frame upper cover, be provided with multiunit duct fan on the apron piece, the fixed box mechanism that is provided with on the up end of bottom frame the fixed multiunit cleaning brush body mechanism that is provided with on the bottom frame, the apron piece includes that the multiunit is the apron subassembly of different angle settings, but group duct fan installs respectively on the apron subassembly, but be provided with the force sensor of multiunit real-time supervision pressure on photovoltaic board cleaning robot bottom, force sensor with the control module linkage of duct fan. The utility model discloses a complete machine structure of duct fan realizes the cleanness on the photovoltaic board, and the duct fan linkage that sets up through force sensor and different angles, has guaranteed the balance of device negative pressure chamber, prevents to blow down the robot under the strong wind environment and leads to damaging.

Description

Photovoltaic board cleaning robot

Technical Field

The utility model relates to a wiper mechanism field specifically is cleaning robot equipment of solar photovoltaic board.

Background

At present, the technologies applied to photovoltaic panel cleaning mainly include the following types:

(1) Photovoltaic board single clean mode. The most representative technology is a guide rail type photovoltaic panel cleaning device which is provided with a transverse moving mechanism and a longitudinal moving mechanism, and can move along two vertical directions of a photovoltaic panel to move a cleaning device main body so as to clean the photovoltaic panel.

(2) Photovoltaic board strides row clean mode. The technologies mainly comprise a vehicle-mounted cleaning type and a ferry vehicle type. Vehicle-mounted cleaning formula robot adopts the clean mode that has water mostly, and cleaning device installs on the machineshop car, realizes the cleanness of multirow photovoltaic board around by the machineshop car. The ferry vehicle type cleaning robot mainly comprises a cleaning robot, a ferry vehicle, a track and other accessory facilities.

(3) And (4) an adsorption cleaning mode. It mainly comprises a magnetic adsorption type, a bionic adsorption type, an electrostatic adsorption type and a negative pressure adsorption type. The magnetic adsorption type robot adapts to the contact surface of the magnetic conduction material and is adsorbed on the board surface by means of magnetic force. The negative pressure adsorption type can be subdivided into vacuum adsorption and thrust adsorption, and a photovoltaic panel cleaning robot based on suction cup adsorption is available.

Problems and disadvantages with the above-described techniques:

(1) Photovoltaic board single clean mode: guide rail type cleaning devices are not suitable for northwest areas with large wind and sand, a lot of dust and sand are accumulated in gaps of a guide rail after wind and sand, and the cleaning devices also need to manually clean the dust and sand in the gaps of the guide rail to prevent the device from being damaged. The size of the photovoltaic panel is different in different photovoltaic electric fields, the photovoltaic panel needs to be customized to a manufacturer when the cleaning device is purchased, the guide rail needs to be additionally arranged on each row of photovoltaic panels to adapt to the cleaning device, and the investment is huge.

(2) The photovoltaic panel span plate cleaning mode is as follows: (1) vehicle-mounted cleaning type: because the size of this type of product is huge, not only hydraulic system can't self-adaptation complicated photovoltaic board inclination, and cleaning device easily causes the damage to the photovoltaic module subassembly moreover, consequently mainly is applicable to the northwest relief of China relatively flat, photovoltaic board arrangement interval great photovoltaic power plant, but northwest water resource is deficient relatively, consequently uses this type of cleaning device to have certain limitation. (2) A ferry vehicle type: the technology has the advantages of large field construction amount, long construction period, high requirement on the flatness of a track carrier, steep increase of cost caused by complex environment and landform, and easy overturn of equipment on an inclined plane. Such cleaning devices are limited by problems of cost performance, environmental suitability, stability and the like, and have poor development prospects.

(3) An adsorption cleaning mode: the magnetic adsorption type and the electrostatic adsorption type generally have certain special requirements on wall surface materials, the performance of the magnetic adsorption type and the electrostatic adsorption type is greatly influenced by the wall surface materials, and meanwhile, the magnetic adsorption type and the electrostatic adsorption type can influence a photovoltaic panel assembly; the bionic type is not mature at present, has higher cost and more complex research, and is not suitable for industrial large-scale batch production; at present, the existing vacuum adsorption type photovoltaic panel cleaning robot is completely attached to the surface of a photovoltaic panel, and the moving efficiency is not high. And most robots can only move along a single direction, and need to turn during work, so that dead corners are generally cleaned.

For the above reasons, there is a need for improvements in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a not enough to exist among the prior art provides photovoltaic board cleaning robot.

The utility model discloses a realize through following technical scheme: photovoltaic board cleaning robot, including the bottom frame, be equipped with the apron piece of closed bottom frame open-ended at bottom frame upper cover, be provided with multiunit duct fan on the apron piece, the fixed box mechanism that is provided with on the up end of bottom frame the fixed multiunit cleaning brush body mechanism, its characterized in that are provided with on the bottom frame: the cover plate comprises a plurality of groups of cover plate assemblies arranged at different angles, the ducted fans are respectively installed on the cover plate assemblies, a plurality of groups of force sensors capable of monitoring pressure in real time are arranged on the bottom of the photovoltaic panel cleaning robot, and the force sensors are linked with control modules of the ducted fans.

In the above technical scheme, the cover plate member includes four groups of cover plate components connected with each other, and two groups of ducted fans are arranged on each group of cover plate components.

Among the above-mentioned technical scheme, box mechanism establishes the upper end cover that is used for sealing second annular wall top opening in second annular wall top including protruding first annular wall, the second annular wall of establishing, the diapire and the lid of connecting first annular wall and second annular wall outside first annular wall the second annular wall with form the dust collecting space who is used for accomodating miscellaneous dirt between the diapire, the upper end cover includes the protruding water conservancy diversion portion of establishing in upper end cover middle part position to and set up the guide plate around the water conservancy diversion portion.

In the above technical scheme, the second annular wall includes the spacing convex wall that sets up and sets up the non-woven fabrics between two spacing convex walls in four corner positions of diapire.

Among the above-mentioned technical scheme, be provided with rubber anticollision circle on the periphery of bottom frame.

Among the above-mentioned technical scheme, including setting up the electronic gyroscope in photovoltaic board cleaning robot inside, the control module linkage of electronic gyroscope and duct fan.

In the technical scheme, the cleaning brush body mechanism comprises a first mounting seat and a second mounting seat which are arranged at intervals, a dry hair brush roller and a silica gel brush roller are rotatably supported between the first mounting seat and the second mounting seat, the first mounting seat and the second mounting seat are rotatably supported between two mounting plates which are arranged at intervals, the second mounting seat is driven to rotate by a turnover motor, a driven gear is arranged on one side of the dry hair brush roller, the silica gel brush roller and the first mounting seat in a rotating fit mode, the cleaning brush body mechanism further comprises a first driving gear meshed with the driven gear, a first transmission shaft is rotatably arranged on the mounting plates, the first transmission shaft penetrates through the center of the first mounting seat, one end of the first transmission shaft is fixed with the first driving gear, and the other end of the first transmission shaft is driven to rotate by a main transmission motor.

Among the above-mentioned technical scheme, including with the bottom frame can dismantle fixed being provided with rather than fixed cleaning brush body containing seat all around, cleaning brush body containing seat includes first holding chamber and the second holding chamber of adjacent setting, the opening orientation in first holding chamber and second holding chamber is opposite, upset motor and main drive motor are located first holding intracavity, dry hair brush roller and silica gel brush roller are located second holding intracavity.

Among the above-mentioned technical scheme, be equipped with many laser sensor that are used for judging that the complete machine is in the concatenation arris department of a row of photovoltaic board still edge all around of photovoltaic board cleaning robot, laser sensor and the linkage of the control module of cleaning brush body mechanism.

The utility model discloses following beneficial effect has: the utility model discloses a complete machine structure of duct fan realizes the cleanness on the photovoltaic board, and the duct fan linkage that sets up through force sensor and different angles, but force sensor real-time supervision pressure, if the condition of pressure variation appears in some part, the control module control duct fan of duct fan accelerates or slows down to guarantee the balance of device negative pressure chamber, prevent that the robot that blows off under the strong wind environment from leading to the damage.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of another embodiment of the present invention.

Fig. 3 is an exploded view of the present invention.

Fig. 4 is a schematic bottom view of the present invention.

Fig. 5 is a partial schematic structural view of the present invention.

Fig. 6 is a schematic perspective view of a cleaning brush mechanism.

Fig. 7 is an exploded view of fig. 6.

Fig. 8 is a schematic perspective view of the upper end cap.

Fig. 9 is a perspective view of the box mechanism.

Detailed Description

The invention will be described in further detail with reference to the following detailed description and accompanying drawings: referring to fig. 1 to 9, the photovoltaic panel cleaning robot includes a bottom frame 1, a cover plate 2 covering the bottom frame 1 and closing an opening of the bottom frame, and a plurality of sets of ducted fans 3 disposed on the cover plate 2, specifically, the cover plate 2 includes a plurality of sets of cover plate assemblies 20 disposed at different angles, and the sets of ducted fans 3 are respectively mounted on the cover plate assemblies 20. Thus, the ducted fans 3 are made to have different draft angles. In this embodiment, the cover member 2 includes four sets of cover assemblies 20 connected to each other, and two sets of ducted fans 3 are disposed on each set of the cover assembly 20.

A box body mechanism 4 is fixedly arranged on the upper end surface of the bottom frame 1, the box body mechanism 4 comprises a first annular wall 40 which is arranged in a protruding mode, a second annular wall 41 which is arranged outside the first annular wall 40, a bottom wall 44 which is connected with the first annular wall 40 and the second annular wall 41, and an upper end cover 42 which is arranged on the top of the second annular wall 41 in a covering mode and used for closing the top opening of the second annular wall 41, and a dust collecting space 43 used for containing miscellaneous dust is formed among the first annular wall 40, the second annular wall 41 and the bottom wall 44. The second annular wall 41 includes a convex stopper wall 41a provided at four corners of the bottom wall 44, and a nonwoven fabric 41b provided between the convex stopper walls 41 a. The upper end cover 42 comprises a flow guide part 42a convexly arranged in the middle of the upper end cover and a flow guide plate 42b arranged around the flow guide part 42a, the flow guide part 42a and the flow guide plate 41b in the upper end cover 42 guide dust-containing air flow discharged by the ducted fan 3 to a dust collection box positioned at the outermost ring of the robot, heavy sand particles and dust fall at the bottom of the dust collection box, and fine micro dust is collected when penetrating through dust collection cloth around the dust collection box, is attached to the dust collection cloth, discharges clean air, realizes cleaning and dust collection of the photovoltaic panel, and prevents secondary pollution.

The bottom frame 1 is fixedly provided with a plurality of groups of cleaning brush body mechanisms 5, specifically, the cleaning brush body mechanisms 5 are provided with four groups, and the four groups comprise two groups arranged at horizontal intervals and two groups arranged at vertical intervals. The cleaning brush body mechanism 5 comprises a first mounting seat 52a and a second mounting seat 52b which are arranged at intervals, a dry hair brush roller 50 and a silica gel brush roller 51 are rotatably supported between the first mounting seat 52a and the second mounting seat 52b, the first mounting seat 52a and the second mounting seat 52b are rotatably supported between the two mounting plates 52 which are arranged at intervals, the second mounting seat 52b is driven by a turnover motor 101 to rotate, a driven gear 200 is arranged on one side of the dry hair brush roller 50 and the silica gel brush roller 51 which are rotatably matched with the first mounting seat 52a, the cleaning brush body mechanism further comprises a first driving gear 201 meshed with the two driven gears 200, a first transmission shaft 53 is rotatably arranged on the mounting plate 52, the first transmission shaft 53 penetrates through the center of the first mounting seat 52a, one end of the first driving gear 201 is fixed, and the other end of the first driving gear is driven to rotate by a main transmission motor 102. Specifically, a second driving gear 202 is fixedly disposed at the other end of the first transmission shaft 53, and the second driving gear 202 is in transmission connection with the main transmission motor 102 through a second speed reduction mechanism 302; a second transmission shaft 54 is convexly arranged in the middle of the second mounting seat 52b, one end of the second transmission shaft 54 penetrates through the mounting plate 52, a third driving gear 203 is fixedly arranged on the end, and the third driving gear 203 is in transmission connection with the turnover motor 101 through a first speed reducing mechanism 301. It should be noted that, in the embodiment, a technical solution is shown in which the first transmission shaft 53 and the second transmission shaft 54 are driven to rotate by means of a gear and a corresponding speed reducing mechanism, however, it can be understood that other common transmission manners may be selected according to the need of driving the first transmission shaft 53 and the second transmission shaft 54, for example, a belt may be used to drive the first transmission shaft and the second transmission shaft in combination with a belt; in the present application, the driving method of the first and second transmission shafts is not limited.

In the structure, the overturning motor 101 can control the dry hair brush and the silica gel scraping brush to rotate integrally, and the main transmission motor can control the dry hair brush or the silica gel scraping brush to rotate as the power for the robot to move. When the robot moves, the cleaning parts with the double brushes in front and at the back in the moving direction cling to the surface of the photovoltaic panel, wherein the dry hair brush at the front end of the moving direction of the robot clings to the surface of the photovoltaic panel, and the silica gel scraping brush at the back end of the moving direction clings to the surface of the photovoltaic panel; the cleaning mechanisms on the two sides of the moving direction are slightly lifted up, and the pitching angles of the cleaning mechanisms can be adjusted according to the inclination angle of the surface of the photovoltaic panel and the external wind speed. If the robot breaks down during operation, all cleaning brush body mechanisms can cling to the surface of the photovoltaic panel simultaneously, and the purpose of locking and braking is achieved. In the working process, for the requirement that the robot climbs or slides along the inclination angle direction of the photovoltaic panel, the advancing power can be increased or decreased by controlling the rotating speed of the main transmission motor 102, and the robot is ensured to run at a constant speed on the surface of the photovoltaic panel. The dry brush at the front part of the robot in the moving direction separates dust from the photovoltaic panel and sweeps the dust into the closed cleaning cavity; the duct fan blows up the separated dust, the dust-containing airflow discharged by the duct fan is guided to the dust collection box positioned at the outermost ring of the robot through the flow guide cover at the top of the robot, the sand particles and dust with heavier mass fall at the bottom of the dust collection box, the fine dust is collected when penetrating through the dust collection cloth at the periphery of the dust collection box and is attached to the dust collection cloth, the clean air is discharged, the cleaning and dust collection of the photovoltaic panel are realized, and the secondary pollution is prevented; the silica gel brush (dust holding) cleans minute amounts of residual dust.

Preferably, the cleaning brush body accommodating seat 6 is detachably and fixedly arranged on the periphery of the bottom frame 1 and fixed with the bottom frame, the cleaning brush body accommodating seat 6 comprises a first accommodating cavity 61 and a second accommodating cavity 62 which are adjacently arranged, the opening directions of the first accommodating cavity 61 and the second accommodating cavity 62 are opposite, the overturning motor 101 and the main transmission motor 102 are located in the first accommodating cavity 61, the hair drying brush roller 50 and the silica gel brush roller 51 are located in the second accommodating cavity 62, and the mounting plate 52 is fixedly arranged on two sides of the cleaning brush body accommodating seat 6. In the structure, the double-brush cleaning component can be detached and replaced from the robot, and can be updated and upgraded through rapidly detaching the cleaning component to meet the requirements of different use environments.

A rubber bumper ring 100 is provided on the outer periphery of the bottom frame 1. The rubber anti-collision ring 100 is used for preventing the impact generated by collision when the whole machine walks to the edge of the photovoltaic panel. The second annular wall 41 forms a space for accommodating the battery 300 therein, and the battery 300 is disposed in an annular shape and is located in the space formed by the second annular wall 41. The battery 300 is used for supplying power to electrical components in the complete machine.

The photovoltaic board cleaning robot is equipped with 4 ambient light sensors all around, can detect photovoltaic board surface brightness around the cleanness, judges clean degree. If the cleaning effect is not good, the whole row of photovoltaic panels is cleaned again after the robot cleans the whole row of photovoltaic panels.

Be provided with 8 groups force sensor (the attached drawing does not show) on photovoltaic board cleaning robot bottom, the control module linkage of force sensor and duct fan, but its real-time supervision pressure, if the condition of pressure change appears in some part, the control module control duct fan of duct fan accelerates or slows down to guarantee the balance of device negative pressure chamber, prevent that the robot that blows down under the strong wind environment in northwest area from leading to the damage.

In order to ensure that the photovoltaic panel cleaning robot moves along a straight line, an electronic gyroscope (not shown in the attached drawing) is arranged in the photovoltaic panel cleaning robot, the electronic gyroscope is linked with a control module of the ducted fan, and can judge whether the robot moves along the straight line or not, and if the robot does not move along the straight line, deviation rectification is carried out. Specifically, taking the robot moving to the left front as an example, the robot needs to be corrected to the right, and the ducted fan on the right half of the moving direction accelerates and pressurizes to increase the friction force on the right half of the robot, so that the robot is corrected to the right until the robot moves linearly upwards along the inclined plane of the photovoltaic panel.

The photovoltaic panel cleaning robot starts to work from the lower left corner or the lower right corner of one row of photovoltaic panels until the cleaning is finished and stops at the lower right corner or the lower left corner of the whole row of photovoltaic panels. The robot is provided with 8 laser sensors (not shown in the figure) around the bottom of the device, and the laser sensors are linked with a control module of the cleaning brush body mechanism 5 which is

The robot can be judged to be located splicing edge of a row of photovoltaic panels or the edge, if the robot is detected to be located splicing edge, the robot rushes through the splicing edge in an accelerated mode, otherwise, if the robot is detected to be located at the edge, the robot stops moving, and moving directions are switched. Taking the robot working from the lower right corner as an example, the robot firstly climbs upwards to the top end of the photovoltaic panel, then moves to the left to the splicing ridge, then slides to the bottom end of the photovoltaic panel, and finally moves to the left to cross the splicing ridge (a detailed flow chart can be seen). When the robot moves horizontally at the top end of the photovoltaic panel, the cleaning mechanism at the upper end of the robot hooks the top end of the photovoltaic panel to prevent the robot from sliding downwards during horizontal movement, and when the robot moves horizontally at the bottom end of the photovoltaic panel, the robot is blocked by the edges of the photovoltaic panel and can directly move horizontally. When crossing over the photovoltaic board, rush through the concatenation arris with higher speed, because there is the gap between the photovoltaic board, the negative pressure chamber of robot has the condition of decompression, and the duct that is not in near concatenation arris on the way of crossing the board increases duct fan rotational speed and prevents the robot landing.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The embodiments and descriptions described above in this application are merely illustrative of the principles of the invention and various changes and modifications can be made without departing from the spirit and scope of the invention. All such variations and modifications are intended to fall within the scope of the claimed invention.

Claims

1. Photovoltaic board cleaning robot, including bottom frame (1), be equipped with closed bottom frame open-ended apron piece (2) at bottom frame (1) upper cover, be provided with multiunit duct fan (3) on apron piece (2), the fixed box mechanism (4) that is provided with on the up end of bottom frame (1) fixed multiunit cleaning brush body mechanism (5), its characterized in that are provided with on bottom frame (1): the cover plate component (2) comprises a plurality of groups of cover plate components (20) which are arranged at different angles, the ducted fans (3) are respectively arranged on the cover plate components (20), a plurality of groups of force sensors capable of monitoring pressure in real time are arranged on the bottom of the photovoltaic panel cleaning robot, and the force sensors are linked with control modules of the ducted fans (3).

2. The photovoltaic panel cleaning robot of claim 1, wherein: the cover plate component (2) comprises four groups of cover plate components (20) which are connected with each other, and two groups of ducted fans (3) are arranged on each group of cover plate components (20).

3. The photovoltaic panel cleaning robot of claim 1, wherein: the box body mechanism (4) comprises a first annular wall (40) which is arranged in a protruding mode, a second annular wall (41) which is arranged outside the first annular wall (40), a bottom wall (44) which is connected with the first annular wall (40) and the second annular wall (41) and an upper end cover (42) which is arranged at the top of the second annular wall (41) and used for closing the top opening of the second annular wall (41), wherein a dust collecting space (43) used for containing miscellaneous dust is formed between the first annular wall (40), the second annular wall (41) and the bottom wall (44), and the upper end cover (42) comprises a flow guide part (42 a) which is arranged in the middle of the upper end cover in a protruding mode and a flow guide plate (42 b) which is arranged around the flow guide part (42 a).

4. The photovoltaic panel cleaning robot of claim 3, wherein: the second annular wall (41) includes stopper convex walls (41 a) provided at four corner positions of the bottom wall (44) and a nonwoven fabric (41 b) provided between the stopper convex walls (41 a).

5. The photovoltaic panel cleaning robot of claim 1, wherein: and a rubber anti-collision ring (100) is arranged on the periphery of the bottom frame (1).

6. The photovoltaic panel cleaning robot of claim 1, wherein: the electronic gyroscope is arranged inside the photovoltaic panel cleaning robot, and the electronic gyroscope is linked with a control module of the ducted fan.

7. The photovoltaic panel cleaning robot of claim 1, wherein: the cleaning brush body mechanism (5) comprises a first mounting seat (52 a) and a second mounting seat (52 b) which are arranged at intervals, a dry hair brush roller (50) and a silica gel brush roller (51) are rotatably supported between the first mounting seat (52 a) and the second mounting seat (52 b), the first mounting seat (52 a) and the second mounting seat (52 b) are rotatably supported between the two mounting plates (52) which are arranged at intervals, the second mounting seat (52 b) is driven to rotate by a turnover motor (101), a driven gear (200) is arranged on one side of the dry hair brush roller (50) and the silica gel brush roller (51) which is in rotating fit with the first mounting seat (52 a), the cleaning brush body mechanism further comprises a first driving gear (201) which is meshed with the two driven gears (200), a first transmission shaft (53) is rotatably arranged on the mounting plate (52), the first transmission shaft (53) penetrates through the center of the first mounting seat (52 a), one end of the first driving gear (201) is fixed with the first driving gear, and the other end of the first driving gear (201) is driven to rotate by a driving motor (102).

8. The photovoltaic panel cleaning robot of claim 7, wherein: include with bottom frame (1) can dismantle fixed being provided with rather than fixed cleaning brush body container seat (6) all around, cleaning brush body container seat (6) are including adjacent first holding chamber (61) and the second holding chamber (62) that set up, and the opening orientation in first holding chamber (61) and second holding chamber (62) is opposite, upset motor (101) and main drive motor (102) are located in first holding chamber (61), dry hair brush roller (50) and silica gel brush roller (51) are located in second holding chamber (62).

9. The photovoltaic panel cleaning robot of claim 1, wherein: the periphery of the photovoltaic panel cleaning robot is provided with a plurality of laser sensors used for judging whether the whole robot is positioned at the splicing edge of a row of photovoltaic panels or at the edge, and the laser sensors are linked with a control module of the cleaning brush body mechanism (5).