CN218082725U

CN218082725U - Photovoltaic board cleans equipment

Info

Publication number: CN218082725U
Application number: CN202222326565.1U
Authority: CN
Inventors: 胡圣登; 陈梦
Original assignee: Shenzhen Kaizhicheng Intelligent Equipment Co ltd
Current assignee: Shenzhen Kaizhicheng Intelligent Equipment Co ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-12-20
Anticipated expiration: 2032-08-31

Abstract

The application provides a photovoltaic panel cleans equipment. Photovoltaic board cleans equipment includes removal subassembly, transfer module, snatchs the subassembly, and cleans the subassembly. The moving assembly is used for driving the photovoltaic panel cleaning equipment to move and comprises a chassis. One end of the transfer component is fixedly arranged on the chassis, and the transfer component can rotate relative to the chassis. The grabbing component comprises a first support, a second support and a grabbing piece. The grabbing component can move relative to the chassis under the movement of the transfer component. And the cleaning assembly is detachably connected with the grabbing piece and comprises a shell. Wherein, clean subassembly magnetism and inhale and connect or connect the piece of grabbing to pressing from both sides, inhale when cleaning subassembly magnetism and inhale to connect when grabbing, grab the piece and can have magnetism, the casing epirelief is equipped with magnetism and inhales the portion. This application cleans the subassembly through making and removes the subassembly, shifts the subassembly and snatch the subassembly and mutually support under the effect, realize striding the board and clean, and then realize cleaning the high efficiency of a plurality of photovoltaic boards to improve the efficiency that cleans of photovoltaic board.

Description

Photovoltaic board cleans equipment

Technical Field

This application belongs to and cleans equipment technical field, and concretely relates to photovoltaic board cleans equipment.

Background

At present, photovoltaic equipment consisting of a plurality of photovoltaic panels arranged at intervals is usually arranged outside, receives sunlight and converts the sunlight into electric energy, so as to realize power generation. Therefore, dust is easily deposited on the photovoltaic panel to shield the photovoltaic panel, so that the power generation amount of the photovoltaic panel is reduced, the photovoltaic panel is even damaged, and the service life of the photovoltaic panel is shortened. For this reason, the dust on the photovoltaic panel is usually removed by manual cleaning, mechanical arm cleaning, or flat-plate cleaning. However, because a plurality of photovoltaic panels that the interval set up need be cleaned, it is higher to clean the degree of difficulty to lead to cleaning efficiency of photovoltaic panel to be lower.

SUMMERY OF THE UTILITY MODEL

In view of this, this application provides a photovoltaic board cleans equipment, is applied to photovoltaic equipment, photovoltaic equipment includes a plurality of photovoltaic boards that the interval set up, photovoltaic board cleans equipment includes:

the moving assembly is used for driving the photovoltaic panel cleaning equipment to move and comprises a chassis;

one end of the transfer component is fixedly arranged on the chassis, and the transfer component can rotate relative to the chassis;

the grabbing component comprises a first support, a second support and a grabbing piece, one end of the first support is fixedly arranged at the other end of the transferring component, the other end of the first support is fixedly provided with the second support, and the grabbing piece is fixedly arranged on the second support; the grabbing component can move relative to the chassis under the movement of the transfer component; and

the cleaning assembly is detachably connected with the grabbing piece and comprises a shell;

the cleaning component is connected with the grabbing piece in a magnetic attraction mode or in a butt-clamping mode, when the cleaning component is connected with the grabbing piece in a magnetic attraction mode, the grabbing piece can have magnetism, and the magnetic attraction portion is arranged on the shell in a protruding mode.

The application provides a photovoltaic board cleans equipment through removing the subassembly, transferring the subassembly, snatch the subassembly and clean the subassembly and mutually support, can realize cleaning the high efficiency of a plurality of photovoltaic boards that the interval set up. Wherein, the chassis of removal subassembly can drive the transfer module, snatch the subassembly, and clean the subassembly and remove for the photovoltaic board. The transfer assembly can drive the grabbing assembly to move up and down or rotate left and right relative to the photovoltaic panel. The grabbing component can grab the cleaning component, so that the cleaning component is driven to move. The cleaning assembly can clean the photovoltaic panel.

Firstly, the moving assembly drives the photovoltaic panel cleaning equipment to move to one side of the photovoltaic panel. Then, the transfer assembly drives the grabbing assembly to move, and the grabbing assembly grabs the cleaning assembly arranged on the chassis. Then, under the drive of transfer module, snatch the subassembly and drive and clean the subassembly and move relative to the chassis to clean the subassembly and locate on a photovoltaic board, in order to clean the photovoltaic board.

And, after a photovoltaic board is clean, snatch the subassembly and snatch the subassembly that cleans of locating on a photovoltaic board again. The moving assembly drives the photovoltaic panel cleaning equipment to move to one side of another photovoltaic panel. Then, under the drive of transfer unit, it drives to clean the subassembly relatively to snatch the subassembly chassis motion to the messenger cleans the subassembly and locates on another photovoltaic board, with clean another photovoltaic board, and then realizes carrying out continuous cleanness to the photovoltaic board that the interval set up, perhaps removes the subassembly and drives the photovoltaic board and clean the photovoltaic board that equipment removed to another row, realizes carrying out continuous cleanness to multirow photovoltaic board.

Wherein, the subassembly of snatching that this application provided can adopt magnetism to inhale or the mode of grabbing the clamp to the realization is to cleaning the connection dismantled of subassembly. In other words, through adopting magnetism to inhale or the mode of grabbing the clamp, make to snatch the subassembly and snatch and clean the subassembly, or place and clean the subassembly on the photovoltaic board to the realization cleans the span board of subassembly and shifts. Simultaneously, when cleaning the subassembly magnetism and inhale and connect the piece of grabbing, the casing epirelief is equipped with magnetism portion of inhaling to the messenger snatchs the subassembly and can snatch and clean the subassembly.

To sum up, this application realizes striding the board through making to clean the subassembly and removing subassembly, transfer assembly and snatch the subassembly and mutually support under the effect, and then realize cleaning the high efficiency of a plurality of photovoltaic boards to improve cleaning efficiency of photovoltaic board.

In addition, when cleaning the subassembly when clean photovoltaic board, clean the subassembly and remove for the photovoltaic board, remove the subassembly and can realize synchronous motion for the photovoltaic board with cleaning the subassembly to for snatching again and clean the subassembly, realize striding the board cleanness and prepare, in order to further improve the efficiency of cleaning of photovoltaic board.

Wherein, the magnetic part is in the orthographic projection of the shell covers the orthographic projection of the grabbing piece on the shell.

The grabbing piece comprises a permanent magnet part, a magnetism increasing part and a buffering part, the permanent magnet part is arranged on the second support, the magnetism increasing part is arranged on one side, deviating from the second support, of the permanent magnet part, and the buffering part is arranged on one side, deviating from the second support, of the magnetism increasing part.

Wherein the grasping assembly satisfies at least one of the following conditions:

the grabbing component further comprises a pressure measuring sensor, and the pressure measuring sensor is used for detecting the pressure and the pulling force of the grabbing piece on the cleaning component; one end of the pressure sensor is connected with the second bracket, and the other end of the pressure sensor is connected with the grabbing piece at intervals through bolts;

the grabbing component further comprises a distance measuring sensor, and the distance measuring sensor is used for detecting the distance from the grabbing piece to the cleaning component and the distance from the grabbing piece to the photovoltaic panel; the distance measuring sensor is provided on the outer peripheral side of the grasping member.

The grabbing component further comprises a first guide part arranged on one side, away from the first support, of the second support, and the cleaning component further comprises a second guide part arranged on one side, close to the second support, of the shell;

wherein when the first guide portion includes one of a guide groove and a guide post, the second guide portion includes the other of the guide groove and the guide post; when the grabbing assembly moves towards the direction close to the cleaning assembly, at least part of the guide columns are arranged in the guide grooves.

The grabbing component comprises two first supports and at least one second support, and each second support is provided with at least one grabbing piece; the transfer assembly comprises a mechanical arm and a connecting piece, one end of the mechanical arm is fixedly arranged on the chassis, the other end of the mechanical arm is fixedly provided with the connecting piece, and one side of the connecting piece, which is far away from the mechanical arm, is fixedly provided with the first support;

wherein a portion of the robotic arm is capable of swiveling relative to the chassis and is capable of moving toward and away from the chassis; one side that the connecting piece deviates from the arm is equipped with spacing portion, spacing portion butt first support.

The cleaning device comprises a chassis, a moving assembly, a cleaning assembly and a cleaning assembly, wherein the moving assembly further comprises a fixing piece which is arranged on the chassis, and the cleaning assembly is detachably connected with the fixing piece; when the fixing piece has magnetism, the fixing piece is magnetically connected with the sweeping assembly.

The chassis comprises a front end region, a middle region and a rear end region, wherein the front end region and the rear end region are respectively arranged at two opposite sides of the middle region, and the center of gravity of the chassis is positioned in the middle region;

the mobile assembly further comprises a battery, a control structure, a steering driver and a power distribution box, wherein the battery, the control structure, the steering driver and the power distribution box are all arranged in the middle area.

The chassis comprises a power supply and a lead, one end of the lead is connected with the power supply, the other end of the lead is connected with the cleaning assembly, and the lead is used for supplying electric energy to the cleaning assembly and transmitting signals.

The photovoltaic panel cleaning equipment further comprises a navigation assembly and a positioning assembly, the navigation assembly is used for controlling the chassis to move, and the positioning assembly is used for detecting the positions of the photovoltaic panel and the cleaning assembly.

Drawings

In order to more clearly explain the technical solution in the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be described below.

Fig. 1 is a schematic structural diagram of a photovoltaic panel cleaning apparatus according to an embodiment of the present disclosure.

Fig. 2 is a schematic structural diagram of a moving assembly according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of a supporting member according to an embodiment of the present disclosure.

Fig. 4 is a schematic structural diagram of a grasping element according to an embodiment of the present application.

Fig. 5 is a top view of a sweeping assembly provided in an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a cleaning assembly according to an embodiment of the present application.

Fig. 7 is a schematic structural view of a grasping element according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a transfer unit according to an embodiment of the present disclosure.

Fig. 9 is an exploded view of a transfer assembly according to an embodiment of the present application.

Fig. 10 is a top view of a transfer unit according to an embodiment of the present application.

Fig. 11 is a schematic structural view of a connecting member and a grasping assembly according to an embodiment of the present application.

Fig. 12 is a left side view of a connector and gripper assembly provided in accordance with an embodiment of the present application.

Fig. 13 is a schematic structural diagram of a moving assembly according to another embodiment of the present application.

Fig. 14 is a top view of a moving assembly according to an embodiment of the present application.

Description of reference numerals:

the device comprises a photovoltaic panel cleaning device-1, a moving assembly-11, a chassis-111, a through hole-1111, a step surface-1112, a support-112, a buffer layer-1121, a steering structure-113, a suspension structure-114, a brake structure-115, a power structure-116, a fixing member-117, a mounting hole-118, a front end region-11 a, a middle region-11 b, a rear end region-11 c, a transfer assembly-12, a mechanical arm-121, a servo motor-1211, an electric cylinder-1212, a reducer-1213, a connecting member-122, a limiting part-1221, a grabbing assembly-13, a first bracket-131, a weight reduction space 131a, a second bracket-132, a grabbing member-133, a permanent magnet part-1331, a magnetism increasing part-1332, a buffer part-1333, a containing groove-4, a pressure measuring sensor-134, a distance measuring sensor-135, a first guide part-136, a cleaning assembly-14, a shell-141, a magnetic attraction part-142, a cleaning structure-143, a walking structure-144, a limiting structure-145, a guide structure-147, a second guide part-146, a positioning assembly-15 and a positioning assembly-16.

Detailed Description

The following is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications are also considered as the protection scope of the present application.

Before the technical solutions of the present application are introduced, the technical problems in the related art will be described in detail.

Photovoltaic (PV) is a solar photovoltaic power system (photovoltaic power system) for short, is a novel power generation system which directly converts solar radiation energy into electric energy by utilizing the photovoltaic effect of a solar cell semiconductor material, and has two modes of independent operation and grid-connected operation.

Meanwhile, solar photovoltaic power generation systems are classified, and one is centralized, such as a large northwest ground photovoltaic power generation system; one is distributed (taking 6MW as a boundary), such as a factory building roof photovoltaic power generation system of an industrial and commercial enterprise and a residential roof photovoltaic power generation system.

Because photovoltaic equipment consisting of a plurality of photovoltaic panels arranged at intervals is usually arranged outside, sunlight is received and converted into electric energy, so as to realize power generation. Dust is easily deposited on the photovoltaic panel. Dust on photovoltaic equipment is one of the main reasons influencing power generation of a power station, meanwhile, the service life of a component and the safety of the power station are also influenced, the generated Energy of the photovoltaic equipment is reduced by at least 5% in a shielding manner, the maximum Energy can exceed 50%, the averaged Energy (power) Cost (leveled Cost of Energy, LOCE) is increased, the Internal yield (Internal Rate of Return (IRR)) is reduced, local shielding causes local heating, the component is easy to damage, even a fire disaster is caused, the safety risk is increased, the dust also has certain corrosivity, water vapor is easy to adsorb, the Potential Induced Degradation (PID) effect of the component is caused, the service life of the component is shortened, and therefore, the dust on the photovoltaic board needs to be cleaned and removed.

With the growing and commercialization of the photovoltaic industry, various problems of photovoltaic power plants in operation management are becoming prominent, especially the problem of cleaning photovoltaic modules which is directly related to the power generation efficiency. For the operation of a large-scale photovoltaic grid-connected power station, the power generation capacity is one of the most important indexes, and factors influencing the power generation capacity, such as the loss of an inverter, a transformer, a cable and other equipment, belong to the influence of dust in the air on the power generation capacity, and serious local covering can also cause a hot spot effect. Dust can negatively affect photovoltaic module performance and even partial shadows on the photovoltaic module can cause significant reductions in output power. According to the research of the American national aerospace agency, the method comprises the following steps: per m ² Only 4.05g of dust layer can reduce the solar energy conversion by 40%, and especially in northern areas with poor environmental conditions, the influence is more obvious. At present, the photovoltaic power station cleaning market mainly adopts a manual mode or a third party team mode for cleaning, the cleaning efficiency is low, the price is high, the water consumption is high, and the operation and maintenance cost of the photovoltaic power station is greatly increased.

At present, the common cleaning modes include manual cleaning, mechanical arm cleaning, flat-plate machine cleaning and the like. However, the cleaning efficiency of manual cleaning is low, the cleaning frequency is low, the cleaning quality is low, and the increased power generation amount after dust cleaning is not high; the photovoltaic panel is easy to damage, and the probability of personal safety hidden danger is high; moreover, manual cleaning requires a large amount of water consumption, and the resource consumption is large.

The mechanical arm is difficult to keep parallel with the photovoltaic panel due to high topographic requirements during cleaning, so that the cleaning quality is poor, and the risk of pressing the panel is high. In addition, the cleaning machine also needs to be operated by professional personnel, and has safety risk, so that the cleaning efficiency of the mechanical arm cleaning is low, the cleaning frequency is low, the cleaning quality is low, and the increased power generation amount after dust cleaning is not high. The topographic requirement here means that the robot arm needs to work in desert, uneven ground, etc.

The flat machine in the flat machine is clean indicates can be attached to the photovoltaic board and clean automatically, and intelligent fortune dimension's machine has clean efficient, cleans the frequency height, cleans the high, adaptability height, anhydrous clear advantage of high, the cleaning quality to single photovoltaic board. However, although the flat machine can be efficiently attached to the photovoltaic panel for cleaning, the flat machine cannot realize the span of the panel. Therefore, an auxiliary tool is needed to design the bridge, so that the flat machine is transferred from one photovoltaic panel to another photovoltaic panel, the bridge is difficult to modularize, the difficulty of field installation and construction is high, the installation quality is difficult to guarantee, the reliability is poor, and the cleaning efficiency of the flat machine on a plurality of photovoltaic panels is low.

In view of this, in order to solve the above-mentioned problem, the present application provides a photovoltaic panel cleaning apparatus. Referring to fig. 1 to 6 together, fig. 1 is a schematic structural diagram of a photovoltaic panel cleaning apparatus according to an embodiment of the present disclosure. Fig. 2 is a schematic structural diagram of a moving assembly according to an embodiment of the present disclosure. Fig. 3 is a schematic structural diagram of a supporting member according to an embodiment of the present disclosure. Fig. 4 is a schematic structural diagram of a grasping assembly according to an embodiment of the present application. FIG. 5 is a top view of a sweeping assembly provided in an embodiment of the present application. Fig. 6 is a schematic structural diagram of a sweeping assembly according to an embodiment of the present application.

This embodiment provides a photovoltaic board cleans equipment 1, is applied to photovoltaic equipment, photovoltaic equipment includes a plurality of photovoltaic boards that the interval set up, photovoltaic board cleans equipment 1 and includes removal subassembly 11, transfer module 12, snatchs subassembly 13, and cleans subassembly 14. The moving assembly 11 is used for driving the photovoltaic panel cleaning equipment 1 to move, and the moving assembly 11 comprises a chassis 111. One end of the transfer unit 12 is fixed to the base plate 111, and the transfer unit 12 can rotate relative to the base plate 111.

Also, the grasping assembly 13 includes a first bracket 131, a second bracket 132, and a grasping member 133. One end of the first bracket 131 is fixedly arranged at the other end of the transfer assembly 12, and the other end of the first bracket 131 is fixedly arranged at the second bracket 132. The second bracket 132 is fixedly provided with the grabbing member 133. The gripper assembly 13 is movable relative to the chassis 111 under the movement of the transfer assembly. And cleaning assembly 14 is detachably connected with grabbing piece 133, and cleaning assembly 14 comprises a shell 141. The cleaning assembly 14 is magnetically attracted or clamped to the grasping member 133, when the cleaning assembly 14 is magnetically attracted to the grasping member 133, the grasping member 133 can be magnetic, and the housing 141 is convexly provided with a magnetic attraction portion 142.

The photovoltaic panel cleaning equipment 1 provided by the embodiment is applied to photovoltaic equipment, and can realize high-efficiency cleaning of a plurality of photovoltaic panels arranged at intervals by moving the assembly 11, transferring the assembly 12, grabbing the assembly 13 and cleaning the assembly 14 for mutual matching. The present embodiment does not limit the shape or size of the photovoltaic panel cleaning apparatus 1. Further, the photovoltaic panel cleaning apparatus 1 provided in the present embodiment can also be used to clean individual photovoltaic panels.

The photovoltaic panel cleaning device 1 provided by the embodiment comprises a moving component 11, which is used for driving the photovoltaic panel cleaning device 1 to move, in other words, the moving component 11 can drive the transferring component 12, the grabbing component 13 and the cleaning component 14 to move relative to the photovoltaic panel. Wherein, the moving assembly 11 includes a chassis 111, and the chassis 111 can drive the transferring assembly 12, the grabbing assembly 13, and the cleaning assembly 14 to move relative to the photovoltaic panel. In other words, the chassis 111 has a walking function. In the present embodiment, the material, shape, and size of the chassis 111 are not limited.

Alternatively, as shown in fig. 2, the chassis 111 may be a wheel type or a crawler type, and a mounting interface with the transfer assembly 12 is provided above the chassis 111. Optionally, the mounting interface includes a mounting hole 118, and a portion of the transfer set 12 is disposed within the mounting hole 118.

Optionally, the moving assembly 11 further includes a support 112, the support 112 is disposed on the same side of the chassis 111 as the transferring assembly 12, and the support 112 is used for supporting the sweeping assembly 14 or/and the grabbing assembly 13. In the present embodiment, cleaning module 14 and/or grasping module 13 can be provided at a fixed position on base plate 111 by providing support member 112. Further optionally, a buffer layer 1121 is further disposed on one side of the support 112 away from the chassis 111, and the buffer layer 1121 can reduce the possibility of damaging the cleaning assembly 14 or/and the grabbing assembly 13, so as to improve the reliability of the photovoltaic panel cleaning apparatus 1.

Optionally, the moving assembly 11 includes a power structure 116, and the power structure 116 may be six-wheel drive; the moving assembly 11 has two front wheels and four rear wheels, wherein the two front wheels are driven by a motor, and each rear wheel is driven by a motor.

Optionally, the moving assembly 11 includes a steering structure 113, a suspension structure 114, and a braking structure 115. The steering structure 113 is used for controlling the movement of the moving component 11 to steer the moving component 11. Further optionally, the front wheels employ ackermann steering. The suspension structure 114 is used for buffering and damping the photovoltaic panel cleaning device 1. Further optionally, the suspension structure 114 includes a macpherson independent suspension for the front axle and a non-independent suspension for the rear axle and the mid-axle leaf springs. The braking structure 115 is used to control the movement of the moving component 11 so as to slow down or stop the movement of the moving component 11. Further optionally, the braking structure 115 employs front wheel braking.

In the embodiment, the steering structure 113, the suspension structure 114, the braking structure 115 and the chassis 111 are matched with each other, so that the moving assembly 11 can drive the photovoltaic panel cleaning equipment 1 to move on the ground in the desert or the rugged ground. Moreover, when the photovoltaic panel cleaning equipment 1 moves, the moving assembly 11 can keep the photovoltaic panel cleaning equipment 1 stable, so that the reliability of the photovoltaic panel cleaning equipment 1 is improved, and the probability of pressing plates, namely the probability of damaging the photovoltaic panels, is reduced.

The photovoltaic panel cleaning equipment 1 provided by the embodiment further comprises a transfer component 12 for driving the grabbing component 13 to move up and down or rotate left and right relative to the photovoltaic panel. In the present embodiment, the material, shape, and size of the transfer unit 12 are not limited. As will be described in detail below with respect to transfer set 12.

Optionally, the transfer assembly 12 has a swiveling and telescoping function, so as to move the gripping assembly 13, and thus the gripping assembly 13, to the position of the cleaning assembly 14 to be gripped. Alternatively, when cleaning assemblies 14 are disposed on the side of chassis 111, transfer assembly 12 can drive grabbing assembly 13 to rotate, so as to grab cleaning assemblies 14 disposed on the left and right sides of chassis 111.

The photovoltaic panel cleaning equipment 1 provided by the embodiment further comprises a grabbing component 13, wherein the grabbing component is used for grabbing the cleaning component 14, so that the cleaning component 14 is driven to move. The grabbing component 13 provided by the embodiment can adopt a magnetic attraction or grabbing clamp mode to realize detachable connection of the cleaning component 14. In other words, the grabbing component 13 grabs the cleaning component 14 or places the cleaning component 14 on the photovoltaic panel by adopting a magnetic attraction or a grabbing clamp, so that the cross-board transfer of the cleaning component 14 is realized. The material, shape, and size of the grasping assembly 13 are not limited in this embodiment. Alternatively, the gripping member 133 is separated from the cleaning assembly 14 when the gripping member 133 receives a predetermined voltage. In other words, since the grabbing member 133 is electromagnetically attracted, when the grabbing member 133 receives a predetermined voltage, the grabbing member 133 becomes magnetically weak or even loses its magnetic property, so that the grabbing member 133 is separated from the cleaning assembly 14, and the cleaning assembly 14 is disposed on the photovoltaic panel or the chassis 111.

Specifically, the grasping assembly 13 includes a first bracket 131, a second bracket 132, and a grasping member 133. One end of the first bracket 131 is fixedly arranged at the other end of the transfer component 12, the other end of the first bracket 131 is fixedly arranged on the second bracket 132, and the grabbing piece 133 is fixedly arranged on the second bracket 132. In other words, the first bracket 131 is connected to the transfer unit 12, the second bracket 132 is disposed on a side of the first bracket 131 facing away from the transfer unit 12, and the grasping member 133 is disposed on a side of the second bracket 132 facing away from the first bracket 131. The first bracket 131 and the second bracket 132 are used for mounting. Gripping member 133 is used to grip sweeping assembly 14. Optionally, first bracket 131 is bolted to transfer assembly 12. The first bracket 131 is bolted to the second bracket 132. The second bracket 132 is bolted to the gripper 133. Optionally, the first brackets 131 and the second brackets 132 are staggered.

In one embodiment, the grasping assembly 13 includes two first brackets 131 and at least one second bracket 132, and each second bracket 132 is provided with at least one grasping element 133. In this embodiment, the two first brackets 131, the at least one second bracket 132, and the at least one grabbing member 133 are simply arranged to grab the cleaning assembly 14 by the grabbing assembly 13.

Optionally, the first bracket 131 has a weight-reduced space 131a to reduce the overall mass of the grasping assembly 13, thereby improving the operation efficiency of the photovoltaic panel cleaning apparatus 1. Further optionally, the first bracket 131 has weight-reducing holes or weight-reducing slots, which reduce weight-reducing spaces 131a. In other words, the first bracket 131 is partially hollowed out to achieve weight reduction of the grasping assembly 13. In addition, the weight reduction space 131a can be used for accommodating a lead, and space utilization is improved.

The photovoltaic panel cleaning equipment 1 provided by the embodiment further comprises a cleaning assembly 14 for cleaning the photovoltaic panel. The moving unit 11 includes a housing 141, and the housing 141 can protect and fix other components of the cleaning unit 14. In the present embodiment, the material, shape, and size of the moving member 11 are not limited.

When the cleaning assembly 14 is magnetically connected to the grasping member 133, the housing 141 is convexly provided with a magnetic attracting portion 142, so that the grasping assembly 13 can grasp the cleaning assembly 14. Adopt magnetism portion 142 to cooperate the mode of grabbing piece 133, can reduce and grab the friction between subassembly 13 and the subassembly 14 that cleans, reduce the probability of damaging the subassembly 14. In the present embodiment, the material, shape, and size of the magnetic attraction part 142 are not limited. Optionally, the material of the magnetic attraction portion 142 includes, but is not limited to, a magnetically permeable material, a metal, an alloy, and the like.

Alternatively, sweeping assembly 14 may be a flat bed machine. At present, most of photovoltaic panels of domestic photovoltaic power stations are arranged in an array mode, and the photovoltaic panels are generally installed together in parallel by a multi-row splicing method. The flat machine can walk on the photovoltaic board side by side, and through walking and rolling the dust that cleans on the photovoltaic board simultaneously, realize cleaning of dust on the photovoltaic board.

Optionally, sweeping assembly 14 further includes sweeping structure 143, walking structure 144, restraining structure 145, and guiding structure 146. The cleaning structure 143 is used for cleaning the photovoltaic panel. Such as a roller brush. Walking structure 144 is used to enable sweeping assembly 14 to move across the photovoltaic panel. The limiting structure 145 is used for enabling the cleaning assembly 14 to be arranged on the photovoltaic panel and not to fall off. Guide structure 146 is used to move sweeping assembly 14 in a predetermined direction.

In the embodiment, the cleaning structure 143, the traveling structure 144, the limiting structure 145, the guiding structure 146 and the housing 141 are matched with each other, so that the cleaning assembly 14 can move on the photovoltaic panel and clean the photovoltaic panel, and efficient cleaning is realized. Moreover, the reliability of the cleaning assembly 14 moving on the photovoltaic panel is ensured, and the probability of damaging the photovoltaic panel is reduced. Sweeping assembly 14 further includes an electrical control structure for controlling sweeping structure 143, walking structure 144, restraining structure 145, and guiding structure 146.

Optionally, a displacement sensor is installed on the outer peripheral side of the cleaning assembly 14, and when the cleaning assembly 14 moves to the edge of the single-row photovoltaic panel, the displacement sensor detects a photovoltaic panel edge signal, and the cleaning assembly 14 automatically stops.

Optionally, cleaning assembly 14 has a displacement rectification function, and displacement sensors are installed on both sides of cleaning assembly 14, so that cleaning device can be prevented from falling off from the photovoltaic panel.

Specifically, first, the moving assembly 11 drives the photovoltaic panel cleaning apparatus 1 to move to one side of the photovoltaic panel. Subsequently, transfer assembly 12 moves gripping assembly 13, and gripping assembly 13 grips cleaning assembly 14 disposed on base plate 111. Then, under the driving of the transferring assembly 12, the grabbing assembly 13 drives the cleaning assembly 14 to move relative to the base plate 111, so that the cleaning assembly 14 is disposed on a photovoltaic panel to clean the photovoltaic panel.

And, when a photovoltaic board is cleaned, the grabbing component 13 grabs the sweeping component 14 arranged on a photovoltaic board again. The moving component 11 drives the photovoltaic panel cleaning equipment 1 to move to one side of another photovoltaic panel. Then, under the drive of transfer unit 12, it drives to grab subassembly 13 and cleans subassembly 14 relatively chassis 111 moves to make clean subassembly 14 locate on another photovoltaic board, with clean another photovoltaic board, and then realize carrying out continuous cleanness to the photovoltaic board that the interval set up, perhaps remove subassembly 11 and drive photovoltaic board and clean equipment 1 and remove the photovoltaic board to another row, realize carrying out continuous cleanness to multirow photovoltaic board.

In summary, in the present embodiment, the cleaning assembly 14 is used to perform cross-board cleaning under the mutual cooperation of the moving assembly 11, the transferring assembly 12 and the grabbing assembly 13, so as to efficiently clean a plurality of photovoltaic panels, thereby improving the cleaning efficiency of the photovoltaic panels.

In addition, when the sweeping assembly 14 is used for cleaning the photovoltaic panel, the sweeping assembly 14 moves relative to the photovoltaic panel, and the moving assembly 11 and the sweeping assembly 14 can synchronously move relative to the photovoltaic panel, so that preparation is made for grabbing the sweeping assembly 14 again and cross-panel cleaning is achieved, and the sweeping efficiency of the photovoltaic panel is further improved.

Referring again to fig. 5, in one embodiment, an orthographic projection of the magnetic attraction portion 142 on the housing 141 covers an orthographic projection of the grasping member 133 on the housing 141.

In this embodiment, the orthographic projection of the magnetic attraction part 142 on the housing 141 covers the orthographic projection of the grasping part 133 on the housing 141, and it can also be understood that the surface area of the magnetic attraction part 142 close to the surface of the grasping part 133 is larger than the surface area of the grasping part 133 close to the surface of the magnetic attraction part 142, that is, the adsorption surface of the grasping part 133 is larger than the contact surface of the magnetic attraction part 142, so as to ensure that the grasping part 133 can adsorb the magnetic attraction part 142, and the cleaning assembly 14 is driven to move synchronously when the grasping assembly 13 moves.

Optionally, the thickness of the magnetic attraction part 142 is greater than 10mm. The thickness of the magnetic portion 142 in this embodiment is greater than 10mm, which means that the distance from the surface of the magnetic portion 142 close to the capturing element 133 to the surface of the magnetic portion 142 close to the housing 141 is greater than 10mm. In order to ensure that the material of the magnetic part 142 is enough to enable the grabbing part 133 to absorb the magnetic part 142, that is, the grabbing part 133 needs to ensure the suction force to the magnetic part 142, so that the grabbing component 13 can drive the cleaning component 14 to move, and the cleaning component 14 cannot drop in the middle. The thickness of the magnetic portion 142 is proportional to the attraction force of the magnetic portion 142 to the grasping element 133. Therefore, the thickness of the magnetic part 142 is controlled to make the thickness of the magnetic part 142 larger than 10mm, so as to improve the attraction of the magnetic part 142 to the grabbing piece 133, further reduce the falling probability of the cleaning component 14, and improve the reliability of the photovoltaic panel cleaning equipment 1.

Optionally, a surface of the magnetic part 142 near the grasping part 133 is a plane, so as to increase a contact area between the grasping part 133 and the magnetic part 142, and further increase an attractive force of the magnetic part 142 to the grasping part 133, thereby further reducing a probability that the cleaning assembly 14 falls, and improving reliability of the photovoltaic panel cleaning apparatus 1.

Referring to fig. 4 and fig. 7 again, fig. 7 is a schematic structural view of a grasping element according to an embodiment of the present disclosure. In one embodiment, the grasping element 133 includes a permanent magnet portion 1331, a magnetism increasing portion 1332, and a buffering portion 1333, the permanent magnet portion 1331 is disposed on the second bracket 132, the magnetism increasing portion 1332 is disposed on a side of the permanent magnet portion 1331 away from the second bracket 132, and the buffering portion 1333 is disposed on a side of the magnetism increasing portion 1332 away from the second bracket 132.

The grasping member 133 according to the present embodiment includes a permanent magnet portion 1331, a magnetism increasing portion 1332, and a buffer portion 1333. The permanent magnet part 1331 can generate a magnetic field to attract the magnetic attraction part 142. The magnetism increasing portion 1332 is used to increase the magnetic force generated by the permanent magnet portion 1331, thereby increasing the attraction force to the magnetic attraction portion 142. Buffer 1333 can play a role in buffering, and reduce the probability of cleaning assembly 14 being damaged when grabbing assembly 13 grabs cleaning assembly 14. In the present embodiment, the material, shape, and size of the permanent magnet section 1331, the magnetism increasing section 1332, and the buffer section 1333 are not limited. Optionally, the material of the permanent magnet part 1331 includes, but is not limited to, an alloy, ferrite, and the like. The material of the magnetizing portion 1332 includes, but is not limited to, iron, nickel, cobalt, and the like. The material of the buffer portion 1333 includes, but is not limited to, resin, foam, sponge, and the like.

Optionally, the magnetism increasing portion 1332 is further provided on the outer peripheral side of the permanent magnet portion 1331. By providing the magnetism increasing portion 1332 on the outer circumferential side of the permanent magnet portion 1331, the magnetic force generated by the permanent magnet portion 1331 can be further increased, and the attraction force to the magnetic attraction portion 142 can be further increased.

Referring again to fig. 4, in one embodiment, the grasping element 13 satisfies at least one of the following conditions:

the gripping assembly 13 further comprises a load cell 134 for detecting the pressure and tension of the gripping member 133 on the cleaning assembly 14; one end of the load cell 134 is connected to the second bracket 132, and the other end of the load cell 134 is bolted to the grasping member 133 at intervals.

The grabbing assembly 13 further comprises a distance measuring sensor for detecting the distance from the grabbing member 133 to the cleaning assembly 14 and the distance from the grabbing member 133 to the photovoltaic panel; the distance measuring sensor is provided on the outer peripheral side of the grasping member 133.

The grasping assembly 13 provided in this embodiment further includes a load cell 134 for detecting the pressure and tension of the grasping element 133 on the cleaning assembly 14. Wherein detecting the pulling force of gripping member 133 on cleaning assembly 14 can also be understood as the suction force of gripping member 133 on cleaning assembly 14. The load cell 134 is disposed between the second bracket 132 and the grasping member 133, and the load cell 134 is spaced apart from the grasping member 133. Alternatively, the load cell 134 may be a pressure detection sensor. Specifically, when the grasping member 133 attracts the magnetic attraction part 142, that is, the grasping assembly 13 grasps the cleaning assembly 14, the load cell 134 can be used to detect the pressure of the grasping member 133 on the cleaning assembly 14, so as to reduce the probability of causing the pressing plate, that is, the probability of damaging the cleaning assembly 14 by the grasping assembly 13. When the grabbing piece 133 adsorbs the magnetic attraction part 142, that is, after the grabbing component 13 grabs the cleaning component 14, the pressure measuring sensor 134 can be used for detecting the pulling force of the grabbing piece 133 on the cleaning component 14, that is, detecting the pulling force of the grabbing component 13 on the cleaning component 14, so that the probability of air suction is reduced, that is, the probability of failure of the grabbing component 13 adsorbing the cleaning component 14 is reduced.

The grasping assembly 13 provided by the embodiment further includes a distance measuring sensor for detecting the distance from the grasping member 133 to the cleaning assembly 14 and the distance from the grasping member 133 to the photovoltaic panel. Alternatively, the distance measuring sensor may be a laser displacement sensor, or an ultrasonic distance measuring sensor. Specifically, when the grasping element 133 attracts the magnetic attraction part 142, that is, the grasping element 13 grasps the cleaning element 14, the distance from the grasping element 133 to the cleaning element 14 can be detected by the distance measuring sensor, so as to reduce the probability of pressing the plate, reduce the probability of collision between the grasping element 13 and the cleaning element 14, that is, reduce the probability of damage to the cleaning element 14 caused by the grasping element 13. When grabbing subassembly 13 and driving and clean subassembly 14 and remove to when will clean subassembly 14 and locate on the photovoltaic board, range sensor can detect the distance of grabbing piece 133 to photovoltaic board, with the probability that reduces and clean subassembly 14 and photovoltaic board collision, namely reduces and cleans the probability that subassembly 14 damages the photovoltaic board.

Referring to fig. 4 and fig. 5 again, in an embodiment, the grabbing assembly 13 further includes a first guiding portion 136 disposed on a side of the second bracket 132 away from the first bracket 131, and the cleaning assembly 14 further includes a second guiding portion 147 disposed on a side of the housing 141 close to the second bracket 132.

Wherein, when the first guide portion 136 includes one of a guide groove and a guide post, the second guide portion 147 includes the other of the guide groove and the guide post; when the grabbing component 13 moves towards the direction close to the sweeping component 14, at least part of the guide posts are arranged in the guide grooves.

The grasping assembly 13 and the cleaning assembly 14 provided by the present embodiment further include guiding portions that are matched with each other, and are used for guiding the grasping assembly 13 when grasping the cleaning assembly 14. Specifically, at least a portion of the guide posts are disposed in the guide slots when gripper assembly 13 is moved in a direction toward cleaning assembly 14. When the grasping assembly 13 moves away from the sweeping assembly 14, the guide posts are separated from the guide grooves. This embodiment is through setting up first guide part 136 and second guide part 147 to the guide snatchs subassembly 13 and accurately snatchs and clean subassembly 14, improves and snatchs the accuracy that subassembly 13 snatched, and then improves the work efficiency that photovoltaic board cleaned equipment 1.

Please refer to fig. 8-12 together, and fig. 8 is a schematic structural diagram of a transfer assembly according to an embodiment of the present application. Fig. 9 is an exploded view of a transfer assembly according to an embodiment of the present application. Fig. 10 is a top view of a transfer unit according to an embodiment of the present application. Fig. 11 is a schematic structural diagram of a connecting member and a grasping assembly according to an embodiment of the present disclosure. Fig. 12 is a left side view of a connector and gripper assembly according to one embodiment of the present application.

In one embodiment, the transferring assembly 12 comprises a robot 121 and a connecting member 122, one end of the robot 121 is fixed to the base plate 111, the other end of the robot 121 is fixed to the connecting member 122, and a side of the connecting member 122 away from the robot 121 is fixed to the first support 131.

Wherein, the part of the mechanical arm 121 can rotate relative to the chassis 111 and can move towards the direction close to or far away from the chassis 111; one side of the connecting piece 122 departing from the mechanical arm 121 is provided with a limiting part 1221, and the limiting part 1221 abuts against the first bracket 131.

The transferring assembly 12 of the present embodiment includes a robot arm 121, and the robot arm 121 can move and rotate relative to the chassis 111, so as to drive the grabbing assembly 13 to move. Alternatively, the robotic arm 121 is electric cylinder 1212 driven or motor driven. Optionally, robotic arm 121 has a multi-degree-of-freedom kinematic swivel and articulation mechanism that enables attitude adjustment of the grasping mechanism for precise docking of grasping assembly 13 with sweeping assembly 14. The robot arm 121 can realize 360-degree rotation and up-down, left-right, front-back movement.

For example, the robot arm 121 can move the grasping assembly 13 to a position 200mm above the target position (perpendicular to the plane of the photovoltaic panel) of the cleaning assembly 14, so that the grasping assembly 13 grasps the cleaning assembly 14. For another example, the robot arm 121 can drive the grabbing component 13 to move the cleaning component 14 to a position 200mm above the target position of the photovoltaic panel (perpendicular to the plane of the photovoltaic panel), so as to place the cleaning component 14 on the photovoltaic panel. For another example, the robotic arm 121 can bring the grasping assembly 13 to move the cleaning assembly 14 to be raised 50mm along the normal of the plane of the photovoltaic panel to determine whether the grasping assembly 13 has successfully grasped the cleaning assembly 14. For another example, the robot arm 121 can drive the grabbing assembly 13 to move the cleaning assembly 14 to be raised by 500mm along the normal line of the photovoltaic panel plane, so that the cleaning assembly 14 moves out of the photovoltaic panel.

Optionally, the mechanical arm 121 includes a first joint, a second joint, a third joint, a fourth joint, a fifth joint, and a sixth joint connected in sequence. One end of the first joint is arranged on the chassis 111; one end of the sixth joint is fixedly provided with a connecting piece 122. The first joint includes a servo motor 1211, a reducer 1213, and a swing support structure to achieve 360 ° swing of the robot arm 121. The first joint may also be understood as a root revolute structure. The second joint, the third joint, and the fourth joint each include a servo motor 1211 and an electric cylinder 1212. The second joint can also be understood as a large arm structure. The third joint can also be understood as a mid-arm structure. The fourth joint can also be understood as a forearm structure. The fifth joint and the sixth joint each include a servo motor 1211 and a speed reducer 1213. The fifth joint can also be understood as a first wrist structure. The sixth joint may also be understood as the second wrist structure. The reducer 1213 may be an RV reducer, or a worm gear reducer.

The transfer assembly 12 provided in this embodiment includes a connection 122 for connecting the robotic arm 121 to the gripper assembly 13. The mechanical arm 121 and the first bracket 131 are respectively disposed on two opposite sides of the connecting member 122. Optionally, the robotic arm 121 is bolted to the link 122. The first bracket 131 is bolted to the connecting member 122. In addition, the connecting member 122 is further provided with a limiting portion 1221 for limiting the position of the first bracket 131 on the connecting member 122, so as to reduce the difficulty of installation.

In the embodiment, the mechanical arm 121 and the connecting piece 122 with the limiting part 1221 are arranged, so that the mechanical arm 121 is connected with the first support 131 through the connecting piece 122, the reliability of connection between the mechanical arm 121 and the grabbing component 13 is improved, the mechanical arm 121 and the grabbing component 13 are separated respectively, the probability of collision of the mechanical arm 121 with the grabbing component 13 is reduced, and the reliability of the photovoltaic panel cleaning equipment 1 is improved.

Referring to fig. 13, fig. 13 is a schematic structural diagram of a moving assembly according to another embodiment of the present disclosure. In one embodiment, the moving assembly 11 further includes a fixing member 117, the fixing member 117 is mounted on the chassis 111, and the cleaning assembly 14 is detachably connected to the fixing member 117; when the fastener 117 is magnetic, the fastener 117 is magnetically connected to the sweeping assembly 14.

Moving assembly 11 of the present embodiment further includes a fixture 117 for magnetically coupling with sweeping assembly 14. In the present embodiment, the material, shape, and size of the fixing 117 are not limited. Alternatively, the material of the fixing member 117 includes, but is not limited to, alloy, ferrite, and the like. Alternatively, when the fixing member 117 receives a predetermined voltage, the magnetism of the fixing member 117 is weakened or even disappears, so that the fixing member 117 is separated from the sweeping assembly 14.

In the embodiment, by arranging the fixing piece 117, when the cleaning assembly 14 is placed on the chassis 111, the fixing piece 117 is magnetically connected with the cleaning assembly 14, so that the cleaning assembly 14 is fixed on the chassis 111, the probability that the cleaning assembly 14 falls off when the moving assembly 11 moves is reduced, and the reliability of the photovoltaic panel cleaning equipment 1 is improved.

Referring to fig. 13 again, in one embodiment, the chassis 111 includes a front end region 11a, a middle region 11b, and a rear end region 11c, the front end region 11a and the rear end region 11c are respectively disposed at two opposite sides of the middle region 11b, and the center of gravity of the chassis 111 is located at the middle region 11b;

the mobile assembly 11 further includes a battery, a control structure, a steering driver, and a power distribution box, and the battery, the control structure, the steering driver, and the power distribution box are all disposed in the middle area 11b.

The center of gravity of the chassis 111 provided in this embodiment is located in the intermediate region 11b. In other words, the components located in the middle region 11b of the chassis 111 are heavy. Specifically, the battery, control structure, steering drive, and distribution box are located in the center region 11b such that the center of gravity of the chassis 111 is located in the center region 11b. Compared with the chassis 111 with the center of gravity located at the front end region 11a in the related art, the center of gravity of the chassis 111 is located at the middle region 11b, so that the stability of the moving assembly 11 in movement on desert and uneven ground is improved, the probability that the chassis 111 tips forwards or backwards is reduced, and the reliability of the photovoltaic panel cleaning equipment 1 is improved.

Optionally, please refer to fig. 14, which is a top view of a moving assembly according to an embodiment of the present application. In one embodiment, a surface of the bottom plate 111 facing away from the transfer unit 12 has a plurality of through holes 1111, and a surface of the bottom plate 111 facing away from the transfer unit 12 also has a step surface 1112. Providing a plurality of through holes 1111 on a surface of the base plate 111 facing away from the transfer unit 12 not only reduces the weight of the base plate 111, but also helps dissipate heat from components inside the base plate 111. The stepped surface 1112 of the chassis 111 further fits the outer shell of the chassis 111 to the components inside the chassis 111, thereby facilitating fixing of the components inside the chassis 111 and further reducing the weight of the chassis 111.

In one embodiment, the chassis 111 includes a power source and wires having one end connected to the power source and the other end connected to the cleaning assembly 14 for supplying power to the cleaning assembly 14 and transmitting signals.

The chassis 111 of the present embodiment includes a power source for supplying power to the cleaning assembly 14 and a wire capable of supplying power to the cleaning assembly 14 and transmitting a signal. Optionally, the magnetizing portion 1332 has a receiving groove 1334 on the outer circumference side for receiving a lead wire. The receiving slot 1334 may also be understood as a take-up reel for the wire. Optionally, when the power of the cleaning assembly 14 is greater than the preset power, the cleaning assembly 14 transmits a signal to the moving assembly 11 through a wire to control the moving assembly 11 to move to one side of the photovoltaic panel. When the power of the cleaning assembly 14 is less than the predetermined power, the cleaning assembly 14 transmits a signal to the moving assembly 11 through a wire to control the moving assembly 11 to move to the charging point. For example, when the battery power of sweeping assembly 14 is greater than 80%, moving assembly 11 begins to move. As another example, when the battery level of sweeper assembly 14 is less than 20%, mobile assembly 11 begins to return.

In the embodiment, the power supply and the conducting wires are arranged, so that the moving assembly 11 can charge the cleaning assembly 14, the service life of the cleaning assembly 14 is longer, and the cleaning efficiency of the photovoltaic panel cleaning equipment 1 is improved. And, when cleaning subassembly 14 electric quantity is not enough, can also transmit the signal to mobile assembly 11 to make mobile assembly 11 move to the point of charging, thereby further improved the work efficiency of photovoltaic board cleaning equipment 1.

Referring again to fig. 1, in one embodiment, the photovoltaic panel cleaning apparatus 1 further includes a navigation module 15 and a positioning module 16, wherein the navigation module 15 is configured to control the movement of the chassis 111, and the positioning module 16 is configured to detect the positions of the photovoltaic panel and the cleaning module 14.

The photovoltaic panel cleaning apparatus 1 provided in this embodiment further includes a navigation assembly 15 for controlling the movement of the chassis 111. The navigation assembly 15 can independently construct a map and plan a path, prevent the photovoltaic panel cleaning equipment 1 from colliding with obstacles, and control the chassis 111 to independently run. Optionally, the navigation component 15 includes a multi-line lidar, a combined inertial navigation, an RTK base station, a single line lidar, a millimeter wave radar, an antenna. The radar can scan the surrounding environment in real time to obtain point cloud for map construction. The combined inertial navigation can carry out positioning and orientation by combining GPS signals with IMU information. The antenna is capable of receiving GPS signals.

The photovoltaic panel cleaning apparatus 1 provided in this embodiment further includes a positioning assembly 16 for detecting the position of the photovoltaic panel and the cleaning assembly 14. In other words, locating component 16 can acquire a three-dimensional point cloud of sweeping component 14 and the photovoltaic panel, calculating their position and pose. Optionally, the positioning assembly 16 comprises a structured light scanner, an adjustable mounting bracket, a uwb module (synchronous positioning module), an industrial control computer. The structured light scanner can acquire three-dimensional point clouds of a photovoltaic panel and a panel machine. The adjustable mounting bracket can support the adjustment of angle and height, and ensure the optimal scanning visual field. The industrial personal computer can be used for processing point cloud to obtain a recognized position and posture result. The uwb module is used for judging the relative position of the flat machine and the chassis 111 in real time.

The navigation assembly 15 and the positioning assembly 16 are arranged in the embodiment, so that the movement of the chassis 111 is controlled, and the moving assembly 11 can move in coordination with the photovoltaic panel and the sweeping assembly 14. The navigation assembly 15 can realize the unmanned chassis 111, and reduce the potential safety hazard of cleaning operation to people. Navigation subassembly 15 and locating component 16 are mutually supported, make photovoltaic board clean equipment 1 can be according to the photovoltaic board with clean the position of subassembly 14, intelligent regulation removal subassembly 11's movement route to the realization cleans the high efficiency of photovoltaic board.

When the cleaning assembly 14 needs to be transferred or cross the board, the photovoltaic panel cleaning apparatus 1 provided by this embodiment may determine the position of the cleaning assembly 14, determine the working parameter of the mechanical arm 121 based on the position by the positioning assembly 16, then control the mechanical arm 121 to move, so that the mechanical arm 121 drives the upper grabbing assembly 13 to move to the position, and then determine the working parameter of the adaptive grabbing piece 133, so that the grabbing assembly 13 grabs the cleaning assembly 14. In addition, the position of the next photovoltaic panel or the fixed position of the chassis 111, which accommodates the sweeping component 14, can be determined to form a navigation route, and the robot arm 121 is guided to take off and land according to the navigation route so as to move the sweeping component 14 to a specified position, thereby ensuring stable transfer of the sweeping component 14, facilitating improvement of the cleaning efficiency of the photovoltaic panel and ensuring the service life of the sweeping component 14.

The photovoltaic panel cleaning equipment 1 provided by the embodiment is used for solving the problem of cleaning photovoltaic modules of the existing photovoltaic power stations. To cleaning assembly 14 at present and cleaning the time face can not stride board, trafficability characteristic poor, the auxiliary project installation wastes time and energy the scheduling problem, the utility model provides a remove subassembly 11, transfer subassembly 12, snatch subassembly 13, clean subassembly 14 mutually supported combination formula intelligence and clean the scheme, also can understand, clean the combination formula intelligence of subassembly 14+ guarantee car and clean the scheme. Cleaning assembly 14 is responsible for attaching to the subassembly and running, accomplishes and cleans, and removal subassembly 11 and cleaning assembly 14 synchronous operation, when needs stride the board or move ahead, locating component 16 automatic identification cleans the position of subassembly 14 and photovoltaic board, and the arm 121 drives and snatchs subassembly 13 and snatchs cleaning assembly 14 and place on waiting the photovoltaic board that cleans to the realization cleans subassembly 14 and strides the board and transition. The mobile assembly 11 and the cleaning assembly 14 are flexibly connected through a wire, the wire can adapt to the length through a reel, and the connection wire is used for power supply and communication.

In one embodiment, first of all, the photovoltaic panel sweeping apparatus 1 has a transition transport state: when the photovoltaic panel cleaning equipment 1 autonomously travels from a charging point to a working point or transfers from one area to another area, the photovoltaic panel cleaning equipment 1 enters a transfer transportation state, the cleaning assembly 14 is placed on the supporting member 112 of the chassis 111, the mechanical arm 121 moves to the supporting member 112, and the autonomous navigation assembly controls the chassis 111 to autonomously travel to transfer.

Then, the photovoltaic panel cleaning apparatus 1 has a scanning operation state: the photovoltaic panel cleaning equipment 1 reaches a scanning working point, starts the identification and positioning component 16, obtains a three-dimensional point cloud of the cleaning component 14 or the photovoltaic panel, and obtains the position and the posture of the cleaning component 14 or the photovoltaic panel by adopting a point cloud processing algorithm.

Then, the photovoltaic panel cleaning apparatus 1 has a grasping and releasing operation state: robotic arm 121 cooperates with grasping assembly 13 to grasp or place sweeping assembly 14.

Then, the photovoltaic panel cleaning apparatus 1 has a cleaning movement operation state: the cleaning assembly 14 is attached to the photovoltaic panel, and automatically runs to complete cleaning operation; moving assembly 11 and sweeping assembly 14 are maintained in synchronous operation.

Then, the photovoltaic panel cleaning apparatus 1 has a cross-panel movement operating state: the mechanical arm 121 drives the grabbing component 13 to grab the cleaning component 14 and move towards the next photovoltaic panel.

Furthermore, the photovoltaic panel cleaning apparatus 1 has a cross-panel parking charging state: in the charging state, the mobile assembly 11 may be directly connected to a power source, thereby implementing a charging function. In the concrete implementation, based on the electric quantity and the state of the mobile component 11, different charging modes can be adopted to charge the mobile component, and a charging time period can be set based on task arrangement, so that intelligent charging is realized, and the work efficiency of the mobile component 11 is favorably ensured.

In addition, the photovoltaic panel cleaning apparatus 1 has a function of detecting a failure state: photovoltaic board cleans equipment 1 and can detect the fault conditions of each subassembly, shuts down and waits for personnel to overhaul.

The application also provides a specific method for cleaning the photovoltaic panel by using the photovoltaic panel cleaning equipment 1, which comprises the following steps:

starting the photovoltaic panel cleaning device 1: from the parking charging state to the transition transportation state. Specifically, the photovoltaic panel cleaning system is powered on, and software is initialized. The system controls the photovoltaic panel cleaning device 1 to check the working electric quantity of the battery. When the charge of the battery is greater than 80%, i.e. soc >80%, it indicates that the charging of the photovoltaic panel sweeping device 1 is completed. Then, the photovoltaic panel cleaning equipment 1 is controlled to start periodic self-checking, including checking the state of a sensor, the angle of a mechanical arm joint, the magnetic suction state, the inertial navigation working state and the like.

Photovoltaic board cleans 1 transportation of changeing: it is checked whether sweeping assembly 14 is in a parking space on chassis 111 and whether mount 117 of chassis 111 is magnetically connected to sweeping assembly 14, i.e. chassis 111 is parked to magnetically attract sweeping assembly 14. Then, it is checked whether the robot arm 121 is on the support 112 while the motor brake is clasped. Then, the navigation module starts to operate, so that the moving module 11 runs along a preset path, and the vehicle can avoid obstacles or stop in case of obstacles by means of radar. Subsequently, the photovoltaic panel cleaning apparatus 1 reaches the work start point, and starts scanning positioning.

Photovoltaic board cleans equipment 1 scanning: the chassis of the moving assembly 11 stops moving and the brake is held tightly. The scanner of the locating assembly 16 is then brought into operation to acquire the photovoltaic panel point cloud. And, start the discernment positioning system of locating component 16, obtain the position appearance of photovoltaic board.

Photovoltaic panel cleans equipment 1 and snatchs and cleans subassembly 14 to initial operating position: first, the robot arm 121 is moved to a parking position of the cleaning assembly 14 on the chassis 111. The fixture of chassis 111 is then separated from sweeper assembly 14, and gripper assembly 13 is magnetically coupled to sweeper assembly 14. Subsequently, the mechanical arm 121 drives the grabbing component 13 and the cleaning component 14 to move, so that the cleaning component 14 moves to a position 200mm above the target position of the photovoltaic panel (vertical to the plane of the photovoltaic panel). At the same time, the pressure sensor 134 is activated to detect the pressure prevention pressing plate in real time. Then, grabbing component 13 is separated from sweeping component 14, so that sweeping component 14 is arranged on the photovoltaic panel. Subsequently, the robot arm 121 lifts the grasping assembly 13 500mm along the normal of the plane of the photovoltaic panel.

The photovoltaic panel cleaning device 1 starts cleaning: first, the sweeping assembly 14 is moved along the photovoltaic panel at a speed of 2.5km/h or 0.9m/s while sweeping the edge. In the cleaning process of the cleaning assembly 14, the cleaning assembly 14 can automatically correct the deviation and intelligently cross the obstacle. The uwb module of the positioning assembly 16 is then used to determine the relative position of the sweeping assembly 14 to the chassis 111 in real time. And, start navigation pack 15, make moving assembly 11 go according to presetting the route, prevent to hit the board, and according to chassis 111 and the position real-time speed governing of cleaning assembly 14, keep the synchronization.

The photovoltaic panel cleaning equipment 1 finishes cleaning and reaches the edge of the photovoltaic panel: the photovoltaic panel cleaning apparatus 1 is moved from a cleaning operation state to a scanning operation state. Specifically, first, sweeping assembly 14 senses the reaching of the photovoltaic panel edge and sweeping assembly 14 stops moving. Then, the chassis 111 stops moving and the brakes are tightened. The scanner of the positioning assembly 16 is then started to acquire the photovoltaic panel point cloud. And, start the discernment positioning system of locating component 16, obtain the position of photovoltaic board.

Photovoltaic board cleans equipment 1 and snatchs and clean subassembly 14: first, the robot arm 121 drives the grabbing component 13 to move, so that the grabbing component 13 moves to a position 200mm above the target position of the photovoltaic panel (vertical to the plane of the photovoltaic panel). Then, the attitude of the gripper assembly 13 is corrected based on the value of the range sensor 135. Subsequently, the mechanical arm 121 drives the grabbing assembly 13 to move to the target position of the cleaning assembly 14, and simultaneously, the pressure measuring sensor 134 is started to detect the pressure preventing pressing plate in real time. Gripper assembly 13 is then magnetically coupled to sweeping assembly 14, thereby causing gripper assembly 13 to grip sweeping assembly 14. Subsequently, the mechanical arm 121 drives the grabbing assembly 13 and the sweeping assembly 14 to move, so that the sweeping assembly 14 is lifted 50mm along the normal of the plane of the photovoltaic panel. Then, whether or not the grasping unit 13 has successfully grasped the cleaning unit 14 is determined based on the pressure feedback value of the pressure sensor 134. Then, the mechanical arm 121 drives the grabbing assembly 13 and the sweeping assembly 14 to move, so that the sweeping assembly 14 is lifted 500mm along the normal of the plane of the photovoltaic panel.

Photovoltaic board cleans equipment 1 and strides board removal: first, the brake on the chassis 111 is released and the control system is activated. Then, the navigation module starts to operate, and the moving module 11 is caused to travel along a predetermined path to the placement target point. Subsequently, the photovoltaic panel cleaning apparatus 1 reaches the work starting point, and starts scanning positioning. And repeating the scanning of the photovoltaic panel cleaning equipment 1 to identify the pose of the photovoltaic panel.

Photovoltaic board cleans equipment 1 and snatchs and clean subassembly 14 to another photovoltaic board: the mechanical arm 121 drives the grabbing component 13 and the cleaning component 14 to move, so that the cleaning component 14 moves to a position 200mm above the target position of the photovoltaic panel (vertical to the plane of the photovoltaic panel). At the same time, the pressure sensor 134 is activated to detect the pressure prevention pressing plate in real time. Then, grabbing component 13 is separated from sweeping component 14, so that sweeping component 14 is arranged on the photovoltaic panel. Subsequently, the robot arm 121 lifts the grasping assembly 13 500mm along the normal of the plane of the photovoltaic panel.

In addition, if the distance between two adjacent photovoltaic panels is smaller than the preset distance, that is, the distance between two adjacent photovoltaic panels is short, the positions of the flat machine and the photovoltaic panels can be simultaneously obtained by one-time scanning, so that repeated scanning of the photovoltaic panel cleaning equipment 1 can be cancelled.

The photovoltaic panel cleaning equipment 1 is circularly operated to clean dust on a plurality of photovoltaic panels until the electric quantity of the battery is insufficient, namely the electric quantity of the battery is less than 20%, soc is less than 20%, and the mobile assembly 11 starts to return.

Photovoltaic board cleans equipment 1 and returns to the journey to charge: when the charge of the battery is less than 20%, the moving assembly 11 starts the return journey. Specifically, first, the movement of the cleaning assembly 14 and the moving assembly 11 is stopped. Then, the position of sweeping assembly 14 is scanned and acquired by positioning assembly 16. And uses robot arm 121 to move gripping assembly 13 so that gripping assembly 13 grips cleaning assembly 14. Then, the robot arm 121 is used to move the gripping assembly 13 and the cleaning assembly 14, so that the cleaning assembly 14 is disposed at the parking position of the chassis 111, and the robot arm 121 and the gripping assembly 13 are disposed on the support 112. The power supply to the mechanical arm 121 is stopped, and the chassis 111 is braked and clasped. Then, the navigation module starts to operate, and the moving module 11 travels along a predetermined path and automatically returns. Subsequently, the photovoltaic panel cleaning apparatus 1 reaches a charging point, and is charged manually, and the photovoltaic panel cleaning apparatus 1 enters a parking charging state.

And (3) reporting the fault parking of the photovoltaic panel cleaning equipment 1: the photovoltaic panel cleaning equipment 1 detects a sensor or system fault through self-detection, and the cleaning assembly 14 and the moving assembly 11 stop moving. Then, the photovoltaic panel cleaning apparatus 1 performs self-diagnosis and reports a fault at the same time. And, the photovoltaic panel cleaning apparatus 1 is manually overhauled.

The foregoing detailed description has provided for the embodiments of the present application, and the principles and embodiments of the present application have been presented herein for purposes of illustration and description only and to facilitate understanding of the methods and their core concepts; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. The utility model provides a photovoltaic board cleans equipment which characterized in that is applied to photovoltaic equipment, photovoltaic equipment includes a plurality of photovoltaic boards that the interval set up, photovoltaic board cleans equipment and includes:

2. The photovoltaic panel sweeping apparatus of claim 1, wherein an orthographic projection of the magnetically attractive portion on the housing covers an orthographic projection of the grasping member on the housing.

3. The photovoltaic panel cleaning apparatus according to claim 1, wherein the grasping member includes a permanent magnet portion, a magnetism increasing portion, and a buffering portion, the permanent magnet portion is disposed on the second support, the magnetism increasing portion is disposed on a side of the permanent magnet portion away from the second support, and the buffering portion is disposed on a side of the magnetism increasing portion away from the second support.

4. A photovoltaic panel sweeping apparatus according to claim 3, wherein said grasping assembly satisfies at least one of:

the grabbing component further comprises a pressure measuring sensor, and the pressure measuring sensor is used for detecting the pressure and the tension of the grabbing piece on the cleaning component; one end of the pressure measuring sensor is connected with the second bracket, and the other end of the pressure measuring sensor is connected with the grabbing piece at intervals through bolts;

the grabbing component further comprises a distance measuring sensor, and the distance measuring sensor is used for detecting the distance from the grabbing piece to the cleaning component and the distance from the grabbing piece to the photovoltaic panel; the distance measuring sensor is arranged on the outer periphery side of the grabbing piece.

5. The photovoltaic panel sweeping apparatus according to claim 1, wherein said grasping assembly further includes a first guide portion provided on a side of said second support frame facing away from said first support frame, said sweeping assembly further including a second guide portion provided on a side of said housing adjacent to said second support frame;

wherein, when the first guide portion includes one of a guide groove and a guide post, the second guide portion includes the other of the guide groove and the guide post; when the grabbing component moves towards the direction close to the cleaning component, at least part of the guide posts are arranged in the guide grooves.

6. The photovoltaic panel sweeping apparatus according to claim 1, wherein said grasping assembly includes two of said first supports and at least one of said second supports, each of said second supports having at least one of said grasping members; the transfer assembly comprises a mechanical arm and a connecting piece, one end of the mechanical arm is fixedly arranged on the chassis, the other end of the mechanical arm is fixedly provided with the connecting piece, and one side of the connecting piece, which is far away from the mechanical arm, is fixedly provided with the first support;

the part of the mechanical arm can rotate relative to the chassis and can move towards the direction close to or far away from the chassis, one side, away from the mechanical arm, of the connecting piece is provided with a limiting part, and the limiting part abuts against the first support.

7. The photovoltaic panel cleaning apparatus as claimed in claim 1, wherein the moving assembly further includes a fixing member, the fixing member is mounted on the chassis, and the cleaning assembly is detachably connected to the fixing member; when the fixing piece has magnetism, the fixing piece is magnetically connected with the sweeping assembly.

8. A photovoltaic panel cleaning apparatus as claimed in claim 1, wherein the chassis includes a front end region, a middle region, and a rear end region, the front end region and the rear end region being disposed on opposite sides of the middle region, respectively, the center of gravity of the chassis being located in the middle region;

9. The photovoltaic panel sweeping apparatus according to claim 1 wherein said chassis includes a power source and a wire having one end connected to said power source and the other end connected to said sweeping assembly, said wire for supplying power to said sweeping assembly and transmitting signals.

10. The photovoltaic panel cleaning apparatus according to claim 1, further comprising a navigation assembly for controlling the movement of the chassis and a positioning assembly for detecting the positions of the photovoltaic panel and the cleaning assembly.