WO2017157269A1 - Chariot entièrement automatique à chenilles destiné au nettoyage d'ensemble photovoltaïque et procédé de nettoyage associé - Google Patents

Chariot entièrement automatique à chenilles destiné au nettoyage d'ensemble photovoltaïque et procédé de nettoyage associé Download PDF

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Publication number
WO2017157269A1
WO2017157269A1 PCT/CN2017/076529 CN2017076529W WO2017157269A1 WO 2017157269 A1 WO2017157269 A1 WO 2017157269A1 CN 2017076529 W CN2017076529 W CN 2017076529W WO 2017157269 A1 WO2017157269 A1 WO 2017157269A1
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WIPO (PCT)
Prior art keywords
water
cleaning
motor
trolley
joint
Prior art date
Application number
PCT/CN2017/076529
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English (en)
Chinese (zh)
Inventor
汤耀庆
顾明
Original Assignee
汤耀庆
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610140903.9A external-priority patent/CN105710065B/zh
Priority claimed from CN201610883785.0A external-priority patent/CN106345778B/zh
Application filed by 汤耀庆 filed Critical 汤耀庆
Publication of WO2017157269A1 publication Critical patent/WO2017157269A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to the field of solar photovoltaic technology, in particular to a fully automatic rail type photovoltaic module cleaning trolley and a cleaning method thereof.
  • Photovoltaic power generation relies on sunlight, and its power generation efficiency depends largely on the cleanliness of photovoltaic modules. Photovoltaic power plants are mostly placed outdoors, and PV modules are easily covered by dust, stains, etc., causing the light intensity received on the surface of the components to drop, thereby causing considerable power generation losses. At the same time, local dust shielding may also cause hot spot effect, which poses a safety hazard.
  • the cleaning methods of photovoltaic modules for photovoltaic power plants mainly include: 1) manual cleaning, which is the most widely used, but the cleaning cost is high, the effect is poor, and the efficiency is low; 2) the high pressure water gun cleaning, the cleaning effect is better, but the mobile water truck needs to be moved. Or buried pipeline, high cleaning cost, low efficiency, difficult to clean large area, and can not clean the power station where the water tank vehicle can not drive; 3) spray system cleaning, can remove the dust on the surface of photovoltaic modules, but the effect is not ideal, equipment High maintenance cost; 4) Professional cleaning equipment, high equipment cost, high requirements for PV module installation environment, requiring professional technicians to operate, unable to clean large areas and low cost.
  • the object of the present invention is to provide a fully automatic rail-type photovoltaic module cleaning trolley and a cleaning method thereof with simple structure, reasonable design, wide adaptability and convenient use in view of the deficiencies of the prior art.
  • a first aspect of the present invention provides a fully automatic orbital photovoltaic module cleaning cart including a traveling mechanism, a water intake mechanism, and a control portion, wherein the control portion is electrically connected to the traveling mechanism and the water intake mechanism, respectively.
  • the traveling mechanism drives the water intake mechanism and the control portion to move along a main rail that communicates with the water source.
  • the traveling mechanism comprises a walking wheel, a traveling motor and a main track; the traveling motor is electrically connected to the control portion, and the traveling motor drives the traveling wheel to make the walking wheel The main track moves.
  • the cleaning cart further includes a valve control device
  • the valve control device includes a tank body, and a water spray motor, an electromagnetic water valve, a plurality of rotary joints, a small mother tube, and respectively in the tank body a plurality of universal nozzles communicating with the rotary joint; one end of the small mother tube is in communication with a water intake male joint of the water intake mechanism, and the other end is in communication with an inlet side of the electromagnetic water valve, the electromagnetic water valve The outlet side communicates with an end of the rotary joint opposite the gimbal, and the water jet motor drives the rotary joint.
  • the housing is further provided with a water jet motor shaft gear, a rotating shaft gear, a rotary joint fixing plate and a connecting pipe, and the rotary joint fixing plate fixes the rotary joint and the rotating shaft gear is fixed.
  • a water jet motor shaft gear Mounted in the middle of the long shaft of the rotary joint, one side of the water jet shaft gear is connected to the water spray motor through a connecting shaft, and the water jet motor shaft gear meshes with the rotating shaft gear, and the water spray motor passes through the The water jet motor output shaft gear and the rotating shaft gear drive the rotary joint to rotate.
  • the tank body is further provided with a water receiving hose, and the small mother tube communicates with the water intake male joint through the water receiving hose.
  • the traveling mechanism includes a walking bracket, a bearing, a traveling shaft, a traveling wheel, a moving shaft gear, a traveling motor shaft gear, a traveling motor, and a main track;
  • the walking bracket is disposed on an outer sidewall of the top of the box body, and two ends of the traveling shaft are provided with bearings, and the traveling shaft is rotatably connected to the walking bracket through bearings at both ends thereof;
  • a moving shaft gear is disposed on the traveling shaft and outside the bearing, the traveling motor is coupled to the traveling motor shaft gear, the traveling motor shaft gear meshes with the moving shaft gear, and the traveling motor passes the traveling motor shaft gear and the moving shaft
  • the gear drives a travel shaft that drives the traveling wheel located at the center thereof to move along the main track.
  • a portion between the two bearings is an inner side and an outer side of a portion opposite to the inner side.
  • the water intake mechanism includes a photoelectric sensor electrically connected to the control portion, a water intake male connector, an electric push rod located below the water intake male connector, and fixedly mounted on a lower surface of the main rail a plurality of sets of positioning water intake components, each set of the positioning water intake components comprising a water locating pin and a waterstop nipple, the water locating pin blocking the photoelectric sensor receiving light, photoelectrically converting the photoelectric sensor, and transmitting the signal to the control part
  • the control part supplies power to the electric push rod, and the powered electric push rod pushes the water take-off male joint, and the water take-off male joint is connected to the water-stop joint to take water.
  • the distance between the water locating needle and the waterstop joint in each set of locating water intake assemblies is equal.
  • the water intake mechanism includes a photoelectric sensor electrically connected to the control portion, a water intake male connector provided with a water suction cup electromagnet, a push-pull electromagnet located below the water intake male connector, and a fixed installation a plurality of sets of positioning water take-up assemblies on a lower surface of the main rail, each set of the positioning water take-up assembly includes a water take-up positioning needle and a water-stopping water joint joint, the water-removing positioning needle blocking the photoelectric sensor from receiving light, and the photoelectric sensor is photoelectrically converted, and Transmitting a signal to the control portion, the control portion supplies power to the push-pull electromagnet, and the powered push-pull electromagnet hits the water intake male connector, and the water intake male connector of the water suction cup electromagnet is provided And the water intake male joint is connected to the waterstop joint to take water.
  • the water intake mechanism is located inside the casing, the traveling mechanism is located at an outer upper portion of the casing, the upper portion of the casing is provided with a walking groove, and the water intake male joint passes through the The walking trough is connected to the through-water jellyfish to take water.
  • the water take-up cup electromagnet and the water intake male connector are located in the walking groove.
  • the lower end of the water intake male connector with the water suction cup electromagnet is provided with a return spring, and one end of the return spring is connected to the water intake male connector, and the other end is fixed on the inner wall of the housing.
  • the push-pull electromagnet is electrically driven and then hits the water intake male joint upwardly, and the water intake male joint drives the return spring to move upward, and the water suction sucker electromagnet is energized to drive the water intake male joint to communicate with the waterstop joint. Up to a set time; the water intake cup electromagnet is de-energized, the return spring pulls the water intake male joint to move downward, and the water intake male joint is disconnected from the through-water joint connector to stop taking water.
  • control portion includes an electrical controller, a charging interface, a battery, an external charging device, and a charging electromagnetic chuck; the electrical controller is disposed on the case, and the battery is located in the box The charging electromagnetic chuck is located outside the charging interface, and the external charging device is connected to the charging interface through the charging electromagnetic chuck, and is charged to the battery.
  • an end proximity switch and an end sensing position are mounted on an outer side surface of the box perpendicular to the main rail, and an initial proximity switch is mounted on the other outer side perpendicular to the main rail. And the initial sensing bit.
  • the cleaning trolley is further provided with an auxiliary rail, the auxiliary rail is located at an outer lower part of the box body, and a limited position rolling device is disposed on an outer side surface of the bottom of the box body, and the box body passes through The limit rolling device is movably connected to the auxiliary track.
  • the cleaning trolley further includes a coiled trolley that is slidably coupled to the main rail by a passive roller on a top and an outer side wall thereof, the coiled trolley including a wire with a wire a tube, an electric control valve, a coiler, a PLC control board, an electric retractable wheel, the leaded hose is wound on the coiler, and one end of the lead hose is connected to the bottom end of the water take-off male joint, and the lead hose is connected The other end is in communication with an electric control valve, and the PLC control board adjusts the stowage or release of the leaded hose by controlling the expansion and contraction of the electric retractable wheel.
  • the coiled trolley is further provided with an electromagnetic attraction and separator, and the coiled trolley is connected or disconnected from the water intake structure by the electromagnetic attraction and separator.
  • the cleaning trolley further includes a cleaning mechanism including a gantry and a water spray pipe located at a lower portion of the gantry, the gantry being fixedly coupled to the casing, the gantry The frame slides along the main track.
  • a cleaning mechanism including a gantry and a water spray pipe located at a lower portion of the gantry, the gantry being fixedly coupled to the casing, the gantry The frame slides along the main track.
  • the cleaning trolley is further provided with an auxiliary rail, the auxiliary rail and the main rail are respectively located at two sides of the photovoltaic module, and the gantry slides along the main rail and the auxiliary rail.
  • the outer side wall of the lower portion of the water spray pipe is further provided with a water spray head and a cleaning motor, and the water spray head is in communication with the leaded wire hose for spraying water to the photovoltaic module, and the cleaning is performed.
  • the motor is used to remove dust from the surface of the PV module.
  • the working principle of the invention is as follows: a main rail and an auxiliary rail are installed along the line of the photovoltaic module, and the main rail is connected with the water source, which serves as a walking track for cleaning the trolley and a water intake point when cleaning the photovoltaic module, thereby realizing the water source along the photovoltaic module.
  • the fully automatic orbital photovoltaic module cleaning system provided by the invention is suspended on the main rail, and the auxiliary rail is stabilized; the starting working point is the parking position of the mobile vehicle cleaning device during non-working time, where the fixed type 12V or 24V DC charging power supply; on the main track, there are a plurality of water-stop joints as the water intake point from the starting point to the end point.
  • the cleaning system automatically recognizes the water intake point and takes water by means of the water-distributing needle during the driving along the main track, and controls the valve through the valve.
  • the device cleans the photovoltaic modules.
  • the fully automatic rail-type photovoltaic module cleaning system provided by the invention can greatly improve the utilization rate of the equipment, reduce the one-time investment of the equipment, and realize the automatic cleaning with low cost, large-scale, high-frequency and no human intervention.
  • the cleaning motor on the gantry cleans the dust on the photovoltaic module.
  • the water can be sprayed directly or the cable hose can be released.
  • the gantry drives the cable hose to drive in the opposite direction. Spraying water to the cleaning motor during driving to achieve water cleaning and rinsing, cleaning frequency can be rooted According to the pollution level of PV modules.
  • a second aspect of the present invention provides a cleaning method for a fully automatic orbital photovoltaic module cleaning trolley, the cleaning method comprising the following steps:
  • Step 1 The electric circuit of the cleaning car is powered on, and the traveling motor is started.
  • the cleaning car travels along the main track to the end point to the water locating pin.
  • the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor photoelectrically converts and converts the electric power.
  • the signal is transmitted to the control part, the cleaning trolley stops walking, the water intake male connector is connected with the waterstop connector to take water, and the cleaning trolley cleans the photovoltaic module;
  • Step 2 The cleaning trolley walks to the next water-removing positioning needle, and repeats the water taking and cleaning procedures described in step 1;
  • Step 3 the cleaning is finished, or repeat step 2 until the water intake and cleaning procedures at the last water locating needle are completed.
  • the cleaning method comprises the following steps:
  • Step 1 The electric circuit of the cleaning car is powered on, and the traveling motor is started.
  • the cleaning car travels along the main track to the end point to the water locating pin.
  • the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor photoelectrically converts and converts the electric power.
  • the signal is transmitted to the control part, the cleaning trolley stops walking, the water intake male connector and the waterstop joint are connected to take water, the cleaning trolley cleans the photovoltaic module to the set time, the water intake male connector is disconnected from the waterstop connector, and the control unit is returned.
  • Step 2 The walking motor is powered, and the cleaning trolley walks to the next water collecting positioning needle, and repeats the above procedure until the corresponding procedure of the last water dispensing positioning needle is completed;
  • Step 3 The track car continues to walk, and the end point of the cleaning car is installed at the end point of the cleaning car, the sensing end point, the photoelectric sensor is powered off, the traveling motor is reversed, and the cleaning car moves toward the starting point;
  • Step 4 The cleaning trolley walks to the starting point, and the initial proximity switch action is installed on the starting point of the cleaning trolley, the photoelectric sensor is powered, the water spray motor and the traveling motor are de-energized, the battery is charged, and the cleaning trolley completes a cleaning cycle. .
  • the cleaning trolley travels between adjacent two water intake locating pins, and the cleaning trolley cleans or does not clean the photovoltaic modules.
  • step 1 is to power on the electric circuit of the cleaning trolley, and the traveling motor is started.
  • the cleaning trolley travels along the main track toward the end point to the water locating pin, and the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor generates photoelectricity. Convert and transfer the converted electrical signal to the control section for cleaning
  • the trolley stops walking, the push-pull electromagnet hits the water intake male joint, the water male connector rises upward, the suction cup electromagnet is energized, the water intake male connector and the waterstop joint are connected to take water, the photovoltaic module is cleaned, the suction cup electromagnet is de-energized, and the control unit is returned.
  • step 1 is to power on the electric circuit of the cleaning trolley, and the traveling motor is started.
  • the cleaning trolley travels along the main track toward the end point to the water locating pin, and the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor generates photoelectricity. Convert and transfer the converted electrical signal to the control part, the cleaning car stops walking, the electric push rod pushes the water intake male connector upward, connects with the water-stop joint to take water, cleans the photovoltaic module to the set time, the electric push rod descends, takes the water public The joint is disconnected from the waterstop connector.
  • step 1 the cleaning trolley travels to the water locating needle.
  • the traveling motor reverses, the cleaning trolley moves toward the starting point, and the cleaning motor on the gantry operates and/or When the water spray pipe sprays water, the photoelectric sensor loses power. After walking to the set time, the traveling motor rotates forward and walks toward the end point.
  • the hose with the wire is released; during the walking toward the end point, the hose with the wire is taken up.
  • the electromagnetic pick-up and splitter is disconnected from the coiled trolley during the walking of the cleaning trolley toward the starting point.
  • the cleaning method steps are as follows:
  • Step 1 The fully automatic mobile water-saving photovoltaic module cleaning device stops at the starting point, and when the preset cleaning time is up (generally in the evening, controlled by the time switch), the electric circuit in the trolley is powered on;
  • Step 2 The electric motor of the fully automatic mobile water-saving photovoltaic module cleaning device is powered on, and the traveling motor starts, and is in a forward rotation state, and walks toward the end point;
  • the NPN photoelectric sensor When walking to the first water intake point, the NPN photoelectric sensor operates and enters the cleaning state. In the first stage, seven linkages are made: a. The electric push rod motor is energized instantaneously and mechanically maintained, and the water intake joint is lifted up and the water supply mother pipe is lifted. The connection of the stop valve is completed, and the water is taken; b.
  • the electromagnetic suction device loses power, and the coiled trolley is separated from the water intake assembly as a box; c, after 2 seconds delay, the walking motor starts and walks toward the starting point; d, after 2 seconds delay, the water control solenoid valve opens to enter the water spray state; e, after 2 seconds delay, the cleaning motor installed on the gantry enters the forward and reverse rotation cleaning state; f, delay 1 second to disconnect the NPN photoelectric sensor Output contact; g, delay 2 seconds after the coil motor is powered, the motor is in the state of the tube, the length of the hose depends on the situation, generally take about 20 meters;
  • the line When the line reaches the setting range (can be set as physical or time), enter the second stage of cleaning state, and make the following linkage: a, the running motor stops, and then walks toward the end point; b, the coil motor reverses, the motor is in the take-off status;
  • the micro switch mounted on the device operates and performs six linkages: a, the electromagnetic cleaning device and the water intake assembly are sucked; b, the electric push The rod motor is energized instantaneously, reversely acting and mechanically maintained, separating the water intake joint from the stop valve on the water supply main pipe; c, the water control solenoid valve is de-energized; d, the rotary cleaning motor is de-energized; e. The coil motor loses power and stops; f, NPN photoelectric sensor resumes normal operation;
  • Step 3 After the last water intake point is completed, the cleaning device continues to move forward. When the cleaning device reaches the end point, the end point of the end of the trolley is installed close to the switch action, and the following linkage is performed: a. Return control of the traveling motor Signal, the motor reverses walking until it reaches the starting point position; b, disconnects the NPN photoelectric sensor power line contact, so that the NPN photoelectric sensor does not work during the return journey of the car;
  • Step 4 When the car returns to the starting point, the initial proximity switch action is installed on the side of the starting point of the car, and the following linkage is performed: a, the NPN photoelectric sensor power line contact is restored; b, the external power supply and the built-in 12V battery is sucked, the battery enters a charging state; c, the water spray motor connected to the normally closed contact and the traveling motor lose power, and the motor stops running;
  • Step 5 After a cleaning is completed, the total power time switch is turned off, the related control function is in the reset state, the device enters the sleep state, and waits for the next duty cycle.
  • the water spray motor performs forward rotation and reverse rotation according to the setting procedure and time, and drives the rotary joint to perform forward rotation and reverse rotation.
  • the configuration of 1 to N electronically controlled valves By controlling the configuration of 1 to N electronically controlled valves, the nozzles of each nozzle are flushed within the preset cleaning range according to the program and water injection time requirements.
  • the method of rinsing the effluent depends on the installation method of the PV module. It can be swung directly from the front to the right or left, or it can be washed upwards and left in the rain.
  • the cleaning device When the cleaning device is installed above the side, it can swing the impact cleaning downwards to the left or right, or it can be combined with the impact type and the rain type according to the circumferential rotation; 1 to N universal nozzles (depending on the cleaning width, N is generally taken 2-5) The direction of the water outlet is different. Each nozzle is responsible for the area of a certain width in front of it, and its length area is rotated. The amplitude of the swing is determined by the water pressure. When 1 to N nozzles are flushed in sequence, the cleaning of a certain unit in the area is completed; after the running motor is powered, the rolling wheel is rotated by the driving teeth, from the starting point to the working end direction. Walk, stop at the water point and stop the PV unit.
  • the NPN photoelectric sensor sends a water intake signal and performs the following linkage; the traveling motor stops before going;
  • the electromagnet is instantaneously pushed up with the quick water intake male connector and the suction cup electromagnet; the suction cup electromagnet is energized and then sucks and closes the jellyfish joint.
  • the water in the main rail is sent to the small parent tube through the quick joint to the water tank inside the pipe box. .
  • Each electromagnetic water valve is opened and discharged according to the procedure and time. When the electromagnetic water valve completes a round of cleaning and water discharge, it automatically resets, the running motor starts, and the next round of cleaning work is continued. Repeat the above cleaning work, the cleaning device can walk and clean over a long distance.
  • the mobile cleaning trolley can greatly improve the equipment utilization rate and reduce the one-time input cost of the equipment; the distributed installation on the spot can play the cleaning effect of the fixed cleaning device; the conventional dispersion
  • the local nozzle is concentrated in the box body, the system is simpler, the pipe consumption is greatly reduced; the cleaning water can be allocated according to the program reasonably, and the utilization rate of the cleaning water can be improved; according to the relative position of the track and the photovoltaic module, the rotating nozzle can swing left and right, and can be rotated circumferentially.
  • the water outlet method is flexible and diverse. The direction of the water can be straight or rain. Rain-fighting cleaning is better for PV modules installed in a near-tiled manner.
  • the rain-fighting cleaning method is characterized by artificially manufacturing a short-term extraordinarily heavy rain in a small area, and scouring the surface of the photovoltaic module in the set area without blind spots.
  • the cleaning method uses a water pressure to flush a sufficient amount of water to a sufficient height through a multi-way valve control device, and then the large particle water droplets uniformly hit the surface of the photovoltaic panel in a free fall manner, so that the surface of the photovoltaic panel is peeled off, and the water is removed. .
  • the direct flush automatic cleaning method can also achieve the flushing effect of the artificial water gun.
  • the track is set to move the cleaning device, and the track length is determined according to the arrangement and requirements of the photovoltaic module.
  • a plurality of water-stop joints are arranged on the main rail as water intake ports to avoid the use of large equipment to install washing water; the water receiving signal is automatically set, and the degree of automation is high.
  • the water source fixed on the pipeline is automatically occluded by the upper and lower water intake devices, and automatically receives water to the small mother tube of the cleaning device as cleaning water; the whole device starts, walks, takes water, cleans, resets, and constantly Cycle to the end point until you return to the starting point and then recharge, all according to the program settings, no manual intervention.
  • the non-contact close-range flushing can be performed through the spray pipe on the gantry; the bypass nozzle can be used for close-range flushing; in the non-aqueous state, the brush can be cleaned by the motor.
  • Contact cleaning dry cleaning
  • contact cleaning combined with close proximity cleaning.
  • the electric brush can simultaneously spray water through the micro water nozzle above the electric brush during the rotary cleaning process, which can well remove the deep ash accumulation on the surface of the photovoltaic module. It belongs to a kind of cleaning device with ultra low water consumption. This cleaning device is particularly suitable for severely water-stressed areas.
  • the device is composed of a water intake component, a coiled trolley and a cleaning mechanism, and the water is taken by the cleaning mechanism in the rail.
  • separation and suction can be realized, and the hose is extended and contracted by the moving, thereby realizing long-distance water intake and using water to clean the photovoltaic module during the moving process.
  • the long-distance contact rotary cleaning combined with water cleaning is a breakthrough in the cleaning method and cleaning quality of the photovoltaic module cleaning field.
  • Embodiment 1 is a process flow diagram of a fully automatic rail-type photovoltaic module cleaning trolley provided in Embodiment 1;
  • Figure 2 is a partial structural view of Figure 1;
  • FIG 3 is a structural view of a fully automatic rail type photovoltaic module cleaning trolley provided in the second embodiment.
  • the fully automatic rail type photovoltaic module cleaning trolley provided by the embodiment includes clearing The washing machine body, the main rail 9 and the auxiliary rail 32, the cleaning cart body slides between the main rail 9 and the auxiliary rail 32, and the bottom of the cleaning cart body is provided with a limit rolling device 31, and the limit rolling device 31 is preferably a card slot. At least part of the auxiliary rail 32 is located inside the card slot, and the card slot and the auxiliary rail 32 together limit the movement path of the cleaning trolley to prevent the cleaning trolley from swinging left and right. Both ends of the main rail 9 are provided with a bent portion facing the auxiliary rail 32, and the inner sides of the two bent portions are respectively provided with a starting point sensing position and an ending sensing position.
  • the cleaning vehicle body comprises a valve control device, a traveling mechanism, a water intake mechanism and a control part;
  • the valve control device comprises a tank body 1 in which a water spray motor 13 , a water jet motor shaft gear 14 , a rotating shaft gear 15 and a shaft are arranged.
  • the water spray motor 13 is connected to the rotary shaft gear 15 via the water spray motor output shaft gear 14 for driving the rotary joint 18, thereby controlling the water discharge path of the universal spray head 16.
  • the traveling mechanism includes a walking bracket 2, a bearing 3, a traveling shaft 4, a traveling wheel 5, a moving shaft gear 6, a traveling motor shaft gear 7, a traveling motor 8, and a main rail 9; the traveling bracket 2 is disposed on an outer side of the upper portion of the casing 1.
  • the traveling motor 8 is connected to the traveling motor shaft gear 7, the traveling motor shaft gear 7 is meshed with the moving shaft gear 6, the moving shaft gear 6 is disposed on the traveling shaft 4, the traveling shaft 4 is disposed on the traveling bracket 2, and the traveling shaft 4 is located
  • the bearing 3 at both ends is rotatably connected with the walking bracket 2, and the traveling wheel 5 is disposed in the middle of the traveling shaft 4, and the main rail 9 is movably connected under the traveling wheel 5; the traveling motor drives the traveling shaft 4, and the traveling wheel 5 drives the cleaning carriage body along the main rail 9 slide.
  • the main rail 9 is a hollow structure, and the main rail 9 is in communication with a water source.
  • the water taking mechanism includes a water-stop joint 10, a walking groove 11, a photoelectric sensor 12, a water locating pin 22, a water suction cup magnet 23, a water take-up joint 24, a push-pull electromagnet 25, a water receiving hose 26, a photoelectric sensor 12, and a push-pull type.
  • the electromagnet 25 and the water suction cup electromagnet 23 are located at the upper portion of the inner side wall of the casing 1, and the water suction cup electromagnet 23 is provided with the water intake male connector 24.
  • the upper part of the casing 1 is provided with a walking groove 11 which is located directly below the main rail 9.
  • the water suction cup electromagnet 23 and the water intake male joint 24 are disposed in the walking groove 11, and the jellyfish joint 10 is located outside the lower part of the main rail 9.
  • one end of the water intake male connector 24 passes through the traveling groove 11 and communicates with the waterstop joint 10 to take water.
  • the other end of the water intake male connector 24 communicates with the small mother pipe 21 of the valve control device through the water receiving hose 26.
  • the control portion includes an electrical controller 27, a charging interface 28, a battery 29, an external charging device 34, and a charging electromagnetic chuck 38.
  • the charging electromagnetic chuck 38 is disposed outside the charging interface 28.
  • the charging electromagnetic chuck 38 is sucked by the external charging device 34 and charged by the charging interface 28 for the battery 29 disposed in the casing 1.
  • the casing 1 is provided with an electric controller 27, and the electric controller 27 controls the entire provided by the present invention.
  • the automatic orbital photovoltaic module cleans the opening and closing of the trolley circuit.
  • the end of the box 1 near the end point is equipped with an end point proximity switch 33 and an end point sensing position 36.
  • the other side of the box body 1 near the starting point is provided with an initial proximity switch 30 and an initial sensing position 35 for sensing the starting point respectively. And the end point.
  • the cleaning trolley stops at the starting point, and when the preset cleaning time is up (generally in the evening, controlled by the time switch), the circuit of the cleaning trolley is powered on;
  • the photoelectric sensor in this embodiment is an NPN photoelectric sensor, inductively taking water positioning needle, and making the following linkage: a, the walking motor stops walking; b, the water suction cup electromagnet 23 After 2 seconds of electric return, the impact of the water inlet male connector is up; c, the water suction cup electromagnet is energized, and the water intake male connector and the water source through the jellyfish joint are connected to take water; d, the electromagnetic water valve operates in accordance with a preset program and Flushing.
  • the relevant control module automatically resets; the water suction cup electromagnet loses power and returns to the position, the traveling motor is energized, and continues to the next water locating needle. After the arrival, the above working procedure is repeated until the end is completed. Cleaning work at a water locating needle;
  • the track car continues to move forward.
  • the walking car goes to the end point, the end point installed on the end of the car is close to the switch action, and the following linkage: a, the walking motor The return control signal is obtained, the traveling motor reverses walking, and the reverse walking state is maintained to the starting point position; b, the photoelectric sensor is powered off, and the photoelectric sensor does not work during the cleaning of the trolley return stroke.
  • the initial proximity switch action is installed on the side of the starting point of the car, and the following linkage is performed: a, the photoelectric sensor is energized, ready for the next cycle of operation; b, charging electromagnetic The suction cup is in contact with the external charging device, and the 12V battery enters the charging state; c, the water spray motor and the traveling motor lose power, the motor stops running, and the battery is automatically reset after the charging is completed;
  • the clean water entering the main rail 9 is clean softened water, one or several of river water, river water, rain water and deep well water, etc. It can be used as a water source for cleaning softened water.
  • the original water pump pressurizes the water in the water source and then selectively passes the material filter according to the water quality of the water source to filter the minerals, soften the water device, further soften the water, mineral content and softening degree.
  • the water that meets the standard can enter the water storage tank as a buffer, or directly pass the secondary water pump through the check valve to increase the water pressure to about 0.4 MPa, wherein the check valve prevents the water source from flowing backward.
  • the water pressurized to 0.4 MPa can be selectively introduced into the relay water pump according to the water pressure, and the water pressure is further pressurized to 0.6 MPa or more, and the water pressure, the mineral content and the softening degree are all delivered to the photovoltaic module water pipe network. Such as the main track.
  • the fully automatic rail-type photovoltaic module cleaning trolley provided in this embodiment includes a cleaning trolley body, a main rail 9 and an auxiliary rail 32.
  • the main rail 9 and the auxiliary rail 32 are respectively located on both sides of the photovoltaic module, and the cleaning vehicle body is cleaned.
  • the main rail 9 and the auxiliary rail 32 are slid by the contact at the top thereof.
  • the cleaning cart body comprises a water taking mechanism, a box body 7 and a cleaning mechanism.
  • a water taking mechanism On the lower outer side wall of the main rail 9, two through-water joints 10 and two water-removing locating pins 22 are provided, which are respectively recorded as a water-feeding joint.
  • the water intake mechanism and the tank 7 are connected by a water receiving hose 26, wherein the water receiving hose 26 is a leaded hose; the photoelectric sensor 12 is disposed on the upper left side of the water taking mechanism; on the main rail 9 and the auxiliary rail 32
  • a gantry 48 is provided, and the gantry 48 is fixedly coupled to the casing 7, and the gantry 48 is slidable along the main rail 9 and the auxiliary rail 32.
  • the water taking mechanism comprises a water intake component passive roller 54, an electric push rod 25 and a water take-up male joint 24, and a water take-off male joint is arranged inside the water take-up mechanism, and the bottom end of the water take-off male joint 24 communicates with the leaded wire hose 26, and the water intake male joint 24
  • the track 9 passes through the water take-up assembly passive roller 54, and the water take-up mechanism slides along the main track 9 through the water take-up assembly passive roller 54.
  • the box body 7 includes a belt hose 26, two electromagnetic suction and separators 40, a hose positioning wheel 41, an electromagnetic water valve 20, a coiler 42, a battery 29, and an electrical controller 27 (ie, a PLC control board).
  • the electric retractable wheel 43 and the electric control valve 56 are provided with a coiler 42, a hose positioning wheel 41, an electric retractable wheel 43, a battery 29 and a PLC control board 27 on the inner side of the casing 7, and the coiler 42 is wound on the upper side.
  • There is a wire hose 26 having one end connected to the bottom end of the water intake male connector 24, and the other end of the wire hose 26 connected to the electric control valve 56, and a wire hose at the upper end of the electronic control valve 56.
  • 26 is provided with electromagnetic water valve 20 and straight flushing nozzle 49; on the right side of the casing 7 is provided with two electromagnetic suction and separator 40; on the right side of the bottom end of the casing 7 is provided with an end point proximity switch 33; On the left side of the bottom end of the casing 7, an initial proximity switch 30 is provided, the left side of the casing 7 is close to the starting position, and the right side is close to the ending position.
  • a micro switch 53 is provided on the right side of the upper end of the casing 7 for controlling circuit breaking and closing at the end point.
  • the cleaning mechanism includes a gantry 48 to which the gantry 48 is fixedly coupled, and the gantry 48 is slidable along the main rail 9 and the auxiliary rail 32.
  • the gantry wheel 3 and the gantry wheel 4 slide along the main track 9 and the auxiliary track 32.
  • the lower part of the gantry is provided with two rows of water spray pipes 59.
  • the outer side wall of the spray water pipe 59 facing the photovoltaic module is provided with a water spray head 16 and a cleaning motor 52 for cleaning dust on the surface of the photovoltaic module.
  • the cleaning trolley is parked at the starting position, the box is at the starting position, the starting mechanism is located on the side of the box near the end position, and the preset cleaning time is up (generally in the evening, controlled by the time control switch), cleaning Powering up the circuit inside the car;
  • the embodiment adopts the NPN photoelectric sensor to enter the cleaning state, and the first stage performs the following linkage: a, the electric push rod motor instantaneously energizes and mechanically holds, takes water The male connector is connected to the water supply female pipe on the water supply main pipe to complete the water intake; b, the electromagnetic absorption and the separator are de-energized after 2 seconds delay, the box body is separated from the water intake mechanism; c, the delay is 2 seconds after walking The motor starts and walks toward the starting point; d, after 2 seconds delay, the electromagnetic water valve opens to enter the water spray state; e, after 2 seconds delay, the cleaning motor installed on the gantry enters the forward and reverse rotation cleaning state; f, delay The output contact of the 1 second NPN photoelectric sensor is disconnected; g, the coil motor is energized after 2 seconds delay, the coiler is in the state of the discharge tube, and the length of the hose with the wire is not the content claimed in the present invention, and can be
  • the line When the line reaches the setting range (can be set as physical or time), enter the second stage of the cleaning state, and make the following linkage: a, the walking motor stops after walking to the end direction; b, the coil motor reverses, the coiler is at Received status.
  • the setting range can be set as physical or time
  • the micro switch installed on the device operates and performs the following linkages: a, the electromagnetic attraction and the separator are powered, and the box and the water intake mechanism are coupled; b.
  • the electric push rod motor is energized instantaneously, reverse action and mechanical maintenance, separating the water intake male connector and the waterstop joint; c, the electromagnetic water valve is de-energized; d, the rotary cleaning motor loses power and stops; e, coil The motor loses power and stops; f, NPN photoelectric sensor resumes normal operation.
  • the cleaning device continues to move forward.
  • the end point of the end of the trolley is installed close to the switch action, and the following linkages are made: a, NPN The photoelectric sensor power line contact is disconnected, the NPN photoelectric sensor does not work during the return stroke of the trolley; b, the traveling motor obtains the return control signal, the traveling motor reverses walking, and keeps the reverse walking state until the starting point position;

Landscapes

  • Cleaning In General (AREA)

Abstract

La présente invention décrit un chariot entièrement automatique à chenilles destiné au nettoyage d'ensemble photovoltaïque, comprenant un mécanisme de marche, un dispositif d'entrée d'eau et une pièce de commande. La pièce de commande est électriquement connectée respectivement au mécanisme de marche et au mécanisme d'entrée d'eau, et le mécanisme de marche entraîne le mécanisme d'entrée d'eau et la pièce de commande pour se déplacer le long d'une piste principale (9) qui se trouve en communication avec une source d'eau. Est en outre décrit un procédé de nettoyage destiné au chariot de nettoyage, comprenant les étapes de nettoyage de : étape 1, mise sous tension d'un circuit électrique du chariot de nettoyage, démarrage d'un moteur de marche, le chariot de nettoyage se déplaçant dans le sens d'un point d'extrémité d'une goupille de positionnement d'entrée d'eau (22) le long de la piste principale (9), l'arrêt de la marche du chariot de nettoyage, la prise d'eau, et le chariot de nettoyage nettoyant l'ensemble photovoltaïque ; étape 2, le chariot de nettoyage se déplaçant vers la prochaine goupille de positionnement d'entrée d'eau, et la répétition de la procédure d'entrée d'eau et de nettoyage telle que décrite dans l'étape 1 ; et l'étape 3, la fin du nettoyage, ou la répétition de l'étape 2 jusqu'à ce que la procédure d'entrée d'eau et de nettoyage au niveau de la dernière goupille de positionnement d'entrée d'eau soit terminée. Le dispositif de nettoyage est capable de se déplacer automatiquement le long d'une piste et d'identifier un point d'entrée d'eau et de prélever de l'eau, réduit les coûts, et est capable de commander automatiquement une procédure de distribution raisonnable d'eau de nettoyage, améliorant de là l'efficacité de l'eau de nettoyage.
PCT/CN2017/076529 2016-03-14 2017-03-14 Chariot entièrement automatique à chenilles destiné au nettoyage d'ensemble photovoltaïque et procédé de nettoyage associé WO2017157269A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201610140903.9A CN105710065B (zh) 2016-03-14 2016-03-14 全自动轨道式光伏组件清洗小车及其清洗方法
CN201610140903.9 2016-03-14
CN201610883785.0A CN106345778B (zh) 2016-09-29 2016-09-29 一种全自动移动式节水型光伏组件清洁装置及其清洁方法
CN201610883785.0 2016-09-29

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CN107716501A (zh) * 2017-11-08 2018-02-23 天津温纳科技有限公司 一种适用于错位光伏板的清扫机器人
CN108262278A (zh) * 2017-12-22 2018-07-10 中民新科（北京）能源技术研究院有限公司 一种光伏组件清扫设备及自主规划清扫策略的方法
CN109048672A (zh) * 2018-08-30 2018-12-21 无锡职业技术学院 一种吹油机装置及其控制方法
CN110476821A (zh) * 2019-08-23 2019-11-22 广州叶鱼农业生态科技发展有限公司 一种清洗机器人
CN110676922A (zh) * 2019-10-22 2020-01-10 南通大学 光伏组件清扫机器人接触式光储快速充电系统及方法
CN108566153B (zh) * 2018-04-19 2020-06-26 芜湖腾飞信息科技有限公司 一种光伏电站自清洁装置
CN111404474A (zh) * 2020-03-24 2020-07-10 安徽海螺新能源有限公司 一种根据太阳能组件表面污损程度自动清洗装置
CN112340195A (zh) * 2020-10-29 2021-02-09 江苏恒强新型建材有限公司 一种带有自动清洗功能的新材料生产加工用储放箱
CN112466235A (zh) * 2020-12-03 2021-03-09 丰城市玉华山富硒高山茶业有限公司 一种基于乡村旅游开发的策划展板
CN113073592A (zh) * 2021-04-22 2021-07-06 贵州省公路开发有限责任公司黔南营运管理中心 一种隧道反光环清洁装置
CN113428606A (zh) * 2021-05-24 2021-09-24 胡志勇 一种肉类加工传输带自动清洗装置
CN114448343A (zh) * 2021-12-31 2022-05-06 汉摩尼(江苏)光电科技有限公司 一种用于极端环境的自清洁光伏发电设备及其工作方法
CN115815237A (zh) * 2022-08-24 2023-03-21 北京白象新技术有限公司 一种全自动补偿对接偏差的内窥镜清洗消毒器
CN116165046A (zh) * 2023-04-20 2023-05-26 天津仁爱学院 一种发动机高压油管损伤位置定位机构

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CN105710065A (zh) * 2016-03-14 2016-06-29 汤耀庆 全自动轨道式光伏组件清洗小车及其清洗方法
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CN107716501A (zh) * 2017-11-08 2018-02-23 天津温纳科技有限公司 一种适用于错位光伏板的清扫机器人
CN107716501B (zh) * 2017-11-08 2023-09-05 天津温纳科技有限公司 一种适用于错位光伏板的清扫机器人
CN108262278A (zh) * 2017-12-22 2018-07-10 中民新科（北京）能源技术研究院有限公司 一种光伏组件清扫设备及自主规划清扫策略的方法
CN108262278B (zh) * 2017-12-22 2023-05-16 中民新科（北京）能源技术研究院有限公司 一种光伏组件清扫设备及自主规划清扫策略的方法
CN108566153B (zh) * 2018-04-19 2020-06-26 芜湖腾飞信息科技有限公司 一种光伏电站自清洁装置
CN109048672B (zh) * 2018-08-30 2024-04-19 无锡职业技术学院 一种吹油机装置及其控制方法
CN109048672A (zh) * 2018-08-30 2018-12-21 无锡职业技术学院 一种吹油机装置及其控制方法
CN110476821A (zh) * 2019-08-23 2019-11-22 广州叶鱼农业生态科技发展有限公司 一种清洗机器人
CN110676922A (zh) * 2019-10-22 2020-01-10 南通大学 光伏组件清扫机器人接触式光储快速充电系统及方法
CN110676922B (zh) * 2019-10-22 2022-04-29 南通大学 光伏组件清扫机器人接触式光储快速充电系统
CN111404474A (zh) * 2020-03-24 2020-07-10 安徽海螺新能源有限公司 一种根据太阳能组件表面污损程度自动清洗装置
CN111404474B (zh) * 2020-03-24 2023-05-23 安徽海螺新能源有限公司 一种根据太阳能组件表面污损程度自动清洗装置
CN112340195A (zh) * 2020-10-29 2021-02-09 江苏恒强新型建材有限公司 一种带有自动清洗功能的新材料生产加工用储放箱
CN112466235A (zh) * 2020-12-03 2021-03-09 丰城市玉华山富硒高山茶业有限公司 一种基于乡村旅游开发的策划展板
CN112466235B (zh) * 2020-12-03 2022-09-20 丰城市玉华山富硒高山茶业有限公司 一种基于乡村旅游开发的策划展板
CN113073592A (zh) * 2021-04-22 2021-07-06 贵州省公路开发有限责任公司黔南营运管理中心 一种隧道反光环清洁装置
CN113073592B (zh) * 2021-04-22 2023-07-18 贵州省公路开发有限责任公司黔南营运管理中心 一种隧道反光环清洁装置
CN113428606B (zh) * 2021-05-24 2023-08-22 凤凰县天源传统食品有限公司 一种肉类加工传输带自动清洗装置
CN113428606A (zh) * 2021-05-24 2021-09-24 胡志勇 一种肉类加工传输带自动清洗装置
CN114448343A (zh) * 2021-12-31 2022-05-06 汉摩尼(江苏)光电科技有限公司 一种用于极端环境的自清洁光伏发电设备及其工作方法
CN115815237A (zh) * 2022-08-24 2023-03-21 北京白象新技术有限公司 一种全自动补偿对接偏差的内窥镜清洗消毒器
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