WO2018010508A1 - Cleaning device and photovoltaic array - Google Patents

Cleaning device and photovoltaic array Download PDF

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Publication number
WO2018010508A1
WO2018010508A1 PCT/CN2017/087663 CN2017087663W WO2018010508A1 WO 2018010508 A1 WO2018010508 A1 WO 2018010508A1 CN 2017087663 W CN2017087663 W CN 2017087663W WO 2018010508 A1 WO2018010508 A1 WO 2018010508A1
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cleaning
cleaning device
disposed
base
active
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PCT/CN2017/087663
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French (fr)
Chinese (zh)
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吴伟功
庞云亭
吴桢涛
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北京天诚同创电气有限公司
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Priority to CN201610556734.7A priority Critical patent/CN107617616B/en
Priority to CN201610556734.7 priority
Application filed by 北京天诚同创电气有限公司 filed Critical 北京天诚同创电气有限公司
Publication of WO2018010508A1 publication Critical patent/WO2018010508A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/04Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B11/00Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
    • B08B11/04Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

Abstract

A cleaning device and a photovoltaic array. The cleaning device comprises: a traveling mechanism (4), comprising a base (41) and a traveling part (42) which is provided on the base (41) and drives the base (41) to move on a surface to be cleaned; and a cleaning mechanism (6), which is provided on the base (41) and comprises a cleaning part (61) and an adjusting part (62) for driving the cleaning part (61) to conduct reciprocating movement along an adjustment direction. The cleaning device can achieve a good cleaning effect.

Description

清洁装置及光伏阵列Cleaning device and photovoltaic array
本申请要求于2016年07月14日提交中国专利局、申请号为201610556734.7、发明名称为“清洁装置及光伏阵列”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。The present application claims priority to Chinese Patent Application No. 20161055673, filed on Jun.
技术领域Technical field
本发明涉及清洁设备领域,尤其涉及一种清洁装置及光伏阵列。The invention relates to the field of cleaning equipment, and in particular to a cleaning device and a photovoltaic array.
背景技术Background technique
光伏电站是指用光伏电池板进行发电的电站。通常光伏电站包括多个光伏阵列,每个光伏阵列内包括多个光伏电池板组,每个光伏电池板组中包括多个光伏电池板。相邻光伏电池板组之间可能出现表面不平而造成光伏电池板组之间有坡度的问题。A photovoltaic power station is a power station that uses photovoltaic panels to generate electricity. Generally, a photovoltaic power plant includes a plurality of photovoltaic arrays, each of which includes a plurality of photovoltaic panel groups, and each of the photovoltaic panel groups includes a plurality of photovoltaic panels. There may be surface unevenness between adjacent photovoltaic panel groups, causing a problem between the photovoltaic panel groups.
对于光伏电站来说,发电效率是影响其实际收益的关键指标。随着国内光伏电站规模的不断扩大,发电成本的严格控制,人们对于发电效率的要求也越来越苛刻。为了提升发电效率,从应用产品层和运行维护层均作了相应的技术改进与革新。For photovoltaic power plants, power generation efficiency is a key indicator affecting their actual revenue. With the continuous expansion of the scale of domestic photovoltaic power plants and the strict control of power generation costs, people's requirements for power generation efficiency are becoming more and more demanding. In order to improve power generation efficiency, corresponding technical improvements and innovations have been made from the application product layer and the operation and maintenance layer.
就运行维护而言,光伏电站中电池板的清洁程度对发电效率和光伏组件寿命的影响是巨大的。根据相关文献研究4g/m2的灰尘堆积使得光伏组件电能输出效率锐降60%。更有甚者,鸟类粪便、树叶、动物攀爬遗迹等大块不透光的污染物覆盖在光伏组件上会产生热斑效应,导致光伏组件局域高温直至烧毁报废。In terms of operation and maintenance, the degree of cleanliness of the panels in the photovoltaic power plant has a huge impact on the power generation efficiency and the life of the photovoltaic modules. According to the relevant literature, the dust accumulation of 4g/m 2 makes the photovoltaic module power output efficiency drop by 60%. What's more, large opaque contaminants such as bird droppings, leaves, and animal climbing remnants can cause hot spot effects on photovoltaic modules, causing high temperature localization of photovoltaic modules until they are burned and scrapped.
因而及时清洁光伏组件的表面,确保发电效率成为迫切的需求。现有技术中能够进行光伏组件清洁的装置存在以下几个问题:清洁装置的刷轴位置固定、其行走机构采用带传动、链传动或独立滚轮传递牵引力。由于光伏电站建设过程中,电池板阵列间的安装误差,使阵列间出现较大的垂直落差与水平落差。现有技术受结构限制会在通过阵列间的过度导轨时出现机械卡阻,无法完成清洁任务。Therefore, it is an urgent need to clean the surface of the photovoltaic module in time to ensure power generation efficiency. The prior art device capable of cleaning a photovoltaic module has the following problems: the brush shaft of the cleaning device is fixed in position, and the traveling mechanism uses a belt drive, a chain drive or a separate roller to transmit traction. Due to the installation error between the arrays of photovoltaic panels during the construction of the photovoltaic power plant, large vertical drop and horizontal drop between the arrays occur. The prior art is subject to structural limitations that can cause mechanical jamming when passing through excessive rails between the arrays, failing to complete the cleaning task.
此外,清洁装置的取电方式都较为复杂,例如,采用电缆直接供电方式的清洁装置将产生大量的布线安装费用。采用市电为充电电池供电又面临电池频繁拆卸,人员工作量大,电站处取电困难等问题。这样的 技术在应用上增加了光伏电站的投建成本,同时也增大了光伏电站建设和运维管理的复杂程度。In addition, the cleaning method of the cleaning device is complicated, for example, a cleaning device that uses a direct cable power supply method will generate a large amount of wiring installation costs. The use of utility power to supply rechargeable batteries is subject to frequent demolition of batteries, large workload, and difficulty in taking power at the power station. Such Technology has increased the cost of construction and construction of photovoltaic power plants, and it has also increased the complexity of photovoltaic power plant construction and operation and maintenance management.
发明内容Summary of the invention
本发明提供一种清洁装置及光伏阵列,以解决光伏电池板清洁效率低的问题。The invention provides a cleaning device and a photovoltaic array to solve the problem of low cleaning efficiency of the photovoltaic panel.
为达到上述目的,本发明的实施例提供一种清洁装置,其包括:行走机构,行走机构包括基座和设置在基座上并带动基座沿需清洁面移动的行走部;清洁机构,清洁机构设置在基座上,且包括清洁部和驱动清洁部沿调节方向往复运动的调节部。In order to achieve the above object, an embodiment of the present invention provides a cleaning device including: a traveling mechanism including a base and a walking portion disposed on the base and driving the base to move along the cleaning surface; a cleaning mechanism, cleaning The mechanism is disposed on the base and includes a cleaning portion and an adjustment portion that drives the cleaning portion to reciprocate in the adjustment direction.
进一步地,调节部包括:调节驱动件,调节驱动件与清洁部固定连接;调节传动组件,调节传动组件连接在调节驱动件与基座之间,且在调节驱动件的驱动下使调节驱动件沿调节方向往复地相对基座移动。Further, the adjusting portion includes: an adjusting driving member, the adjusting driving member is fixedly connected with the cleaning portion; adjusting the transmission assembly, the adjusting transmission assembly is connected between the adjusting driving member and the base, and the adjusting driving member is driven by the adjusting driving member Reciprocatingly moves relative to the base in the adjustment direction.
进一步地,调节传动组件包括:调节齿轮,调节齿轮设置在调节驱动件上,并随调节驱动件的输出轴转动;调节齿条,调节齿条设置在基座上,且调节齿条的延伸方向为调节方向。Further, the adjustment transmission assembly includes: an adjustment gear disposed on the adjustment drive member and rotating with the output shaft of the adjustment drive member; adjusting the rack, adjusting the rack on the base, and adjusting the extending direction of the rack To adjust the direction.
进一步地,清洁部包括:清洁安装座,清洁安装座沿调节方向可往复移动地设置在基座上,调节驱动件固定连接在清洁安装座上;清洁驱动件,清洁驱动件设置在清洁安装座上;清洁件,清洁件设置在基座上,并与清洁驱动件连接,在清洁驱动件的驱动下运动。Further, the cleaning portion includes: a cleaning mounting seat, the cleaning mounting seat is reciprocally disposed on the base in the adjusting direction, the adjusting driving member is fixedly connected to the cleaning mounting seat; the cleaning driving member is disposed, and the cleaning driving member is disposed in the cleaning mounting seat The cleaning member is disposed on the base and connected to the cleaning driving member and is driven by the cleaning driving member.
进一步地,清洁件为螺旋滚刷,清洁装置还包括设置在基座上并位于螺旋滚刷的两侧的防扬尘结构。Further, the cleaning member is a spiral roller brush, and the cleaning device further comprises an anti-dusting structure disposed on the base and located on both sides of the spiral roller brush.
进一步地,调节方向与需清洁面之间具有第一夹角,第一夹角为90°。Further, the adjustment direction has a first angle with the surface to be cleaned, and the first angle is 90°.
进一步地,行走部包括:主动行走单元,主动行走单元设置在基座上,且贴合需清洁面行走;辅助行走单元,辅助行走单元设置在基座上,且贴合辅助表面行走,辅助表面与需清洁面具有第二夹角。Further, the walking portion comprises: an active walking unit, the active walking unit is disposed on the base, and the cleaning surface is required to be attached; the auxiliary walking unit, the auxiliary walking unit is disposed on the base, and the auxiliary surface is engaged, the auxiliary surface It has a second angle with the surface to be cleaned.
进一步地,主动行走单元包括两个主动行走组件,两个主动行走组件一一对应地设置在基座的相对两侧上,各主动行走组件包括主动行走轮;辅助行走单元包括两个辅助行走组件,两个辅助行走组件与两个主动行走组件一一对应地设置,各辅助行走组件包括辅助行走轮,两个辅 助行走轮之间的中心距等于两个主动行走轮之间的中心距。Further, the active walking unit includes two active walking components, and two active running components are disposed on opposite sides of the base in one-to-one correspondence, each active running component includes an active traveling wheel; and the auxiliary walking unit includes two auxiliary walking components. Two auxiliary walking components are arranged in one-to-one correspondence with two active walking components, each auxiliary walking component includes an auxiliary walking wheel, and two auxiliary The center distance between the walking wheels is equal to the center distance between the two active wheels.
进一步地,主动行走组件还包括:主动行走驱动件,主动行走驱动件设置在基座上,与主动行走轮连接,并驱动主动行走轮转动;行走位置检测器,行走位置检测器设置在主动行走驱动件上,并根据检测位置控制主动行走驱动件工作或停止。Further, the active walking assembly further includes: an active traveling driving member, the active traveling driving member is disposed on the base, is connected with the active traveling wheel, and drives the active traveling wheel to rotate; the walking position detector, the walking position detector is disposed on the active walking The driving member is controlled to control the active running drive to work or stop according to the detected position.
进一步地,清洁装置还包括电池板检测器,电池板检测器设置在基座上,并检测被清洁电池板上的热斑和/或裂纹。Further, the cleaning device further includes a panel detector, the panel detector being disposed on the base and detecting hot spots and/or cracks on the panel being cleaned.
进一步地,清洁装置还包括机罩,机罩罩设在基座外,且机罩上设置有动力电池板。Further, the cleaning device further includes a hood, the hood is disposed outside the pedestal, and the hood is provided with a power panel.
进一步地,清洁装置还包括设置在被清洁物的第一端的放置架和设置在被清洁物的与第一端相对的第二端的清洁架,清洁架上设置有清洁刷。Further, the cleaning device further includes a placement frame disposed at the first end of the object to be cleaned and a cleaning frame disposed at a second end of the object to be cleaned opposite the first end, the cleaning frame being provided with a cleaning brush.
根据本发明的另一方面,提供一种光伏阵列,光伏阵列包括至少两个光伏电池板组,相邻两个光伏电池板组之间设置有连接导轨,上述的清洁装置设置在其中一个光伏电池板组上。According to another aspect of the present invention, a photovoltaic array is provided. The photovoltaic array includes at least two photovoltaic panel groups, and a connecting rail is disposed between two adjacent photovoltaic panel groups, and the above cleaning device is disposed in one of the photovoltaic cells. On the board set.
本发明的实施例的清洁装置的行走机构能够带动清洁装置自动移动,清洁机构的清洁部能够在移动过程中实现对需清洁面的自动清洁,调节部能够调节清洁部的位置,使清洁部始终与需清洁面接触,实现无死区清洁,确保清洁效率和清洁效果。The traveling mechanism of the cleaning device of the embodiment of the present invention can drive the cleaning device to automatically move, the cleaning portion of the cleaning mechanism can realize the automatic cleaning of the cleaning surface during the movement, and the adjusting portion can adjust the position of the cleaning portion, so that the cleaning portion is always Contact with the surface to be cleaned to achieve no dead zone cleaning, ensuring cleaning efficiency and cleaning results.
附图说明DRAWINGS
图1为本发明的实施例的具有清洁装置的第一种光伏阵列的立体结构示意图;1 is a schematic perspective view showing a first type of photovoltaic array having a cleaning device according to an embodiment of the present invention;
图2为本发明的实施例的具有清洁装置的第一种光伏阵列的俯视结构示意图;2 is a top plan view showing a first photovoltaic array having a cleaning device according to an embodiment of the present invention;
图3为本发明的实施例的具有清洁装置的第二种光伏阵列的立体结构示意图;3 is a schematic perspective view showing a second type of photovoltaic array having a cleaning device according to an embodiment of the present invention;
图4为本发明的实施例的清洁装置的主视局部剖视图;Figure 4 is a front elevational, partial cross-sectional view of the cleaning device of the embodiment of the present invention;
图5为本发明的实施例的清洁装置的行走机构的立体结构示意图;FIG. 5 is a schematic perspective structural view of a traveling mechanism of a cleaning device according to an embodiment of the present invention; FIG.
图6为图5中B处的局部放大图; Figure 6 is a partial enlarged view of a portion B in Figure 5;
图7为本发明的实施例的清洁装置的行走机构的俯视结构示意图;Figure 7 is a top plan view showing the traveling mechanism of the cleaning device according to the embodiment of the present invention;
图8为图7中A-A向剖视图;Figure 8 is a cross-sectional view taken along line A-A of Figure 7;
图9为本发明的实施例的清洁装置的清洁机构的立体结构示意图;Figure 9 is a perspective view showing the cleaning mechanism of the cleaning device of the embodiment of the present invention;
图10为图9中A处的放大图;Figure 10 is an enlarged view of a portion A in Figure 9;
图11为本发明的实施例的清洁装置的清洁机构的局部剖视结构示意图;Figure 11 is a partial cross-sectional structural view showing a cleaning mechanism of a cleaning device according to an embodiment of the present invention;
图12为本发明的实施例的清洁装置的清洁机构的局部剖视立体结构示意图;Figure 12 is a partial cross-sectional perspective view showing the cleaning mechanism of the cleaning device of the embodiment of the present invention;
图13为本发明的实施例的清洁装置的清洁机构的俯视结构示意图;Figure 13 is a top plan view showing the cleaning mechanism of the cleaning device according to the embodiment of the present invention;
图14为本发明的实施例的清洁装置的清洁架的立体结构示意图。Figure 14 is a perspective view showing the structure of a cleaning frame of a cleaning device according to an embodiment of the present invention.
具体实施方式detailed description
下面结合附图对本发明实施例的清洁装置和光伏阵列进行详细描述。The cleaning device and the photovoltaic array of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
如图1至图3所示,本实施例提供的清洁装置应用于对光伏电池板进行清洁,尤其适用于对多个光伏电池板组11的光伏阵列1进行自动清洁。在其他实施例中,此清洁装置还可以实现对其他较为平整的表面的自动清洁。As shown in FIG. 1 to FIG. 3, the cleaning device provided in this embodiment is applied to cleaning a photovoltaic panel, and is particularly suitable for automatically cleaning the photovoltaic array 1 of a plurality of photovoltaic panel assemblies 11. In other embodiments, the cleaning device can also achieve automatic cleaning of other relatively flat surfaces.
结合参见图4至图13,根据本发明的实施例,清洁装置包括行走机构4和清洁机构6。行走机构4包括基座41和设置在基座41上并带动基座41沿需清洁面移动的行走部42。基座41用于承载和安装其他部件。行走部42用于带动基座41及其上的部件移动,以实现自动行走和清扫。清洁机构6设置在基座41上,其包括清洁部61和驱动清洁部61沿调节方向往复运动的调节部62。调节部62用于调节清洁部61的位置,以确保清洁部61能够始终与需清洁面接触,实现无死区清洁,进而确保清洁效果,避免清洁不彻底造成的需要多次重复清洁的问题,提高清洁效率。4 to 13, in accordance with an embodiment of the present invention, the cleaning device includes a running mechanism 4 and a cleaning mechanism 6. The traveling mechanism 4 includes a base 41 and a running portion 42 that is disposed on the base 41 and that drives the base 41 to move along the cleaning surface. The base 41 is used to carry and mount other components. The walking portion 42 is used to drive the base 41 and the components thereon to move for automatic walking and cleaning. The cleaning mechanism 6 is disposed on the base 41 and includes a cleaning portion 61 and an adjustment portion 62 that drives the cleaning portion 61 to reciprocate in the adjustment direction. The adjusting portion 62 is used for adjusting the position of the cleaning portion 61 to ensure that the cleaning portion 61 can always be in contact with the surface to be cleaned, thereby achieving no dead zone cleaning, thereby ensuring the cleaning effect, and avoiding the problem of requiring repeated cleaning caused by incomplete cleaning. Improve cleaning efficiency.
需要说明的是,调节方向与需清洁面之间具有第一夹角。清洁部61用于清扫需清洁面(应用至清洁光伏阵列1时,需清洁面为光伏电池板组11的表面),调节方向与需清洁面之间具有第一夹角是指,调节方向不平行需清洁面。在本实施例中,第一夹角是90°。在其他实施例中,第 一夹角可以为其他任一锐角或钝角。It should be noted that the adjustment direction has a first angle with the surface to be cleaned. The cleaning portion 61 is used for cleaning the surface to be cleaned (the surface to be cleaned is the surface of the photovoltaic panel group 11 when applied to the cleaning photovoltaic array 1), and the first angle between the adjustment direction and the surface to be cleaned means that the adjustment direction is not Clean the surface in parallel. In this embodiment, the first included angle is 90°. In other embodiments, An angle can be any other acute or obtuse angle.
如图4和图5所示,行走机构4的基座41为矩形框结构,其由杆件拼接而成。具体地,基座41包括两个主梁411和两个连接梁412,连接梁412连接在两个主梁411之间。主梁411和连接梁412可以选用铝制型材等,在保证具有足够的结构强度的情况下尽量减小清洁装置的整体重量。这样一方面能够减少生产和运输成本,另一方面能够避免过重而压坏被清洁的设备。As shown in FIGS. 4 and 5, the base 41 of the traveling mechanism 4 has a rectangular frame structure which is formed by splicing the rods. Specifically, the base 41 includes two main beams 411 and two connecting beams 412 connected between the two main beams 411. The main beam 411 and the connecting beam 412 may be made of an aluminum profile or the like, and the overall weight of the cleaning device is minimized while ensuring sufficient structural strength. This on the one hand reduces production and transportation costs and on the other hand avoids over-stressing and crushing of cleaned equipment.
在其他实施例中,基座41可以是板体、块体或其他结构,只要能够实现承载功能即可。基座41也可以是构件焊接与紧固件相结合的连接方式。这样可以降低采购成本、制造成本。In other embodiments, the base 41 may be a plate, a block, or other structure as long as the load bearing function can be achieved. The base 41 can also be a combination of component welding and fasteners. This can reduce procurement costs and manufacturing costs.
另外,为了便于搬运清洁装置,在两个连接梁412上均设置有把手413。把手413为工作人员提供能够手持的空间,便于工作人员搬运清洁装置。当然,也可以在连接梁412上设置能够替代把手413的提供手持空间的结构。In addition, in order to facilitate the handling of the cleaning device, a handle 413 is provided on both connecting beams 412. The handle 413 provides a space for the worker to hold, facilitating the handling of the cleaning device by the worker. Of course, it is also possible to provide a structure for providing a hand-held space that can replace the handle 413 on the connecting beam 412.
行走部42用于带动清洁装置平稳可靠地在需清洁件上移动。行走部42包括主动行走单元和辅助行走单元。主动行走单元设置在基座41上,且贴合需清洁面行走。辅助行走单元设置在基座41上,且贴合辅助表面行走,辅助表面与需清洁面之间具有第二夹角。此处辅助表面与需清洁面之间具有第二夹角是指,辅助表面不平行于需清洁面。具体地,对于光伏电池板组11而言,其朝上的面为需清洁面,辅助表面指垂直于需清洁面的侧面。The running portion 42 is used to drive the cleaning device to move smoothly and reliably on the cleaning member. The walking portion 42 includes an active walking unit and an auxiliary walking unit. The active walking unit is disposed on the base 41 and is attached to the surface to be cleaned. The auxiliary walking unit is disposed on the base 41, and the abutting auxiliary surface travels, and the auxiliary surface and the surface to be cleaned have a second angle. Here, the second angle between the auxiliary surface and the surface to be cleaned means that the auxiliary surface is not parallel to the surface to be cleaned. Specifically, for the photovoltaic panel group 11, the upward facing surface is the surface to be cleaned, and the auxiliary surface refers to the side perpendicular to the surface to be cleaned.
应用于对光伏电池板组11清洁时,主动行走单元贴合光伏电池板组11的需清洁面行走;辅助行走单元贴合光伏电池板组11的侧壁面行走。侧壁面与需清洁面(光伏电池板组11的光伏电池板的感光面)之间的第二夹角通常为90°。当然,在其他实施例中,对于不同的被清洁件,其辅助表面和需清洁面之间的夹角可以是其他任一锐角或钝角。When the photovoltaic panel group 11 is cleaned, the active walking unit is attached to the required cleaning surface of the photovoltaic panel group 11; the auxiliary walking unit is attached to the side wall surface of the photovoltaic panel group 11 for walking. The second angle between the side wall surface and the surface to be cleaned (the photosensitive surface of the photovoltaic panel of photovoltaic panel stack 11) is typically 90°. Of course, in other embodiments, for different pieces to be cleaned, the angle between the auxiliary surface and the surface to be cleaned may be any other acute or obtuse angle.
另外,为了确保行走平稳和具有一定过坡能力,清洁装置的主动行走单元和辅助行走单元均为两个,且两个主动行走单元关于长度方向的垂线对称,两个辅助行走单元也关于长度方向的垂线对称。相对独立的 两个主动行走单元分别布置于基座41长度方向的两端,在结构上形成四轮驱动方式,使清洁装置的爬坡能力更强。In addition, in order to ensure smooth walking and a certain ability to over-slope, the active walking unit and the auxiliary walking unit of the cleaning device are two, and the two active walking units are symmetric about the longitudinal line in the longitudinal direction, and the two auxiliary walking units are also related to the length. The vertical line of the direction is symmetrical. Relatively independent The two active walking units are respectively disposed at two ends of the base 41 in the longitudinal direction, and a four-wheel drive mode is formed on the structure to make the climbing device more capable of climbing.
长度方向的垂线是指垂直于主梁411且平行于行走面的线。The vertical line in the longitudinal direction refers to a line perpendicular to the main beam 411 and parallel to the running surface.
当然,行走机构4使用时处于下部的主动行走单元可以不设置主动行走驱动件,可以减少使用的电机数目,降低成本,但相应地爬坡能力有所下降,其可以适用于水平坡度或垂直坡度较小的工况。Of course, the active walking unit in the lower part when the running mechanism 4 is used may not be provided with the active traveling driving member, which can reduce the number of motors used and reduce the cost, but the climbing ability is correspondingly reduced, which can be applied to the horizontal slope or the vertical slope. Smaller working conditions.
主动行走单元包括两个主动行走组件,两个主动行走组件一一对应地设置在基座41的相对两侧上。具体地,两个主动行走组件一一对应地设置在基座41的主梁411上。The active walking unit includes two active walking components, and the two active running components are disposed on opposite sides of the base 41 in a one-to-one correspondence. Specifically, the two active running components are disposed on the main beam 411 of the base 41 in a one-to-one correspondence.
具体地,主动行走组件包括主动行走轮421、主动行走驱动件422和行走位置检测器423。Specifically, the active walking assembly includes an active running wheel 421, an active running drive 422, and a walking position detector 423.
主动行走驱动件422设置在基座41上,与主动行走轮421连接,并驱动主动行走轮421转动。主动行走驱动件422包括电机、传动轴和轴承箱。电机通过传动轴和轴承箱与主动行走轮421连接,并实现带动主动行走轮421转动。轴承箱通过紧固件固定在主动轮安装梁上,主动轮安装梁固定在基座41的主梁411上。The active travel drive member 422 is disposed on the base 41, coupled to the active running wheel 421, and drives the active traveling wheel 421 to rotate. The active travel drive 422 includes a motor, a drive shaft, and a bearing housing. The motor is connected to the driving wheel 421 through the transmission shaft and the bearing housing, and realizes the rotation of the driving roller 421. The bearing housing is fixed to the driving wheel mounting beam by a fastener, and the driving wheel mounting beam is fixed to the main beam 411 of the base 41.
行走位置检测器423通过安装板设置在主动行走驱动件422的轴承箱上。在本实施例中,行走位置检测器423为接近开关,其检测清洁装置与止挡物(设置在光伏阵列边缘,并用于标示光伏阵列的边缘)之间的距离。清洁装置还包括控制箱10,控制箱10中的控制器接收行走位置检测器423传输的检测位置,并根据检测位置控制主动行走驱动件422工作或停止。例如,正常情况下,行走位置检测器423处于关断状态,控制箱10控制主动行走驱动件422的电机正常工作,清洁装置在光伏阵列上移动。当行走位置检测器423检测到止挡物时,证明行走到光伏阵列的边缘,控制箱10控制主动行走驱动件422的电机停止或执行往复运动,使清洁装置停止或反向运动。The travel position detector 423 is disposed on the bearing housing of the active travel drive member 422 through a mounting plate. In the present embodiment, the travel position detector 423 is a proximity switch that detects the distance between the cleaning device and the stop (disposed at the edge of the photovoltaic array and used to mark the edge of the photovoltaic array). The cleaning device further includes a control box 10 in which the controller in the control box 10 receives the detected position transmitted by the walking position detector 423 and controls the active travel drive member 422 to operate or stop according to the detected position. For example, under normal circumstances, the travel position detector 423 is in an off state, and the control box 10 controls the motor of the active travel drive 422 to operate normally, and the cleaning device moves on the photovoltaic array. When the walking position detector 423 detects the stop, it is proved that walking to the edge of the photovoltaic array, the control box 10 controls the motor of the active running drive 422 to stop or perform a reciprocating motion to stop or reverse the cleaning device.
辅助行走单元包括两个辅助行走组件,两个辅助行走组件与两个主动行走组件一一对应地设置。The auxiliary walking unit comprises two auxiliary walking components, and the two auxiliary walking components are arranged in one-to-one correspondence with the two active walking components.
具体地,辅助行走组件包括辅助行走轮429、轴承箱及安装轴等。其 通过紧固件固定在安装梁上,安装梁固定在主梁411上。Specifically, the auxiliary walking assembly includes an auxiliary traveling wheel 429, a bearing housing, a mounting shaft, and the like. Its The mounting beam is fixed to the mounting beam by a fastener, and the mounting beam is fixed to the main beam 411.
为确保爬坡能力,防止在缝隙处卡住,确保清洁效率,两个辅助行走轮429之间的中心距等于两个主动行走轮421之间的中心距。换而言之,主动行走轮421和辅助行走轮429的轴心在同一个平面上,且相交(本实施例中,两者夹角可以为90°),使在行走时,主动行走轮421及辅助行走轮429在爬坡过程中始终同时与行走面和辅助表面(通常爬坡是由于两个光伏电池板组11之间的间隔较大且表面不平齐,因而需要在两个光伏电池板组11之间设置连接用的过度轨道,爬坡时主动行走轮421和辅助行走轮429均与过度轨道接触)接触。使得在爬坡过程中不论重心位置怎么变化,在跨越较大的垂直坡度的上坡和下坡时都能获得良好的运动平衡性,并有效地增强跨越坡度的能力,防止牵引力不足或部分轮组打滑、悬空导致爬坡失效。In order to ensure the climbing ability, prevent jamming at the gap, and ensure cleaning efficiency, the center distance between the two auxiliary traveling wheels 429 is equal to the center distance between the two driving wheels 421. In other words, the axes of the active running wheel 421 and the auxiliary traveling wheel 429 are on the same plane and intersect (in this embodiment, the angle between the two may be 90°), so that when walking, the active traveling wheel 421 And the auxiliary walking wheel 429 is always at the same time with the walking surface and the auxiliary surface during the climbing process (the usual climbing is due to the large spacing between the two photovoltaic panel groups 11 and the surface is not flush, thus requiring two photovoltaic panels An excessive track for connection is provided between the groups 11, and both the active traveling wheel 421 and the auxiliary traveling wheel 429 are in contact with the excessive track contact when climbing. So that no matter how the position of the center of gravity changes during the climbing process, good balance of motion can be obtained when going uphill and downhill across a large vertical slope, and the ability to cross the slope can be effectively enhanced to prevent the traction or partial wheel The group slipped and suspended, causing the climbing to fail.
参见图1至图4和图9,清洁机构6设置在基座41上,在基座41移动过程中,清洁机构6清洁需清洁面。Referring to Figures 1 to 4 and 9, the cleaning mechanism 6 is disposed on the base 41, and the cleaning mechanism 6 cleans the surface to be cleaned during the movement of the base 41.
具体地,基座41还包括两个侧板414,两个侧板414固定在主梁411上。侧板414与最接近的连接梁412之间具有一定距离,这一空间可以容纳其他部件。清洁部61通过侧板414固定。Specifically, the base 41 further includes two side plates 414 that are fixed to the main beam 411. The side panel 414 has a distance from the closest connecting beam 412 that can accommodate other components. The cleaning portion 61 is fixed by the side plate 414.
参见图9至图11,清洁部61包括清洁安装座612、清洁驱动件613和清洁件611。Referring to FIGS. 9 to 11, the cleaning portion 61 includes a cleaning mount 612, a cleaning driving member 613, and a cleaning member 611.
清洁安装座612设置在其中一个侧板414上,并能够沿侧板414上下移动。为了能够对清洁安装座612的移动导向,侧板414上设置有滑轨415。如图10所示,滑轨415的两侧面设置有凹槽,清洁安装座612上设置有与凹槽配合的凸起,因此清洁安装座612在滑轨415上下滑动。The cleaning mount 612 is disposed on one of the side plates 414 and is movable up and down along the side plates 414. In order to be able to guide the movement of the cleaning mount 612, the side rails 414 are provided with slide rails 415. As shown in FIG. 10, the side surfaces of the slide rail 415 are provided with grooves, and the cleaning mount 612 is provided with a projection that cooperates with the recess, so that the cleaning mount 612 slides up and down on the slide rail 415.
清洁件611通过清洁安装座612设置在基座41的侧板414上。清洁驱动件613安装在清洁安装座612上,并穿过清洁安装座612与清洁件611连接。The cleaning member 611 is disposed on the side plate 414 of the base 41 by the cleaning mount 612. The cleaning drive member 613 is mounted on the cleaning mount 612 and is coupled to the cleaning member 611 through the cleaning mount 612.
具体地,如图11所示,清洁驱动件613为电机,其输出轴与设置在清洁安装座612上的轴承箱连接。轴承箱的输出轴上连接有传动轴,传动轴穿过清洁安装座612,且传动轴与清洁安装座612之间设置有轴承, 保证传动轴可以相对清洁安装座612转动。清洁件611为螺旋滚刷,螺旋滚刷的转轴套设在传动轴上,并通过销钉连接。这样螺旋滚刷在电机的带动下,能够按照设定的旋转方向和旋转速度运动,实现清洁。Specifically, as shown in FIG. 11, the cleaning drive member 613 is a motor whose output shaft is coupled to a bearing housing provided on the cleaning mount 612. A drive shaft is coupled to the output shaft of the bearing housing, the drive shaft passes through the cleaning mount 612, and a bearing is disposed between the drive shaft and the cleaning mount 612. It is ensured that the drive shaft can be rotated relative to the cleaning mount 612. The cleaning member 611 is a spiral roller brush, and the rotating shaft of the spiral roller brush is sleeved on the transmission shaft and connected by a pin. In this way, the spiral roller brush can be moved in accordance with the set rotation direction and rotation speed under the driving of the motor to achieve cleaning.
适应性地,在螺旋滚刷远离清洁驱动件613的一端设置有配合结构,以将螺旋滚刷的另一端安装到另一个侧板414上。配合结构包括辅助基座631和辅助轴632。辅助基座631所在的侧板414上也设置有滑轨415,辅助基座631上设置有与滑轨415配合的结构,以保证辅助基座631能够沿滑轨415上下滑动。辅助轴632通过轴承安装在辅助基座631上,且辅助轴632的另一端通过销钉与螺旋滚刷的另一端连接。Suitably, a mating structure is provided at one end of the spiral roller brush away from the cleaning drive member 613 to mount the other end of the spiral roller brush to the other side plate 414. The mating structure includes an auxiliary base 631 and an auxiliary shaft 632. A slide rail 415 is also disposed on the side plate 414 where the auxiliary base 631 is located. The auxiliary base 631 is provided with a structure that cooperates with the slide rail 415 to ensure that the auxiliary base 631 can slide up and down along the slide rail 415. The auxiliary shaft 632 is mounted on the auxiliary base 631 by bearings, and the other end of the auxiliary shaft 632 is connected to the other end of the spiral roller by a pin.
当清洁驱动件613的输出轴转动时,通过轴承箱带动连接轴614转动,进而带动螺旋滚刷转动,与螺旋滚刷连接的辅助轴632也随之转动。When the output shaft of the cleaning drive member 613 rotates, the connecting shaft 614 is rotated by the bearing housing, thereby driving the spiral roller brush to rotate, and the auxiliary shaft 632 connected to the spiral roller brush is also rotated.
结合参见图11和图12,调节部62包括调节驱动件621和调节传动组件。Referring to Figures 11 and 12 in combination, the adjustment portion 62 includes an adjustment drive member 621 and an adjustment drive assembly.
调节驱动件621与清洁部61的清洁安装座612固定连接,用于提供原动力。调节传动组件连接在调节驱动件621与基座41之间,且在调节驱动件621的驱动下使调节驱动件621沿调节方向往复地相对基座41移动,进而使与调节驱动件621固定连接的清洁部61移动。调节传动组件用于传动,并实现调节驱动件621相对基座41的侧板414的移动,进而实现清洁部61相对基座41的移动。The adjustment drive member 621 is fixedly coupled to the cleaning mount 612 of the cleaning portion 61 for providing motive power. The adjusting transmission component is connected between the adjusting driving member 621 and the base 41, and the adjusting driving member 621 is reciprocally moved relative to the base 41 in the adjusting direction under the driving of the adjusting driving member 621, thereby being fixedly connected with the adjusting driving member 621. The cleaning unit 61 moves. The adjustment transmission assembly is used for transmission, and the movement of the adjustment driving member 621 relative to the side plate 414 of the base 41 is realized, thereby realizing the movement of the cleaning portion 61 relative to the base 41.
需要说明的是,在本实施例中,调节方向为垂直于清洁装置的行走方向。也即清洁装置水平放置时,调节方向为竖直方向。It should be noted that, in the embodiment, the adjustment direction is perpendicular to the walking direction of the cleaning device. That is, when the cleaning device is placed horizontally, the adjustment direction is the vertical direction.
在本实施例中,如图10至图12所示,调节驱动件621为步进电机。在其他实施例中,调节驱动件621可以是液压伸缩缸或气压伸缩缸等结构,电机固定安装在清洁安装座612上。调节传动组件包括调节齿轮623和调节齿条622。调节齿轮623设置在调节驱动件621上,并随调节驱动件621的输出轴转动。调节齿条622设置在基座41上,且调节齿条622的延伸方向为调节方向。In the present embodiment, as shown in FIGS. 10 to 12, the adjustment driving member 621 is a stepping motor. In other embodiments, the adjustment driving member 621 may be a structure such as a hydraulic telescopic cylinder or a pneumatic telescopic cylinder, and the motor is fixedly mounted on the cleaning mount 612. The adjustment drive assembly includes an adjustment gear 623 and an adjustment rack 622. The adjustment gear 623 is disposed on the adjustment driving member 621 and rotates with the output shaft of the adjustment driving member 621. The adjustment rack 622 is disposed on the base 41, and the extending direction of the adjustment rack 622 is an adjustment direction.
在调节驱动件621的驱动下,调节齿轮623转动,由于调节齿条622设置在基座41上,因而调节齿轮623在调节齿条622上移动,进而带动 调节驱动件621、清洁安装座612及其上的部件一起移动,实现对螺旋滚刷的位置调整,以适应直线行走清扫与过坡清扫,最终全面地完成对光伏阵列的清洁工作。The adjustment gear 623 is rotated by the adjustment driving member 621. Since the adjustment rack 622 is disposed on the base 41, the adjustment gear 623 moves on the adjustment rack 622, thereby driving The adjustment driving member 621, the cleaning mount 612 and the components thereon are moved together to realize the position adjustment of the spiral roller brush to adapt to the straight walking cleaning and the over-slope cleaning, and finally complete the cleaning work of the photovoltaic array.
在其他实施例中,调节传动组件可以为其他结构,能够实现将旋转转换为直线移动即可。In other embodiments, the adjustment drive assembly can be other configurations that enable rotation to be converted to linear motion.
优选地,为了能够准确地调节,使螺旋滚刷始终与需清洁面接触,在侧板设置有检测用接近开关。当螺旋滚刷沿调节方向移动时,其经过并触发检测用接近开关,由此可以确定螺旋滚刷的初始位置,进而根据调节驱动件621的运动步数和方向可以实时确定螺旋滚刷的准确位置,进而确定其与需清洁面之间的距离是否为预定的距离,若不在预定距离内则可以根据需要调节螺旋滚刷的位置。Preferably, in order to enable accurate adjustment, the spiral roller brush is always in contact with the surface to be cleaned, and a proximity switch for detection is provided on the side plate. When the spiral roller moves in the adjustment direction, it passes and triggers the detection proximity switch, thereby determining the initial position of the spiral roller brush, and then determining the accuracy of the spiral roller brush in real time according to the number of movement steps and the direction of the adjustment driving member 621. The position is further determined whether the distance between the surface to be cleaned is a predetermined distance, and if it is not within the predetermined distance, the position of the spiral brush can be adjusted as needed.
当然,在其他实施例中可以通过其他方式确定螺旋滚刷的位置,并进行调节。例如通过距离传感器直接检测螺旋滚刷与需清洁面之间的距离,进而进行调节。Of course, in other embodiments, the position of the spiral roller brush can be determined and adjusted in other ways. For example, the distance between the spiral roller brush and the surface to be cleaned is directly detected by the distance sensor, and then adjusted.
优选地,为了避免二次污染,确保清洁效果,清洁装置还可以包括设置在基座41上并位于螺旋滚刷的两侧的防扬尘结构。如图5所示,防扬尘结构包括挡尘板641和立板刷642。挡尘板641设置在立板刷642上方,且两者均固定设置在主梁411上。Preferably, in order to avoid secondary pollution and to ensure a cleaning effect, the cleaning device may further include a dust-proof structure disposed on the base 41 and located on both sides of the spiral roller brush. As shown in FIG. 5, the dust prevention structure includes a dust shield 641 and a riser brush 642. The dust shield 641 is disposed above the riser brush 642, and both are fixedly disposed on the main beam 411.
通过在基座41的两个主梁411上布置立板刷642及挡尘板641,在结构上形成一个导尘的通道,同时立板刷642还对灰尘进行了预处理。这种结构使得螺旋滚刷与行走机构分离,防止清扫形成的大量灰尘流向电机,有效地保护电机,提升电机使用寿命。同时,与螺旋滚刷配合,形成导尘通道,使粉尘从清洁装置的下部流出。By arranging the riser brush 642 and the dust shield 641 on the two main beams 411 of the base 41, a dust-conducting passage is formed in the structure, and the vertical plate brush 642 also pre-treats the dust. This structure separates the spiral roller brush from the traveling mechanism, prevents a large amount of dust formed by the cleaning from flowing to the motor, effectively protects the motor, and improves the service life of the motor. At the same time, in cooperation with the spiral roller brush, a dust guiding passage is formed to allow dust to flow out from the lower portion of the cleaning device.
清洁机构6实现了螺旋转刷两个自由度(沿调节方向往复移动和绕转轴的转动)的运动,清洁驱动件613可以带动螺旋转刷转动,且能够实现旋转速度和旋转方向的调整,完成同一平面污染物的常规清洁。The cleaning mechanism 6 realizes the movement of two degrees of freedom (reciprocal movement in the adjustment direction and rotation around the rotation axis) of the spiral rotating brush, and the cleaning driving member 613 can drive the rotation of the spiral rotating brush, and can realize the adjustment of the rotation speed and the rotation direction, and complete Routine cleaning of contaminants in the same plane.
其次通过采集设置在侧板414上的距离或位置传感器反馈的信号,可实现螺旋滚刷上下位置的控制,既可避让光伏阵列间过度轨道形成的较大垂直坡度,避免发生机械故障,又可使螺旋滚刷轴心与光伏电池板 组11的表面始终保持一定的距离,实现过坡清洁。Secondly, by collecting the distance set on the side plate 414 or the feedback signal of the position sensor, the upper and lower positions of the spiral roller brush can be controlled, which can avoid the large vertical slope formed by the excessive track between the photovoltaic arrays, avoid mechanical failure, and can also avoid mechanical failure. Make spiral roller core and photovoltaic panel The surface of the group 11 is always kept at a certain distance to achieve over-slope cleaning.
优选地,清洁装置还包括电池板检测器7,电池板检测器7设置在基座41上,并检测被清洁电池板上的热斑和/或裂纹。如图5所示,沿主梁411的长度方向依次间隔设置有多个电池板检测器7,在实现清扫的同时,对光伏阵列中的光伏电池板组11中的光伏电池板进行质量评估。该电池板检测器7可以检测光伏电池板上的热斑和/或隐裂,进而实现对光伏电池板的质量评估。电池板检测器7可以是摄像头,其拍摄光伏电池板表面的图像,并通过图像分析软件确定光伏电池板的表面是否存在热斑或隐裂。Preferably, the cleaning device further includes a panel detector 7, the panel detector 7 being disposed on the base 41 and detecting hot spots and/or cracks on the panel being cleaned. As shown in FIG. 5, a plurality of panel detectors 7 are sequentially disposed along the longitudinal direction of the main beam 411 to perform quality assessment of the photovoltaic panels in the photovoltaic panel stack 11 in the photovoltaic array while cleaning is performed. The panel detector 7 can detect hot spots and/or cracks on the photovoltaic panel, thereby enabling quality assessment of the photovoltaic panels. The panel detector 7 can be a camera that takes an image of the surface of the photovoltaic panel and determines if there is a hot spot or crack in the surface of the photovoltaic panel by image analysis software.
电池板检测器7也可以是其他能够单独检测热斑或隐裂的传感器。The panel detector 7 can also be other sensors capable of detecting hot spots or cracks alone.
如图4所示,清洁装置还包括机罩3,机罩3罩设在基座41外,用于保护清洁装置的其他部件,防止雨雪尘埃等损伤机罩3内部件。As shown in FIG. 4, the cleaning device further includes a hood 3 that is disposed outside the base 41 for protecting other components of the cleaning device from rain, snow, dust, and the like from damaging the components inside the hood 3.
优选地,为了减少电缆线,降低取电难度,提高适用性,机罩3上设置有动力电池板31,动力电池板31为光伏电池板,用于产生动力。Preferably, in order to reduce the cable line, reduce the difficulty of power taking, and improve the applicability, the hood 3 is provided with a power panel 31, which is a photovoltaic panel for generating power.
机罩3首先对整体设备内的零部件主要起到保护作用,使设备能够适应更加恶劣的工作环境,延长使用寿命。其次,机罩3上搭载了一块动力电池板31,该动力电池板31与控制箱10连接,为清洁装置提供能量输入。The hood 3 firstly protects the components in the overall equipment, enabling the equipment to adapt to a more harsh working environment and prolong its service life. Next, the power hood 31 is mounted on the hood 3, and the power battery panel 31 is connected to the control box 10 to provide energy input to the cleaning device.
控制箱10内设置有各电机的驱动器、控制器和储能电池等。控制箱10是清洁装置的电源管理功能单元,储能电池进行储能,以便实现能量的自给自足。控制箱10设置在基座41上,并在机罩3的一侧。控制箱10为机械部分提供动力与行动决策方案,实现各电机的转速和转向的调节,以实现停机和往复等动作,进而完成往复清扫,过坡清扫及故障停机等功能。同时,控制箱10还具有清洁时间及清洁次数设定,清洁判断,故障报警,电量监控、不足预警,无线通讯,远程控制,热斑及隐裂检测、报警等功能。A driver, a controller, an energy storage battery, and the like of each motor are disposed in the control box 10. The control box 10 is a power management function unit of the cleaning device, and the energy storage battery performs energy storage to achieve self-sufficiency of energy. The control box 10 is disposed on the base 41 and on one side of the hood 3. The control box 10 provides power and action decision-making schemes for the mechanical parts, and realizes the adjustment of the rotational speed and steering of each motor to realize the actions of stopping and reciprocating, thereby completing the functions of reciprocating cleaning, over-slope cleaning and fault shutdown. At the same time, the control box 10 also has the functions of cleaning time and cleaning times setting, cleaning judgment, fault alarm, power monitoring, insufficient warning, wireless communication, remote control, hot spot and crack detection, alarm and the like.
如图1、图14所示,清洁装置还包括设置在被清洁物的第一端的放置架21和设置在被清洁物的与第一端相对的第二端的清洁架22,清洁架22上设置有清洁刷222。 As shown in FIG. 1 and FIG. 14, the cleaning device further includes a placement frame 21 disposed at a first end of the object to be cleaned and a cleaning frame 22 disposed at a second end of the object to be cleaned opposite the first end, on the cleaning frame 22 A cleaning brush 222 is provided.
放置架21由纵梁、支架横梁和放置止挡板211等经紧固件连接而成。当清洁装置运动到放置架21上时,行走位置检测器423检测到放置止挡板211,将信号发送给控制箱10,控制箱10根据此信号控制主动行走驱动件422停止转动,实现寻边停止功能。The placement frame 21 is formed by fasteners such as a stringer, a bracket beam, and a placement stop 211. When the cleaning device moves onto the placement frame 21, the walking position detector 423 detects the placement stop plate 211, sends a signal to the control box 10, and the control box 10 controls the active travel drive member 422 to stop rotating according to the signal, thereby realizing the edge finding. Stop function.
清洁架22由清洁刷222、安装槽、清洁止挡板221和板刷安装架用紧固件连接而成。清洁刷222为板刷,其通过安装槽安装在板刷安装架上,安装槽与板刷安装架的相对位置可调,以便适应安装误差。清洁止挡板221安装在板刷安装架上。清洁刷222可以是无驱动式的清洁方式,即依靠动力电池板31与清洁刷222接触时的摩擦力实现清扫,也可以设置驱动清洁刷222运动的驱动件,实现主动式清洁,这样清扫能力增强,但会相应增加取电成本和维护复杂度。The cleaning frame 22 is formed by a cleaning brush 222, a mounting groove, a cleaning stop plate 221, and a plate holder mounting fastener. The cleaning brush 222 is a plate brush which is mounted on the plate brush mounting frame through a mounting groove, and the relative positions of the mounting groove and the plate brush mounting frame are adjustable to accommodate installation errors. The cleaning stop plate 221 is mounted on the plate brush mount. The cleaning brush 222 can be a non-driven cleaning method, that is, the cleaning is performed by the frictional force when the power battery board 31 is in contact with the cleaning brush 222, and the driving member that drives the cleaning brush 222 can be provided to realize the active cleaning, so that the cleaning capability is achieved. Enhanced, but will increase the cost of power and maintenance complexity.
当行走位置检测器423检测到清洁止挡板221时,反馈控制信号给控制箱10,进而实现清洁装置的寻边停止功能,或者清洁装置反向运动。当清洁装置进入清洁架22时,板刷能够以合适的力度与清洁装置上的动力电池板31接触,从而实现最佳的清洁效果,确保清洁装置有足够的能源。When the walking position detector 423 detects the cleaning stop 221, a control signal is fed back to the control box 10, thereby implementing the edge finding stop function of the cleaning device, or the cleaning device is moved in the reverse direction. When the cleaning device enters the cleaning frame 22, the plate brush can be brought into contact with the power panel 31 on the cleaning device with a suitable force to achieve an optimum cleaning effect, ensuring that the cleaning device has sufficient energy.
如图3所示,根据本发明的另一方面,还提供一种光伏阵列,光伏阵列包括至少两个光伏电池板组11,相邻两个光伏电池板组11之间设置有连接导轨12,上述的清洁装置设置在其中一个光伏电池板组11上,并能够在光伏阵列上行走,实现对光伏电池板组11的清洁。As shown in FIG. 3, according to another aspect of the present invention, a photovoltaic array is further provided. The photovoltaic array includes at least two photovoltaic panel groups 11 , and a connecting rail 12 is disposed between two adjacent photovoltaic panel groups 11 . The cleaning device described above is disposed on one of the photovoltaic panel assemblies 11 and is capable of walking on the photovoltaic array to effect cleaning of the photovoltaic panel assembly 11.
采用该清洁装置对光伏阵列进行清洁的过程如下:The process of cleaning a photovoltaic array using the cleaning device is as follows:
实施中,用连接导轨12将相邻的跨度大于一定值(跨度可以根据需要确定)的光伏电池板组11连接,形成光伏阵列1。连接好的光伏阵列1的两侧分别设置放置架21和清洁架22,并将清洗装置卡放在清洁架22上。In the implementation, the photovoltaic array 1 is formed by connecting the photovoltaic panels 11 adjacent to each other with a span greater than a certain value (the span can be determined as needed). The mounting frame 21 and the cleaning frame 22 are respectively disposed on both sides of the connected photovoltaic array 1, and the cleaning device is stuck on the cleaning frame 22.
由控制箱10发起清洁指令,在行走机构4中主动行走驱动件422的作用下,其可在光伏阵列上以可控的速度往复横向运动,实现清洁装置在光伏电池板组11上过组件内间隙(即一个光伏电池板组11内的相邻两个光伏电池板之间的间隙),跨越组件间坡度(即光伏阵列中的相邻 两个光伏电池板组11之间的坡度)。清洁机构6可在清洁装置运动的同时按需要以可控的速度进行顺时针或逆时针的旋转运动,实现对光伏阵列表面的全面清洁。清扫过程中螺旋滚刷扫下的灰尘通过立板刷642与挡尘板641形成的通道输送至光伏电池板组11中的光伏电池板下部并集中掉落,不会对光伏电池板组11中的光伏电池板造成二次污染。The cleaning instruction is initiated by the control box 10, and under the action of the active running drive member 422 in the traveling mechanism 4, it can reciprocally move laterally at a controllable speed on the photovoltaic array, so that the cleaning device passes through the assembly on the photovoltaic panel group 11. Gap (ie, the gap between two adjacent photovoltaic panels within a photovoltaic panel stack 11) across the inter-component slope (ie, adjacent in the PV array) The slope between the two photovoltaic panel groups 11). The cleaning mechanism 6 can perform a full-time cleaning of the surface of the photovoltaic array by performing a clockwise or counterclockwise rotational motion at a controlled speed while the cleaning device is moving. During the cleaning process, the dust swept by the spiral brush is transported to the lower part of the photovoltaic panel in the photovoltaic panel group 11 through the passage formed by the vertical plate brush 642 and the dust shield 641, and is concentrated and dropped, and is not in the photovoltaic panel group 11 Photovoltaic panels cause secondary pollution.
同时,当清洁装置每次进入清洁架22时,板刷就对清洁装置搭载的动力电池板31进行一次清洁,实现自清洁,保持机罩3上的动力电池板31表面的清洁,进而保证其自身发电储能的能力,满足清扫使用。Meanwhile, each time the cleaning device enters the cleaning frame 22, the plate brush cleans the power battery panel 31 mounted on the cleaning device once, thereby achieving self-cleaning, keeping the surface of the power battery panel 31 on the hood 3 clean, thereby ensuring itself. The ability to generate energy for storage is suitable for cleaning and use.
当行走机构4两侧的行走位置检测器423检测到运行到边缘后,将信号传给控制箱10,并由预先设定的控制逻辑进行判断,执行往复运动,多次清洁或停机等动作。When the walking position detector 423 on both sides of the traveling mechanism 4 detects the running to the edge, the signal is transmitted to the control box 10, and is judged by a preset control logic to perform a reciprocating motion, a plurality of cleaning or a shutdown.
控制箱10搭载的是可充电电池,它的能源由机罩3上的动力电池板31提供,以便清洁装置日间充电,夜间工作。同时,控制箱10还具有清洁时间及清洁次数设定,清洁判断,故障报警,故障停机,电量监控、不足预警,无线通讯,远程控制,热斑及隐裂检测、报警等功能。The control box 10 is equipped with a rechargeable battery whose energy is supplied from the power panel 31 on the hood 3 so that the cleaning device can be charged during the day and work at night. At the same time, the control box 10 also has the functions of cleaning time and cleaning times setting, cleaning judgment, fault alarm, fault shutdown, power monitoring, insufficient warning, wireless communication, remote control, hot spot and crack detection, alarm and the like.
光伏电池板组11之间的连接导轨12是根据具体工程的实测数据进行配做而成,并且与光伏电池板之间采用柔性连接,不会因为气候、温度的变化导致轨道与光伏电池板之间产生的应力而损坏光伏电池板。The connecting rail 12 between the photovoltaic panel groups 11 is configured according to the actual measured data of the specific project, and adopts a flexible connection with the photovoltaic panel, and does not cause the track and the photovoltaic panel due to changes in climate and temperature. The resulting stress damages the photovoltaic panel.
当清洁装置靠近清洁止挡板221或放置止挡板211时,则该认为光伏阵列边缘已到,控制箱10控制清洁装置停止或换向。When the cleaning device is near the cleaning stop 221 or the stop 211, then the edge of the photovoltaic array is considered to have arrived, and the control box 10 controls the cleaning device to stop or reverse.
该清洁装置在光伏电站或分布式光伏电站中有较强的环境适应能力。其行走机构4具有直线行走与爬坡运动的能力,其清洁机构6的螺旋滚刷始终与光伏电池板表面接触,能够完成无死区清洁。The cleaning device has strong environmental adaptability in a photovoltaic power plant or a distributed photovoltaic power plant. The running mechanism 4 has the ability of straight walking and climbing movement, and the spiral roller brush of the cleaning mechanism 6 is always in contact with the surface of the photovoltaic panel, and can complete the dead zone cleaning.
清洁装置上搭载的储能电池和动力电池板31可以实现发电和储电功能。这样有效的解决了设备的取电问题,降低投建和维护成本。同时可实现日间充电,夜间清扫,既不影响电站日间发电,又可以保证电站清洁。The energy storage battery and the power battery panel 31 mounted on the cleaning device can realize power generation and storage functions. This effectively solves the problem of power taking of the equipment and reduces the cost of construction and maintenance. At the same time, it can realize daytime charging and nighttime cleaning, which does not affect the daytime power generation of the power station, and can ensure the clean power of the power station.
设置在光伏阵列端部的清洁架22可以对清洁装置上的动力电池板31进行清洁,保证动力电池板31长久有效地为储能电池充电。该清洁装 置能够实现高效率,低强度,少人或无人自动清洁。The cleaning frame 22 disposed at the end of the photovoltaic array can clean the power panel 31 on the cleaning device to ensure that the power panel 31 permanently and efficiently charges the energy storage battery. The cleaning device It can achieve high efficiency, low strength, and no one or no automatic cleaning.
该清洁装置采用模块化设计理念,更加方便加工和装配,也便于维修更换。The cleaning device adopts a modular design concept, which is more convenient for processing and assembly, and is also easy to repair and replace.
本发明的清洁装置具有如下效果:The cleaning device of the present invention has the following effects:
螺旋滚刷直线运动设计。螺旋滚刷接收控制指令后,以直线运动方式调节螺旋滚刷位置,使刷毛始终与光伏阵列的需清洁表面接触,达到了清洁装置能够适应平面清扫及过坡清扫等工况,实现全面清扫。Spiral roller brush linear motion design. After receiving the control command, the spiral roller brush adjusts the position of the spiral roller brush in a linear motion manner, so that the bristles are always in contact with the surface to be cleaned of the photovoltaic array, so that the cleaning device can adapt to the conditions of plane cleaning and over-slope cleaning, and achieve complete cleaning.
行走机构的两侧设置立板刷与挡尘板,两者共同构成灰尘导向通道,起到灰尘遮挡、收集和导流的作用,使螺旋滚刷扬起的灰尘不会二次污染光伏电池板组。同时,该设计将螺旋滚刷与行走机构的电机隔开,有效地保护行走机构的电机不被螺旋滚刷扬起的灰尘侵害。A vertical plate brush and a dust-proof plate are arranged on both sides of the traveling mechanism, and the two together form a dust guiding channel, which functions as dust shielding, collecting and guiding, so that the dust raised by the spiral roller brush does not pollute the photovoltaic panel group twice. . At the same time, the design separates the spiral roller brush from the motor of the running mechanism, effectively protecting the motor of the traveling mechanism from the dust raised by the spiral roller brush.
行走机构中的行走轮采用四轮驱动方式,使其能够适应较大水平坡或垂直坡的工况。同时,辅助行走轮与主动行走轮的轴线共面,以便行走机构过坡时,主动行走轮与辅助行走轮能够同时与连接导轨作用,防止个别行走轮走空或产生运动干涉。The walking wheel in the traveling mechanism adopts four-wheel drive mode, so that it can adapt to the working condition of a large horizontal slope or a vertical slope. At the same time, the auxiliary walking wheel is coplanar with the axis of the active traveling wheel, so that when the running mechanism is over the slope, the active walking wheel and the auxiliary walking wheel can simultaneously act with the connecting rail to prevent the individual walking wheels from going empty or generating motion interference.
基座上设置热斑与隐裂探测传感器,使清洁机器人在完成清扫工作的同时也完成了对电池板质量的评估工作,可作为自动巡检工具,减少了电站工作人员的巡检工作量。The hot spot and the crack detection sensor are arranged on the pedestal, so that the cleaning robot completes the evaluation of the quality of the panel while completing the cleaning work, and can be used as an automatic inspection tool to reduce the inspection workload of the power station staff.
机罩上集成光伏电池板,光伏电池板吸收太阳辐射后产生电能,在控制箱中的电池对这些电能进行存储,使设备应用时无需布置电缆或频繁更换电池,实现取电零成本,维护简单化的效果。同时,该设计还可以实现清洁装置日间充电,夜间工作,既不影响电站发电,又能保证电站清洁。A photovoltaic panel is integrated on the hood, and the photovoltaic panel absorbs solar radiation to generate electric energy, and the battery in the control box stores the electric energy, so that the device does not need to be arranged with cables or frequently replaced the battery, thereby achieving zero cost of maintenance and simple maintenance. Effect. At the same time, the design can also realize daytime charging of the cleaning device and work at night, which does not affect the power generation of the power station and ensures the cleanness of the power station.
清洁架上设置自清洁的清洁刷,当清洁装置驶入及驶出清洁架时,清洁装置上的板刷均对机罩上的光伏电池板表面进行清洁,保证该电池板能够有效发电,为充电电池提供可靠的电能。A self-cleaning cleaning brush is arranged on the cleaning frame. When the cleaning device enters and exits the cleaning frame, the plate brush on the cleaning device cleans the surface of the photovoltaic panel on the hood to ensure that the panel can effectively generate electricity for charging. The battery provides reliable power.
以上所述,仅为本发明的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。因此,本 发明的保护范围应以所述权利要求的保护范围为准。 The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, this The scope of the invention should be determined by the scope of the appended claims.

Claims (13)

  1. 一种清洁装置,其特征在于,包括:A cleaning device, comprising:
    行走机构(4),所述行走机构(4)包括基座(41)和设置在所述基座(41)上并带动所述基座(41)沿需清洁面移动的行走部(42);a running mechanism (4) comprising a base (41) and a running portion (42) disposed on the base (41) and driving the base (41) to move along a cleaning surface to be cleaned ;
    清洁机构(6),所述清洁机构(6)设置在所述基座(41)上,且包括清洁部(61)和驱动所述清洁部(61)沿调节方向往复运动的调节部(62)。a cleaning mechanism (6) disposed on the base (41) and including a cleaning portion (61) and an adjustment portion (62) that drives the cleaning portion (61) to reciprocate in an adjustment direction ).
  2. 根据权利要求1所述的清洁装置,其特征在于,所述调节部(62)包括:The cleaning device according to claim 1, wherein the adjustment portion (62) comprises:
    调节驱动件(621),所述调节驱动件(621)与所述清洁部(61)固定连接;Adjusting the driving member (621), the adjusting driving member (621) is fixedly connected to the cleaning portion (61);
    调节传动组件,所述调节传动组件连接在所述调节驱动件(621)与所述基座(41)之间,且在所述调节驱动件(621)的驱动下使所述调节驱动件(621)沿所述调节方向往复地相对所述基座(41)移动。Adjusting a transmission assembly, the adjustment transmission assembly being coupled between the adjustment drive member (621) and the base (41), and driving the adjustment drive member under the driving of the adjustment drive member (621) 621) moving back and forth relative to the base (41) in the adjustment direction.
  3. 根据权利要求2所述的清洁装置,其特征在于,所述调节传动组件包括:The cleaning device of claim 2 wherein said adjustment drive assembly comprises:
    调节齿轮(623),所述调节齿轮(623)设置在所述调节驱动件(621)上,并随所述调节驱动件(621)的输出轴转动;An adjustment gear (623), the adjustment gear (623) is disposed on the adjustment driving member (621), and rotates with an output shaft of the adjustment driving member (621);
    调节齿条(622),所述调节齿条(622)设置在所述基座(41)上,且所述调节齿条(622)的延伸方向为所述调节方向。The rack (622) is adjusted, the adjusting rack (622) is disposed on the base (41), and an extending direction of the adjusting rack (622) is the adjusting direction.
  4. 根据权利要求2所述的清洁装置,其特征在于,所述清洁部(61)包括:The cleaning device according to claim 2, wherein the cleaning portion (61) comprises:
    清洁安装座(612),所述清洁安装座(612)沿所述调节方向可往复移动地设置在所述基座(41)上,所述调节驱动件(621)固定连接在所述清洁安装座(612)上;Cleaning the mount (612), the cleaning mount (612) is reciprocally disposed on the base (41) in the adjustment direction, and the adjustment drive (621) is fixedly coupled to the cleaning installation On the seat (612);
    清洁驱动件(613),所述清洁驱动件(613)设置在所述清洁安装座(612)上;Cleaning the driving member (613), the cleaning driving member (613) is disposed on the cleaning mounting seat (612);
    清洁件(611),所述清洁件(611)设置在所述基座(41)上,并与所述清洁驱动件(613)连接,在所述清洁驱动件(613)的驱动下运 动。a cleaning member (611) disposed on the base (41) and connected to the cleaning driving member (613), driven by the cleaning driving member (613) move.
  5. 根据权利要求4所述的清洁装置,其特征在于,所述清洁件(611)为螺旋滚刷,所述清洁装置还包括设置在所述基座(41)上并位于所述螺旋滚刷的两侧的防扬尘结构。The cleaning device according to claim 4, wherein the cleaning member (611) is a spiral roller brush, and the cleaning device further comprises a screw holder disposed on the base (41) and located in the spiral roller brush Anti-dust structure on both sides.
  6. 根据权利要求1所述的清洁装置,其特征在于,所述调节方向与所述需清洁面之间具有第一夹角,所述第一夹角为90°。The cleaning device according to claim 1, wherein the adjustment direction has a first angle with the surface to be cleaned, and the first angle is 90°.
  7. 根据权利要求1所述的清洁装置,其特征在于,所述行走部(42)包括:The cleaning device according to claim 1, wherein the running portion (42) comprises:
    主动行走单元,所述主动行走单元设置在所述基座(41)上,且贴合所述需清洁面行走;An active walking unit, the active walking unit is disposed on the base (41), and is attached to the surface to be cleaned;
    辅助行走单元,所述辅助行走单元设置在所述基座(41)上,且贴合辅助表面行走,所述辅助表面与所述需清洁面具有第二夹角。An auxiliary walking unit is disposed on the base (41) and is attached to the auxiliary surface, and the auxiliary surface has a second angle with the surface to be cleaned.
  8. 根据权利要求7所述的清洁装置,其特征在于,A cleaning device according to claim 7, wherein
    所述主动行走单元包括两个主动行走组件,两个所述主动行走组件一一对应地设置在所述基座(41)的相对两侧上,各所述主动行走组件包括主动行走轮(421);The active walking unit includes two active walking components, and the two active walking components are disposed on opposite sides of the base (41) in one-to-one correspondence, and each of the active walking components includes an active traveling wheel (421). );
    所述辅助行走单元包括两个辅助行走组件,两个所述辅助行走组件与两个所述主动行走组件一一对应地设置,各所述辅助行走组件包括辅助行走轮(429),两个所述辅助行走轮(429)之间的中心距等于两个所述主动行走轮(421)之间的中心距。The auxiliary walking unit includes two auxiliary walking components, and the two auxiliary walking components are disposed in one-to-one correspondence with the two active walking components, and each of the auxiliary walking components includes an auxiliary walking wheel (429), two The center distance between the auxiliary walking wheels (429) is equal to the center distance between the two active traveling wheels (421).
  9. 根据权利要求8所述的清洁装置,其特征在于,所述主动行走组件还包括:The cleaning device according to claim 8, wherein the active walking assembly further comprises:
    主动行走驱动件(422),所述主动行走驱动件(422)设置在所述基座(41)上,与所述主动行走轮(421)连接,并驱动所述主动行走轮(421)转动;An active travel drive member (422), the active travel drive member (422) is disposed on the base (41), coupled to the active travel wheel (421), and driving the active travel wheel (421) to rotate ;
    行走位置检测器(423),所述行走位置检测器(423)设置在所述主动行走驱动件(422)上,并根据检测位置控制所述主动行走驱动件(422)工作或停止。A walking position detector (423) is disposed on the active travel drive (422) and controls the active travel drive (422) to operate or stop according to the detected position.
  10. 根据权利要求1所述的清洁装置,其特征在于,所述清洁装置还 包括电池板检测器(7),所述电池板检测器(7)设置在所述基座(41)上,用于检测被清洁电池板上的热斑和/或裂纹。A cleaning device according to claim 1 wherein said cleaning device further A panel detector (7) is included, the panel detector (7) being disposed on the base (41) for detecting hot spots and/or cracks on the panel being cleaned.
  11. 根据权利要求1所述的清洁装置,其特征在于,所述清洁装置还包括机罩(3),所述机罩(3)罩设在所述基座(41)外,且机罩(3)上设置有动力电池板(31)。The cleaning device according to claim 1, characterized in that the cleaning device further comprises a hood (3), the hood (3) is disposed outside the base (41), and the hood (3) ) is provided with a power panel (31).
  12. 根据权利要求1所述的清洁装置,其特征在于,所述清洁装置还包括设置在被清洁物的第一端的放置架(21)和设置在所述被清洁物的与所述第一端相对的第二端的清洁架(22),所述清洁架(22)上设置有清洁刷(222)。A cleaning device according to claim 1, wherein said cleaning device further comprises a placement frame (21) disposed at a first end of the object to be cleaned and a first side disposed at said first object of said object to be cleaned An opposite second end cleaning frame (22) is provided with a cleaning brush (222).
  13. 一种光伏阵列,其特征在于,所述光伏阵列包括至少两个光伏电池板组(11),相邻两个光伏电池板组(11)之间设置有连接导轨(12);A photovoltaic array, characterized in that the photovoltaic array comprises at least two photovoltaic panel sets (11), and a connecting rail (12) is arranged between two adjacent photovoltaic panel sets (11);
    其中一个所述光伏电池板组(11)上设置权利要求1至12中任一项所述的清洁装置。 A cleaning device according to any one of claims 1 to 12 is provided on one of the photovoltaic panel assemblies (11).
PCT/CN2017/087663 2016-07-14 2017-06-09 Cleaning device and photovoltaic array WO2018010508A1 (en)

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