WO2022154202A1 - 가변형 레일 구동용 표면 청소 로봇장치 - Google Patents

가변형 레일 구동용 표면 청소 로봇장치 Download PDF

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Publication number
WO2022154202A1
WO2022154202A1 PCT/KR2021/009079 KR2021009079W WO2022154202A1 WO 2022154202 A1 WO2022154202 A1 WO 2022154202A1 KR 2021009079 W KR2021009079 W KR 2021009079W WO 2022154202 A1 WO2022154202 A1 WO 2022154202A1
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WO
WIPO (PCT)
Prior art keywords
main body
rail
driving unit
driving
cleaning robot
Prior art date
Application number
PCT/KR2021/009079
Other languages
English (en)
French (fr)
Korean (ko)
Inventor
정성대
김동환
최충열
Original Assignee
리셋컴퍼니 주식회사
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
Application filed by 리셋컴퍼니 주식회사 filed Critical 리셋컴퍼니 주식회사
Priority to JP2021552720A priority Critical patent/JP7329879B2/ja
Publication of WO2022154202A1 publication Critical patent/WO2022154202A1/ko

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • 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 present invention relates to a cleaning robot device, and more particularly, a variable rail capable of cleaning the surface of the cleaning object by being corrected to correspond to the interval or curved surface (height) of the rail provided on the cleaning object including the solar panel. It relates to a surface cleaning robot device for driving.
  • solar power generation is a clean energy source that does not cause global warming, such as greenhouse gas emissions, noise, and environmental destruction, and there is no concern about exhaustion.
  • solar power generation facilities have the advantage of being free to install and low maintenance cost.
  • Such a solar module has a disadvantage that dirt may easily accumulate on the solar panel due to weather phenomena such as yellow sand or bad weather.
  • weather phenomena such as yellow sand or bad weather.
  • dirt accumulates on the photovoltaic module, the light absorptivity of the photovoltaic module is significantly lowered, and as a result, the power generation efficiency may also be reduced.
  • the existing solar module cleaning device is not properly calibrated when the interval between the rails installed on the solar module is reduced or widened, or when the rail is raised or widened, so the cleaning device is separated from the rail or falling off the rail. Therefore, improvement measures are required.
  • the technical problem to be achieved by the present invention is a surface cleaning robot device for driving a variable rail capable of cleaning the surface of the object to be cleaned by being corrected to correspond to the interval, curved surface, or height of the rail provided on the object to be cleaned including the solar panel.
  • the main body is moved along the rail member provided on the cleaning object comprising a solar panel; a driving means provided on the main body to move the main body along the rail member; a cleaning means provided on the main body to clean the surface of the cleaning object and having a rotating brush connected to the driving means to rotate; a rail spacing correcting unit provided on the main body to correct the spacing of the rail members to correspond to the spacing of the plurality of rail members; and a rail height correction unit provided on the main body to correct the height of the main body to correspond to the heights of the plurality of rail members.
  • the rail gap correcting unit may include: an LM guide provided on the main body and moved in the width direction of the rail member; a guide support coupled to the upper portion of the LM guide; a first support frame coupled to a lower portion of the guide support; a plurality of first correction wheel shafts elevatingly coupled to the first support frame; and a plurality of first guide wheels provided on a lower portion of the plurality of first compensation wheel shafts and rotatably supported by the rail member.
  • the rail spacing corrector may further include a plurality of first elastic members provided on upper portions of the plurality of first correction wheel shafts to elastically support upper portions of the plurality of first correction wheel shafts.
  • the rail gap corrector may further include a plurality of first washers supporting upper ends and lower ends of the plurality of first elastic members.
  • the rail height correcting unit may include: a second support frame coupled to the main body at a position opposite to the rail gap correcting unit; a plurality of second correction wheel shafts elevatingly coupled to the second support frame; a plurality of second guide wheels provided on a lower portion of the plurality of second compensation wheel shafts and rotatably supported by the rail member; and a plurality of second elastic members provided on upper portions of the plurality of second compensation wheel shafts to elastically support upper portions of the plurality of second compensation wheel shafts.
  • the rail height compensator may further include a plurality of second washers supporting upper ends and lower ends of the plurality of second elastic members.
  • the driving means may include a driving motor provided on one side of the main body; a first driving unit provided on one side of the main body and connected to the driving motor to move one side of the main body along the rail member; a second driving unit provided on one side of the main body to be spaced apart from the first driving unit and connected to the first driving unit to move one side of the main body along the rail member; a third driving unit provided on the other side of the main body and connected in parallel with the first driving unit to move the other side of the main body along the rail member; and a fourth driving unit provided on the other side of the main body to be spaced apart from the third driving unit and connected to the second driving unit and the third driving unit to move the other side of the main body along the rail member.
  • the cleaning means may include a brush shaft connected to the driving means and rotated; the rotating brush provided on the brush shaft and rotated along with the brush shaft to clean the surface of the object to be cleaned; and a straight brush provided on the main body to be spaced apart from the rotating brush to clean the surface of the object to be cleaned.
  • It may further include a belt tension part provided on the main body to press the first belt member and the second belt member of the driving means to be connected to the brush pulley of the cleaning means.
  • a battery provided in the body; and at least one of a charging terminal provided in the body to be electrically connected to the battery to charge the battery.
  • the rail gap correcting unit provided on the main body corrects the interval of the rail member to correspond to the interval of the rail member
  • the rail height correcting unit corrects the height of the main body to correspond to the height of the rail member. It is possible to stably clean the cleaning object including the solar panel without leaving or falling.
  • the rail gap corrector may additionally correct the height of the main body to correspond to the height of the rail member, stability may be further improved.
  • the battery can be conveniently charged by the charging terminal provided on the main body.
  • FIG. 1 is a schematic front view of a surface cleaning robot device for driving a variable rail according to an embodiment of the present invention.
  • FIG. 2 is a schematic plan view of FIG. 1 .
  • FIG. 3 is an enlarged view illustrating an area of the rail gap corrector shown in FIG. 1 .
  • FIG. 4 is an enlarged perspective view of regions of the first driving unit and the second driving unit shown in FIG. 2 .
  • FIG. 5 is an enlarged view of the area of the rail height correction unit shown in FIG. 1 .
  • FIG. 6 is an enlarged perspective view illustrating regions of a third driving unit and a fourth driving unit shown in FIG. 2 .
  • FIG. 7 is a diagram schematically illustrating a driving means and a cleaning means according to the present embodiment.
  • FIG. 8 is a view schematically illustrating a rail gap corrector shown in FIG. 3 .
  • FIG. 9 is a view schematically illustrating a rail height corrector shown in FIG. 5 .
  • FIG. 10 is a diagram schematically illustrating an area of the first outer plate shown in FIG. 1 .
  • FIG. 11 is an enlarged view of an area of the charging terminal shown in FIG. 2 .
  • FIG. 12 is a diagram of a state of use of the present embodiment.
  • FIG. 1 is a front view schematically showing a surface cleaning robot device for driving a variable rail according to an embodiment of the present invention
  • FIG. 2 is a schematic plan view of FIG. 1
  • FIG. 3 is a rail gap corrector shown in FIG. It is a view showing an enlarged area of
  • FIG. 4 is an enlarged perspective view showing the regions of the first driving unit and the second driving unit shown in FIG. 2
  • FIG. 5 is an enlarged view showing the area of the rail height correction unit shown in FIG. 1
  • FIG. 6 is an enlarged perspective view of the regions of the third driving unit and the fourth driving unit shown in FIG. 2 .
  • Figure 7 is a view schematically showing the driving means and cleaning means of this embodiment
  • Figure 8 is a view schematically showing the rail gap corrector shown in Figure 3
  • Figure 9 is the rail height shown in Figure 5
  • FIG. 10 is a view schematically showing the area of the first outer plate shown in FIG. 1
  • FIG. 11 is an enlarged view showing the area of the charging terminal shown in FIG. 2, 12 is a diagram of a state of use of the present embodiment.
  • the surface cleaning robot device 1 for driving a variable rail includes a main body (1) that is moved along a rail member (10) provided on a cleaning object including a solar panel (20). 100), a driving means 200 provided in the main body 100 to move the main body 100 along the rail member 10, and a driving means 200 provided in the main body 100 to clean the surface of the object to be cleaned A cleaning means 300 provided with a rotary brush 320 that is connected and rotated, and a rail gap beam provided in the body 100 to correct the spacing between the rail members 10 to correspond to the spacing of the plurality of rail members 10 .
  • a circuit board 700, a battery 800 provided on the main body 100 and connected to the printed circuit board 700, a charging terminal 900 provided on the main body 100 and connected to the battery 800, A charging bracket 1000 provided on the main body 100 in an area where the charging terminal 900 is provided, and a limit switch 1100 provided on the main body 100 are provided.
  • the main body 100 may move in the longitudinal direction of the rail member 10 shown in FIG. 12 by the operation of the driving means 200 , and at this time, the solar panel by the cleaning means 300 provided in the main body 100 .
  • the upper surface of (20) can be cleaned.
  • the main body 100 as shown in Figure 2, a plurality of horizontal frames 110, and a first side plate 120 that is bolted or screwed to the left side of the plurality of horizontal frames 110 and , a second side plate 130 bolted or screwed to the right side of the plurality of horizontal frames 110 , and a first disposed on the left side of the plurality of horizontal frames 110 to be spaced apart from the first side plate 120 .
  • the first connecting frame 160 connecting the plate 140, the second connecting frame 170 connecting the second side plate 130 and the second outer plate 150, and the horizontal frame 110 are bolted
  • a second side cover 193 bolted or screwed to the second outer plate 150, and a plurality of rail blades bolted or screwed to the first outer plate 140 and the second outer plate 150 ( 195).
  • a plurality of body covers 180 may be provided, and in this case, a plurality of body covers 180 may be detachably bolted or screwed to each other.
  • the driving means 200 may be provided on the main body 100 to move the main body 100 back and forth in the longitudinal direction of the rail member 10 , and may be connected to the battery 800 to receive electrical energy.
  • the driving means 200 is coupled to the main body 100 so as to be connected to the driving motor 210 coupled to the first outer plate 140 and the driving motor 210 as shown in FIG. 2 .
  • the second driving unit 230 for moving along the rail member 10 is provided on the right side of the main body 100 and is connected in parallel with the first driving unit 220 so that the upper right side of the main body 100 is connected to the rail member 10 .
  • the driving means 200 may drive the second driving unit 230 , the third driving unit 240 , and the fourth driving unit 250 only by driving the first driving unit 220 connected to the driving motor 210 . and the brush shaft 310 and the rotating brush 320 of the cleaning means 300 can be rotated.
  • the second driving unit 230 , the third driving unit 240 , and the fourth driving unit 250 may be driven simultaneously and rotate with the brush shaft 310 of the cleaning means 300 .
  • the brush 320 may also be rotated at the same time.
  • the driving motor 210 of the driving means 200 may be detachably screwed or bolted to the first outer plate 140 or the first side plate 120 .
  • the first driving unit 220 of the driving means 200 may be directly connected to the driving motor 210 to be driven.
  • the first driving unit 220 includes a driving shaft 221 that is directly connected to a driving motor 210 and rotates, and a driving shaft 221 coupled to the driving shaft 221 like the driving shaft 221 .
  • the driving shaft 221 of the first driving unit 220 may be rotatably coupled to the first side plate 120 and the first outer plate 140 .
  • the second driving unit 230 of the driving means 200 is connected to the first driving unit 220 by a first belt member 260 to be rotated like the first driving unit 220 .
  • the second driving unit 230 includes a second wheel shaft 231 and a second pulley coupled to the second wheel shaft 231 and rotated like the second wheel shaft 231 .
  • 232 a second wheel member 233 coupled to the second wheel shaft 231 , rotated like the second wheel shaft 231 , and supported by the rail member 10 , and a second pulley 232 on the left side ) and the right side of the pair of second collars 234 coupled to the second wheel shaft 231 to support the second wheel member 233 , and the second coupled to the right end of the second wheel shaft 231 .
  • It includes a coupling 235 and a second connecting shaft 236 coupled to the right end of the second wheel shaft 231 through the second coupling 235 and rotated like the second wheel shaft 231 .
  • the second wheel shaft 231 of the second driving unit 230 may be rotatably coupled to the first side plate 120 and the first outer plate 140 .
  • the third driving unit 240 of the driving means 200 is connected to the first driving unit 220 by a first connecting shaft 226 to be rotated together with the first driving unit 220 .
  • the third driving unit 240 includes a third wheel shaft 241 and a third pulley coupled to the third wheel shaft 241 and rotated like the third wheel shaft 241 .
  • a third wheel member 243 coupled to the third wheel shaft 241 and rotated like the third wheel shaft 241, the bottom part of which is supported by the rail member 10, and the right part of the third pulley 242 ) and the left part is coupled to the left end of the third wheel shaft 241 and a pair of third collars 244 coupled to the third wheel shaft 241 to support the third wheel member 243, the first and a third coupling 245 connecting the connecting shaft 226 and the third wheel shaft 241 .
  • the third wheel shaft 241 of the third driving unit 240 may be rotatably coupled to the second side plate 130 and the second outer plate 150 .
  • the fourth driving unit 250 of the driving means 200 is connected to the third driving unit 240 by the second belt member 270 to be rotated together with the third driving unit 240 .
  • the fourth driving unit 250 as shown in FIG. 7 , a fourth wheel shaft 251 and a fourth pulley coupled to the fourth wheel shaft 251 and rotated together with the fourth wheel shaft 251 .
  • a fourth wheel member 253 coupled to the fourth wheel shaft 251 and rotated like the fourth wheel shaft 251 and supported by the rail member 10 at a bottom surface thereof, and a second pulley 232 on the right side ) and the left end of the pair of fourth collars 254 coupled to the fourth wheel shaft 251 to support the fourth wheel member 253, the left end of the fourth wheel shaft 251 and the second connecting shaft and a fourth coupling 255 connecting 236 .
  • the fourth wheel shaft 251 of the fourth driving unit 250 may be rotatably coupled to the second side plate 130 and the second outer plate 150 .
  • the first belt member 260 and the second belt member 270 of the driving means 200 may be pressed by the belt tensioner 400 to maintain tension.
  • the cleaning means 300 is provided in the main body 100 to clean the surface of the solar panel 20 with a brush and is connected to the driving means 200 so that most of the components can be rotated.
  • the cleaning means 300 is connected to the first belt member 260 of the driving means 200 and rotated on the brush shaft 310 and the brush shaft 310 as shown in FIG. 7 .
  • the horizontal frame 110 Provided and provided on the horizontal frame 110 so as to be spaced apart from the rotating brush 320 as shown in FIG. 2 and the rotating brush 320 for cleaning the surface of the solar panel 20 by rotating like the brush shaft, the sunlight
  • the straight brush 330 for cleaning the surface of the panel 20 is rotated on the first side plate 120 , the first outer plate 140 , and the second side plate 130 and the second outer plate 150 .
  • a pair of brush connecting shafts 340 coupled to and connected to the brush shaft 310, and a pair of brush connecting shafts 340 coupled to the brush connecting shaft 340 are rotated together with the brush connecting shaft 340 and the first belt member 260
  • a pair of brush couplings 360 connecting the 340 are included.
  • the rotating brush 320 of the cleaning means 300 is provided on the brush shaft 310 in a spiral shape to continuously clean the surface of the solar panel 20 without interruption.
  • the brush pulley 350 connected to the first belt member 260 shown in FIG. 7 is rotated, and the rotational force of the brush pulley 350 is the brush connecting shaft 340 . It is transmitted through the brush shaft 310 to rotate the brush shaft 310 .
  • the rotating brush 320 may be rotated like the brush shaft 310 to clean the surface of the solar panel 20 .
  • the brush pulley 350 connected to the second belt member 270 shown in FIG. 7 is rotated, and the rotational force of the brush pulley 350 is the brush connection shaft 340 .
  • the brush shaft 310 may be transmitted to the brush shaft 310 to rotate the brush shaft 310 .
  • a pair of brush pulleys 350 disposed on the left and right sides of the brush shaft 310 are also rotated in the same direction. and may be rotated in the same direction as the first belt member 260 and the second belt member 270 .
  • the belt tension unit 400 is provided on the first outer plate 140 and the second outer plate 150, respectively, as shown in FIGS. 4 and 6 , the first driving unit 220 and the second driving unit 230 .
  • the second belt member 270 connecting the third driving unit 240 and the fourth driving unit 250 is pressed against the brush pulley 350 while pressing the first belt member 260 connecting 350) and can be pressurized to be connected.
  • the belt tension unit 400 includes a tension body 410 bolted to the first outer plate 140 and a tension shaft 420 coupled to the tension body 410 as shown in FIG. 4 . ) and a plurality of tension rollers 430 that are rotatably coupled to the tension shaft 420 and press the first belt member 260 to be connected to the brush pulley 350 .
  • the belt tension unit 400 may also be provided on the second outer plate 150, and in this case, the plurality of tension rollers 430 described above is the second belt The member 270 may be pressed.
  • the rail gap corrector 500 is coupled to the main body 100 in the region where the driving motor 210 is provided to correspond to the gap between the rail members 10 and the gap between the rail members 10 .
  • the rail gap corrector 500 In addition to correcting the height of the main body 100 to correspond to the height of the rail member 10 can be corrected.
  • the rail gap corrector 500 is coupled to the first connection frame 160 and moved in the width direction of the rail member 10, as shown in FIG. 8 , the LM guide 510 and the upper side A plurality of guide support 520 coupled to the additional LM guide 510 , a first support frame 530 coupled to a lower portion of the guide support 520 , and a plurality of elevating coupled to the first support frame 530 .
  • a plurality of first elastic members 560 provided on the upper portion of the 540 and elastically supporting the upper portions of the plurality of first correction wheel shafts 540, and the upper and lower portions of the plurality of first elastic members 560 are supported. It includes a plurality of first washers 570 and a first fastening member 580 coupled to upper ends of the plurality of first compensation wheel shafts 540 .
  • the LM guide 510 is moved in the left and right direction of the first connection frame 160 based on (a) of FIG. 10), the spacing error can be corrected.
  • the pair of first correction wheel shafts 540 are moved in the vertical direction of the first support frame 530 by the pair of first elastic members 560 shown in FIG. 8A .
  • the height of the main body 100 can be raised or lowered so that the main body 100 can be moved according to the curved surface of the rail member 10 .
  • a pair of rail gap correcting units 500 may be provided to be spaced apart from each other in an area where the first driving unit 220 and the second driving unit 230 are provided.
  • the rail height correcting unit 600 is coupled to the main body 100 in the region where the printed circuit board 700 is provided to correspond to the height of the rail member 10 when the height of the rail member 10 increases or decreases.
  • the height of (100) can be corrected.
  • the rail height correcting unit 600 is, as shown in FIG. 9 , a second support frame 610 and a plurality of second correction wheel shafts 620 that are elevatingly coupled to the second support frame 610 . ) and a plurality of second guide wheels 630 provided on the lower side of the plurality of second compensation wheel shafts 620 and supported to be rotated on the rail member 10 , and upper portions of the plurality of second compensation wheel shafts 620 .
  • a plurality of second elastic members 640 provided in the plurality of second elastic members 640 for elastically supporting upper portions of the plurality of second compensation wheel shafts 620, and a plurality of second washers for supporting upper and lower ends of the plurality of second elastic members 640 ( 650 , and a second fastening member 660 coupled to the upper end of the plurality of second compensation wheel shafts 620 .
  • the second support frame 610 of the rail height compensator 600 may be detachably bolted to the second side plate 130 and the second outer plate 150 .
  • the pair of second compensation wheel shafts 620 are a pair of second elastic members 640 shown in FIG. 9 (a).
  • a pair of rail height correcting units 600 may be provided spaced apart from each other in an area where the third driving unit 240 and the fourth driving unit 250 are provided.
  • the printed circuit board 700 is provided in the main body 100 of the area where the rail height correction unit 600 is provided, such as a driving motor 210, a battery 800, a limit switch 1100, and the like. can be controlled.
  • the battery 800 is provided in the main body 100 in the region where the printed circuit board 700 is provided and is connected to the driving motor 210 to supply electrical energy to the driving motor 210 . have.
  • the battery 800 includes a lithium battery 800 .
  • the charging terminal 900 is provided on the main body 100 in the area where the battery 800 is provided and is connected to the battery 800 to supply external power to the battery 800 .
  • the charging terminal 900 may be protected by the charging bracket 1000 provided in front of the charging terminal 900 .
  • the limit switch 1100 is provided on the main body 100 in the region where the rail height correction unit 600 is provided, as shown in FIG. 1 , and comes in contact with the stopper provided on the rail member 10 to move the main body 100 . can be limited.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Photovoltaic Devices (AREA)
PCT/KR2021/009079 2021-01-14 2021-07-15 가변형 레일 구동용 표면 청소 로봇장치 WO2022154202A1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021552720A JP7329879B2 (ja) 2021-01-14 2021-07-15 可変型レール駆動用表面掃除ロボット装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020210005480A KR102278466B1 (ko) 2021-01-14 2021-01-14 가변형 레일 구동용 표면 청소 로봇장치
KR10-2021-0005480 2021-01-14

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WO2022154202A1 true WO2022154202A1 (ko) 2022-07-21

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JP (1) JP7329879B2 (ja)
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WO2023181015A1 (en) * 2022-03-20 2023-09-28 Evermore United S.A. Waterless solar panel cleaning robot with helix shaped microfiber elements
CN115311754A (zh) * 2022-06-22 2022-11-08 华能新华发电有限责任公司 一种机器智能巡检系统
CN117401032B (zh) * 2023-12-14 2024-03-22 厦门蓝旭科技有限公司 一种光伏机器人的路径纠偏系统及光伏机器人

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KR20200010728A (ko) * 2018-07-23 2020-01-31 조우성 태양광발전 모듈의 세척기용 이동장치
KR102087658B1 (ko) * 2019-08-16 2020-03-11 주식회사 토브 태양광 패널 청소 장치

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