WO2023279811A1 - 一种可适应光伏组件阵列表面高低不平的光伏清洗设备 - Google Patents

一种可适应光伏组件阵列表面高低不平的光伏清洗设备 Download PDF

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Publication number
WO2023279811A1
WO2023279811A1 PCT/CN2022/089259 CN2022089259W WO2023279811A1 WO 2023279811 A1 WO2023279811 A1 WO 2023279811A1 CN 2022089259 W CN2022089259 W CN 2022089259W WO 2023279811 A1 WO2023279811 A1 WO 2023279811A1
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WO
WIPO (PCT)
Prior art keywords
photovoltaic
shaft
photovoltaic module
cleaning equipment
transmission shaft
Prior art date
Application number
PCT/CN2022/089259
Other languages
English (en)
French (fr)
Inventor
郭涛
李维虎
李彦彪
刘川
郝敬国
贺茂群
郭毓峰
宫玉柱
李龙亮
Original Assignee
华能山东发电有限公司众泰电厂
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Filing date
Publication date
Application filed by 华能山东发电有限公司众泰电厂 filed Critical 华能山东发电有限公司众泰电厂
Publication of WO2023279811A1 publication Critical patent/WO2023279811A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • 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 technical field of cleaning equipment, in particular to a photovoltaic cleaning equipment that can adapt to the unevenness of the surface of a photovoltaic module array.
  • the power generation efficiency of photovoltaic power plants largely depends on the cleanliness of the surface of photovoltaic modules.
  • the main factor affecting the cleanliness of photovoltaic modules is the dust accumulation on the surface of modules.
  • Cleaning photovoltaic modules by robots can effectively improve the power generation efficiency of photovoltaic modules and improve the efficiency of power stations .
  • washing methods include artificial water spray cleaning, washing car cleaning, manual cleaning with hydrodynamic brushes, etc. These cleaning methods can improve the power generation efficiency of photovoltaic modules to varying degrees and increase the revenue of the power station; artificial washing is to clean photovoltaic modules with water guns and mops, which has a long cleaning cycle and low efficiency; cleaning by cleaning vehicles cannot be adapted to mountain photovoltaic power stations and agricultural photovoltaic complementary Photovoltaic power stations, the cleaning efficiency is not high; manual cleaning of hydrodynamic brushes requires special high-pressure drive pumps, high-pressure water drives the brushes to rotate and clean, and manual direction control is responsible for low cleaning efficiency.
  • Traditional photovoltaic cleaning robots are driven by motors.
  • the surface of the component is cleaned.
  • the motor drives the walking wheel to walk.
  • the guide wheel has no driving force.
  • the main beam of the robot is a whole rigid beam.
  • the cleaning brush can be divided into segment, the inter-segment connection is a rigid connection.
  • the photovoltaic module array is bent to varying degrees in the horizontal and vertical directions, the surface of the photovoltaic module is uneven, and the upper edge of the photovoltaic module is uneven, which is in the shape of "steps", which leads to the photovoltaic cleaning robot.
  • the purpose of the present invention is to provide a photovoltaic cleaning equipment that can adapt to the unevenness of the surface of the photovoltaic module array.
  • the components are not cleaned evenly, and the surface of some components cannot be cleaned, and the cleaning effect is not good.
  • the upper edge guide wheel of the traditional robot has no driving force, and it is easy for the robot to walk along the surface of the photovoltaic module to clean the components. Jamming problem.
  • a photovoltaic cleaning device that can adapt to the unevenness of the surface of a photovoltaic module array, including a casing, a main beam is provided inside the bottom of the casing, and a drive shaft is provided at both ends of the bottom of the casing, one end of the drive shaft protrudes from the casing, and the drive shaft
  • One end protruding out of the housing is connected with a synchronous component, the side of the synchronous component not connected to the drive shaft is provided with a drive motor, and the bottom of the synchronous component is rotatably connected with a guide wheel.
  • the transmission shaft is divided into multiple sections, and each adjacent two transmission shafts are connected together by an elastic joint, and a brush roller is installed on each transmission shaft;
  • the shell is convenient for protecting the whole photovoltaic cleaning equipment, and it is also convenient for installing various parts of the photovoltaic cleaning equipment, which is convenient for the use of photovoltaic cleaning equipment.
  • the motor can stably and quickly make the rotation speeds of the traveling wheel on the transmission shaft and the guide wheel at the bottom of the synchronous assembly the same.
  • the brush motor is convenient to drive the transmission shaft to rotate, and the transmission shaft is convenient to install the brush roller, so that the brush roller can rotate to clean the photovoltaic surface .
  • a power box is provided inside one side of the casing, a control cabinet is synchronously arranged inside the casing along the power box, a photovoltaic panel is provided on the upper surface of the casing, and bridge brackets are installed at both ends of the casing; the power box is convenient for cleaning the entire photovoltaic cleaning equipment. Power on, so that the entire photovoltaic cleaning equipment can operate stably and quickly.
  • the control cabinet is convenient to control the entire photovoltaic cleaning equipment, which is convenient for the operation and use of the entire photovoltaic cleaning equipment.
  • the bridge feet facilitate the installation of transmission shafts, drive shafts and main beams, thereby facilitating the operation and use of the entire photovoltaic cleaning equipment.
  • the main beam includes two first beam components and a second beam component, and the first beam component and the second beam component are connected together through a flexible connection; it is convenient to assemble the main beam through a flexible connection
  • the flexible connection device divides the main beam of the photovoltaic automatic cleaning equipment into multiple sections. When the surface of the photovoltaic module is curved and uneven, the main beam can be bent up and down according to the actual situation of the photovoltaic module. Smooth walking ensures the cleaning effect and improves the efficiency of photovoltaic automatic cleaning.
  • one end of the first beam assembly is provided with a pair of ear plates, and the top of the first beam assembly is provided with a groove, and the end of the groove away from the second beam assembly is provided with a connecting column, and both ends of the second beam assembly are provided with plugs, And the position where the top of the second beam assembly is aligned with the plug is also provided with a groove, and the end of the groove of the second beam assembly far away from the first beam assembly is provided with a connecting column, and the two connecting columns are connected together by a return spring, and the plug It is connected with the lug plate through the pin shaft; the lug plate is convenient to cooperate with the second beam assembly, which is convenient for connecting the second beam assembly and the first beam assembly together, and the groove is convenient for matching the return spring, which is convenient for the return spring to be stable on the first beam assembly and the first beam assembly.
  • connection end of the second beam assembly the plug is easy to match the lug plate, the connecting column is easy to match the return spring, and the installation and removal of the return spring is convenient.
  • the pin shaft facilitates the rotational connection of the first beam component and the second beam component.
  • traveling wheels are rotatably connected to the driving shaft, and several universal joints are uniformly arranged on the driving shaft, and the driving shaft and the casing are rotatably connected together; the traveling wheels are convenient to cooperate with the photovoltaic cleaning equipment, so that the photovoltaic cleaning equipment can move along Move on the photovoltaic array, so as to facilitate the cleaning of the photovoltaic surface.
  • the universal joint facilitates the drive shaft to be bent from different directions, thereby facilitating the bending and cleaning of the entire photovoltaic cleaning equipment, thereby facilitating the cleaning of the photovoltaic panel on the uneven photovoltaic array.
  • the drive shaft and the casing are rotationally connected together so that the drive motor can stably drive the drive shaft to rotate, which is convenient for the rotation and use of the drive shaft.
  • the two bevel gears are arranged vertically, and the two bevel gears mesh with each other, one of the bevel gears is connected with the drive shaft with interference, and the other bevel gear is connected with interference
  • an adapter is provided at one end of the transmission shaft aligned with the elastic joint, and the adapter matches the elastic joint, and the elastic joint and the adapter are connected together through a pin shaft; the adapter is convenient to connect with the elastic joint, so that the transmission shaft can also be completely , so that the brush roller can be tilted conveniently, so that the brush roller can evenly and effectively clean the dust on the photovoltaic surface.
  • fixed plates are symmetrically arranged on both sides of the elastic joint near the top, and a telescopic rod is provided at the bottom end of the elastic joint, a telescopic spring is provided on the arc surface of the telescopic rod, a bearing seat is provided at the bottom end of the telescopic rod, and the two ends of the bearing seat
  • a universal shaft in the rotation connection, and a connecting groove is provided at the end of the universal shaft; the fixed plate facilitates the connection of the elastic joint and the main body of the photovoltaic cleaning equipment, and facilitates the installation and fixing of the elastic joint. It is convenient for the brush roller to move up and down, so that the brush roller can clean the surface of the photovoltaic panel stably and effectively.
  • the telescopic spring is convenient for resetting the elastic joint, thus facilitating the use of the elastic joint.
  • the bearing seat is convenient for the elastic joint and the drive shaft to be connected together.
  • the cardan shaft is easy to match the transmission shaft, so that the transmission shaft can be bent in multiple directions, which is convenient for the brush roller to clean the photovoltaic array stably and effectively.
  • the elastic joint and the transmission shaft cooperate with each other, thereby facilitating the photovoltaic cleaning equipment to clean the uneven photovoltaic surface.
  • the surface of the brush roller is provided with dense bristles, and the material of the bristles is EVA closed-cell high-foam cotton; the material of the bristles is soft, which overcomes the shortcomings of the surface wear of the components caused by the hard material of the traditional bristles. No damage, and the length of the bristles is longer, which can effectively adapt to the uneven surface of the photovoltaic module array, overcome the shortcomings of the traditional bristles due to short length and poor application of the surface of the photovoltaic module, and improve the cleaning effect.
  • the elastic connection device divides the brush roller into sections, and connects the brush roller to the main beam bracket of the photovoltaic automatic cleaning equipment through the return spring.
  • the brush roller can move up and down along the bracket track through the return spring, realizing the brush.
  • the roller elastically moves up and down according to the unevenness of the photovoltaic module surface on site, so that the brush always maintains a certain contact force with the surface of the photovoltaic module, ensuring a good adhesion between the brush and the surface of the module.
  • the active connection device divides the main beam of the photovoltaic automatic cleaning equipment into multiple sections.
  • the main beam can be bent up and down according to the actual situation of the photovoltaic module.
  • the equipment can walk smoothly on the surface of curved and uneven module arrays, which ensures the cleaning effect and improves the efficiency of photovoltaic automatic cleaning.
  • the synchronization component of the photovoltaic automatic cleaning equipment consists of a bevel gearbox and a bevel gear. One end of the synchronization component is connected to the drive motor, and the other end is connected to the traveling wheel and the guide wheel. When the driving motor rotates, the bevel gear in the bevel gear box can synchronously drive the traveling wheel and the guide wheel.
  • a universal joint is added between each section of the drive shaft of the photovoltaic automatic cleaning equipment.
  • the drive shaft can bend up and down according to the actual conditions of the photovoltaic module surface, and the photovoltaic automatic cleaning equipment can walk smoothly on the curved and uneven surface of the module array.
  • the photovoltaic automatic cleaning equipment is equipped with a programmable controller. Through the programming software, the equipment can realize battery voltage judgment, obstacle avoidance, intelligent retreat and advance after being blocked during walking, and equipment working status information is transmitted to the host computer. and other functions.
  • Fig. 1 is the schematic diagram of the main structure of the photovoltaic cleaning equipment of the present invention
  • Fig. 2 is a top view structural schematic diagram of the photovoltaic cleaning equipment of the present invention.
  • Fig. 3 is the structural representation of girder of the present invention.
  • Fig. 4 is a schematic structural view of the elastic joint of the present invention.
  • Fig. 5 is a structural schematic view of the driving assembly of the cleaning device of the present invention in a first viewing angle
  • Fig. 6 is a structural schematic view of the driving assembly of the cleaning device of the present invention in a second viewing angle
  • a photovoltaic cleaning device that can adapt to the unevenness of the surface of the photovoltaic module array includes a housing 1, a main beam 2 is provided inside the bottom of the housing 1, and the front and rear ends of the bottom of the housing 1 are equipped with There is a drive shaft 3, one end of the drive shaft 3 protrudes from the casing 1, and one end of the drive shaft 3 protruding from the casing 1 is connected to a synchronous assembly 4, and the side of the synchronous assembly 4 that is not connected to the drive shaft 3 is provided with a drive motor 5, and the synchronous
  • the bottom of the assembly 4 is connected with a guide wheel 6 rotatably, and the middle part of the casing 1 is provided with a transmission shaft 8, and one end of the transmission shaft 8 protrudes from the casing 1, and the end of the transmission shaft 8 protruding from the casing 1 is provided with a brush motor 7, and the transmission shaft 8 Divided into multiple sections, every two adjacent transmission shafts 8 are connected together by elastic joints 9, and
  • the drive shaft 3 is convenient to drive the entire photovoltaic cleaning equipment to move.
  • the synchronous component 4 is convenient to cooperate with the drive motor 5, so that the drive motor 5 can stably and quickly make the transmission shaft
  • the speed of rotation of the walking wheel 31 on the 8 is the same as that of the guide wheel 6 at the bottom of the synchronous assembly 4.
  • the brush motor 7 is convenient to drive the transmission shaft 8 to rotate.
  • this structure makes it possible to add elastic connecting devices between the sections of the brush rollers of the photovoltaic cleaning robot, divide the main beam 2 of the photovoltaic automatic cleaning equipment into sections, add active connecting devices between the sections of the main beam 2, and connect the sections of the drive shaft 3
  • the universal joint 32 is added in between, so that the brush can be well attached to the surface of the photovoltaic module, and the cleaning equipment can walk smoothly on the surface of the curved and uneven photovoltaic array, which ensures the cleaning effect and improves the cleaning efficiency.
  • the synchronous device enables the driving motor 5 to provide driving force to the guide wheel 6, and solves the problem that the photovoltaic automatic cleaning equipment is easy to jam when walking due to the unevenness of the upper edge of the photovoltaic module.
  • a power box 11 is installed inside the housing 1, a control cabinet 12 is synchronously provided inside the housing 1 along the power box 11, a photovoltaic panel 13 is installed on the upper surface of the housing 1, and bridges are installed at both ends of the housing 1.
  • Bracket 14; power supply box 11 is convenient for electrifying the whole photovoltaic cleaning equipment, so that the whole photovoltaic cleaning equipment can operate stably and rapidly; Harvesting solar energy makes it convenient to generate electricity from solar energy through solar power generation.
  • the bridge legs are convenient for installing the transmission shaft 8, the drive shaft 3 and the main beam 2, thereby facilitating the operation and use of the entire photovoltaic cleaning equipment.
  • the main beam 2 includes two first beam assemblies 21 and a second beam assembly 22, and the first beam assembly 21 and the second beam assembly 22 are connected together through a flexible connection; the main beam 2 passes through It is convenient to assemble the main beam 2 of the photovoltaic automatic cleaning equipment in the flexible connection device.
  • the main beam 2 can be bent up and down according to the actual situation of the photovoltaic module.
  • the equipment can run smoothly on the surface of the curved and uneven component array, which ensures the cleaning effect and improves the efficiency of photovoltaic automatic cleaning; one end of the first beam component 21 is provided with a pair of ear plates 211, and the top of the first beam component 21 is provided with a groove
  • the end of the groove away from the second beam assembly 22 is provided with a connecting column 212, and both ends of the second beam assembly 22 are provided with plugs 221, and the position where the top of the second beam assembly 22 is aligned with the plug 221 is also provided with a groove, the second The end of the groove of the beam assembly 22 away from the first beam assembly 21 is provided with a connecting column 212, and the two connecting columns 212 are connected together by a return spring 24, and the plug 221 and the ear plate 211 are connected together by a pin 23;
  • the ear plate 211 is convenient for matching the second beam assembly 22, and is convenient for connecting the second beam assembly 22 and the first beam assembly 21 together, and the groove is convenient for matching the return spring 24, so
  • drive shaft 3 is rotatably connected with several pairs of road wheels 31, and evenly provided with some universal joints 32 on drive shaft 3, and drive shaft 3 and housing 1 are rotatably connected together; 31 is convenient to cooperate with the photovoltaic cleaning equipment, which is convenient for the photovoltaic cleaning equipment to move along the photovoltaic array, so as to facilitate cleaning of the photovoltaic surface. , so that it is convenient to clean the photovoltaic panel on the uneven photovoltaic array.
  • the drive shaft 3 and the housing 1 are connected together so that the drive motor 5 can stably drive the drive shaft 3 to rotate, which is convenient for the rotation and use of the drive shaft 3.
  • two bevel gears 41 are arranged inside the synchronous assembly 4, and the two bevel gears 41 are vertically arranged, and the two bevel gears 41 are meshed with each other, and one of the bevel gears 41 and the drive shaft 3 pass through
  • the two bevel gears 41 are connected together, and the other bevel gear 41 is interference-connected with a connecting shaft 42, and the bottom end of the connecting shaft 42 protrudes from the synchronous assembly 4;
  • the two bevel gears 41 are convenient for mutual cooperation, so that the walking wheel 31 and the guide wheel 6 can rotate synchronously , so that the entire photovoltaic cleaning equipment can be cleaned stably
  • the connecting shaft 42 is convenient to connect with the guide wheel 6, so that the rotation of the bevel gear 41 drives the rotation and use of the guide wheel 6, and it is also convenient for the guide wheel 6 to be stuck on the top and bottom of the photovoltaic array , and then the square root photovoltaic cleaning equipment is stabilized on the array photovoltaic.
  • an adapter 81 is provided at one end of the transmission shaft 8 aligned with the elastic joint 9, the adapter 81 matches the elastic joint 9, and the elastic joint 9 and the plug adapter 81 are connected together through a pin 23;
  • the joint 81 is convenient to be connected with the elastic joint 9, so that the transmission shaft 8 can also be completely completed, and then the brush roller 10 can be tilted, so that the brush roller 10 can evenly and effectively clean the dust on the photovoltaic surface.
  • elastic joint 9 is provided with fixed plate 91 symmetrically on both sides near the position of the top, and elastic joint 9 bottom is provided with telescopic rod 92, and telescopic rod 92 arc surface is provided with telescopic spring 93, and telescopic rod 92 bottom
  • Bearing seat 94 is provided at the end, and the two ends of bearing seat 94 are rotationally connected with cardan shaft 95, and the end of cardan shaft 95 is provided with connection groove 96;
  • Fixed plate 91 is convenient for elastic joint 9 and the main body of photovoltaic cleaning equipment to be connected together, convenient
  • the installation and fixing of the elastic joint 9, the telescopic rod 92 is convenient for the elastic joint 9 to be able to stretch up and down, and then the brush roller 10 can be moved up and down, so that the brush roller 10 can clean the surface of the photovoltaic panel 13 stably and effectively, and the telescopic spring 93 is convenient for elastic
  • the joint 9 is reset to facilitate the use of the elastic joint 9, the bearing seat
  • the surface of the brush roller 10 is provided with dense bristles 101, and the material of the bristles 101 is EVA closed-cell high-foam cotton; the material of the bristles 101 is soft, which overcomes the disadvantage of the hard surface of the traditional bristles 101 that causes the surface of the component to wear.
  • the brush hair 101 does not damage the surface of the photovoltaic module when cleaning the photovoltaic module.
  • the length of the brush 101 is longer, which can effectively adapt to the uneven surface of the photovoltaic module array. cleaning effect.
  • the photovoltaic cleaning equipment is installed on the surface of the photovoltaic array, and the photovoltaic panel 13 on the housing 1 collects solar energy to generate electricity. After photovoltaic power generation, the power generation is stored in the power box 11.
  • the control cabinet 12 controls the drive motor 5 to move the photovoltaic cleaning equipment. While the photovoltaic equipment moves, the brush motor 7 drives the transmission shaft 8 and the brush roller 10 to rotate, so that the brush roller 10 can handle the dust on the photovoltaic surface.
  • the active connection part of the main beam 2 and the elastic connection part on the transmission shaft 8 will enable the cleaning components of the photovoltaic cleaning equipment to bend, and automatically bend according to the unevenness of the array photovoltaic surface, so that the brush roller 10 It is convenient to clean the photovoltaic surface, and when the main beam 2 and the transmission shaft 8 bend, the universal joint 32 on the drive shaft 3 will also bend, so that the photovoltaic cleaning equipment can be moved and used stably.

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  • Cleaning In General (AREA)
  • Photovoltaic Devices (AREA)

Abstract

一种可适应光伏组件阵列表面高低不平的光伏清洗设备，包括外壳（1），外壳（1）底部内部设有主梁（2），外壳（1）底部前后两端均设有驱动轴（3），驱动轴（3）一端探出外壳（1），驱动轴（3）探出外壳（1）的一端连接有同步组件（4），同步组件（4）未与驱动轴（3）连接的一侧设有驱动电机（5），同步组件（4）底部转动连接有导向轮（6），外壳（1）内部中部设有传动轴（8），传动轴（8）一端探出外壳（1），传动轴（8）探出外壳（1）的一端设有毛刷电机（7），传动轴（8）分为多段，每相邻的两段传动轴（8）之间通过弹性接头（9）连接在一起，且每段传动轴上（8）均安装有刷辊（10），该清洗设备解决传统机器人毛刷与光伏组件表面敷贴不良，仅依靠毛刷自身补偿光伏组件表面高低不平，致使光伏组件清洗不均匀的技术问题。

Description

一种可适应光伏组件阵列表面高低不平的光伏清洗设备 技术领域
本发明涉及清洗设备技术领域，具体为一种可适应光伏组件阵列表面高低不平的光伏清洗设备。
 背景技术
光伏电站发电效率很大程度上取决于光伏组件表面的清洁度，影响光伏组件清洁度的主要因素是组件表面的积尘，通过机器人清洗光伏组件能够有效的提高光伏组件发电效率，提高电站的效益。
光伏组件清洗方法有很多种，主要分为水洗和干洗两种，水洗的清洁效果要优于干洗。水洗方法有人工喷水清洗、清洗车清洗、水动力刷人工清洗等。这些清洗方法都能够不同程度的提高光伏组件发电效率，提高电站的收益；人工水洗是用水枪、拖把清洗光伏组件，清洗周期长、效率低；清洗车清洗，不能适应山地光伏电站、农光互补光伏电站，清洗效率不高；水动力刷人工清洗，需配备专用高压驱动泵，由高压水驱动刷子转动清洗，人工负责方向控制，清洗效率低，传统光伏清洗机器人由电机驱动毛刷旋转对光伏组件表面进行清洗，在组件的正面设计有行走轮，在组件上沿设计有导向轮，由电机驱动行走轮行走，导向轮无驱动力，机器人主梁为整根刚性梁，清洗毛刷可以分段，段间连接为刚性连接。
由于受地质沉降、安装施工等因素影响，光伏组件阵列横向、纵向都不同程度的发生弯曲，组件表面高低不平，光伏组件的上沿高低不平，呈“台阶”状，从而导致光伏清扫机器人在对光伏进行清扫时容易产生以下问题：传统机器人毛刷与光伏组件表面敷贴不良，仅依靠毛刷自身补偿光伏组件表面高低不平，致使光伏组件清洗不均匀，部分组件表面清洗不到，清洗效果不佳，另外由于组件阵列表面及上沿高低不平，传统机器人的上沿导向轮无驱动力，机器人沿光伏组件表面行走清洗组件时很容易卡涩。
发明内容
本发明的目的在于提供一种可适应光伏组件阵列表面高低不平的光伏清洗设备，旨在改善传统机器人毛刷与光伏组件表面敷贴不良，仅依靠毛刷自身补偿光伏组件表面高低不平，致使光伏组件清洗不均匀，部分组件表面清洗不到，清洗效果不佳，另外由于组件阵列表面及上沿高低不平，传统机器人的上沿导向轮无驱动力，机器人沿光伏组件表面行走清洗组件时很容易卡涩的问题。
本发明是这样实现的：
一种可适应光伏组件阵列表面高低不平的光伏清洗设备，包括，包括外壳，外壳底部内部设有主梁，且外壳底部前后两端均设有驱动轴，驱动轴一端探出外壳，且驱动轴探出外壳的一端连接有同步组件，同步组件未与驱动轴连接的一侧设有驱动电机，且同步组件底部转动连接有导向轮，外壳内部中部设有传动轴，且传动轴一端探出外壳，且传动轴探出外壳的一端设有毛刷电机，传动轴分为多段，每相邻的两段传动轴之间通过弹性接头连接在一起，且每段传动轴上均安装有刷辊；外壳便于对整个光伏清洗设备进行保护，也便于安装光伏清洗设备的各个领不件，便于光伏清洗设备的使用，驱动轴便于带动整个光伏清扫设备进行移动，同步组件便于配合驱动电机，从而方便驱动电机能够稳定快速的使得传动轴上的行走轮和同步组件底部的导向轮的旋转速度相通，毛刷电机便于带动传动轴旋转，传动轴便于安装刷辊，从而方便刷辊旋转对光伏表面进行清扫。
进一步的，外壳一侧内部设有电源箱，外壳内部沿电源箱同步设有控制柜，外壳上表面设有光伏板，且外壳两端均安装有桥支架；电源箱便于对整个光伏清扫设备进行通电，便于整个光伏清扫设备能够稳定快速的运作，控制柜便于控制整个光伏清扫设备，便于整个光伏清扫设备的操作和使用，光伏板便于采集太阳能，从而方便通过太阳能发电的方式对太阳能进行发电处理，桥支脚便于安装传动轴、驱动轴和主梁，从而方便整个光伏清扫设备的运作和使用。
进一步的，主梁包括两个第一梁组件和一个第二梁组件，第一梁组件和第二梁组件之间通过活络连接方式连接在一起；主梁通过活络连接的方式进行组装是方便在活络连接装置把光伏自动清洗设备主梁分为多段，当光伏组件表面弯曲、高低不平时，主梁能够根据光伏组件实际状况上下弯曲位移，光伏自动清洗设备能够在弯曲、高低不平的组件阵列表面顺畅行走，保证了清洗效果，提高了光伏自动清洗效率。
进一步的，第一梁组件一端设有一对耳板，且第一梁组件顶部设有凹槽，凹槽远离第二梁组件的一端设有连接柱，第二梁组件两端均设有插头，且第二梁组件顶端对齐插头的位置也设有凹槽，第二梁组件凹槽内部远离第一梁组件的一端设有连接柱，两个连接柱之间通过复位弹簧连接在一起，且插头和耳板通过销轴连接在一起；耳板便于配合第二梁组件，便于第二梁组件和第一梁组件连接在一起，凹槽便于配合复位弹簧，便于复位弹簧稳定在第一梁组件和第二梁组件连接端内侧，插头便于配合耳板，连接柱便于配合复位弹簧，便于复位弹簧的安装和拆卸，复位弹簧便于主梁在弯曲后能够具有弹力进行主动恢复，便于复位弹簧的安装和使用，销轴便于第一梁组件和第二梁组件转动连接在一起。
进一步的，驱动轴上转动连接有若干对行走轮，且驱动轴上均匀的设有若干万向节，驱动轴和外壳转动连接在一起；行走轮便于配合光伏清扫设备，便于光伏清扫设备能够沿阵列光伏上进行移动，从而方便对光伏表面进行清扫，万向节便于驱动轴能够从不同方向弯折，从而方便整个光伏清扫设备弯曲清扫，从而方便在高低不平的阵列光伏上对光伏面板进行清扫，驱动轴和外壳转动连接在一起是便于驱动电机能够稳定的带动驱动轴转动，便于驱动轴的旋转和使用。
进一步的，同步组件内部设有两个锥齿轮，两个锥齿轮垂直设置，且两个锥齿轮相互啮合在一起，其中一个锥齿轮和驱动轴过盈连接在一起，另外一个锥齿轮过盈连接有连接轴，连接轴底端探出同步组件；两个锥齿轮便于相互配合，从而方便行走轮和导向轮能够同步转动，便于整个光伏清扫设备能够稳定的清扫，连接轴便于和导向轮连接在一起，从而方便锥齿轮旋转带动导向轮的旋转和使用，也便于导向轮卡在阵列光伏顶部和底部，进而方根光伏清扫设备稳定在阵列光伏上。
进一步的，传动轴对齐弹性接头的一端设有转接头，转接头与弹性接头匹配，弹性接头和转接头通过销轴连接在一起；转接头便于和弹性接头连接，从而方便传动轴也能够进行完全，进而方便刷辊能够倾斜，便于刷辊能够均匀有效的对光伏表面的灰尘进行清扫。
进一步的，弹性接头靠近顶部的位置两侧对称设有固定板，且弹性接头底端设有伸缩杆，伸缩杆圆弧面设有伸缩弹簧，伸缩杆底端设有轴承座，轴承座两端转动连接有万向轴，万向轴端部设有连接槽；固定板便于弹性接头和光伏清扫设备的主体连接在一起，便于弹性接头的安装和固定，伸缩杆便于弹性接头能够上下伸缩，进而方便刷辊能够上下移动，从而方便刷辊稳定有效的对光伏板表面进行清扫，伸缩弹簧便于对弹性接头进行复位处理，从而方便弹性接头的使用，轴承座便于弹性接头和传动轴连接在一起，万向轴便于配合传动轴，从而方便传动轴能够多向弯曲，便于刷辊对阵列光伏进行稳定有效的清扫，连接槽便于配合插头，从而方便传动轴和弹性接头通过销轴连接在一起，便于弹性接头和传动轴相互配合，进而方便光伏清扫设备能够对不平整的光伏表面进行清扫处理。
进一步的，刷辊表面设有密集的刷毛，刷毛材质为EVA闭孔高泡棉；该刷毛材质柔软，克服了传统刷毛材质较硬造成组件表面磨损的缺点，该刷毛清洗光伏组件时对组件表面无损伤，另外该刷毛长度较长，可有效适应高低不平的光伏组件阵列表面，克服了传统刷毛由于长度短与光伏组件表面敷贴不良的缺点，提高了清洗效果。
与现有技术相比，本发明的有益效果是：
1、弹性连接装置把毛刷滚子分段，通过复位弹簧把毛刷滚子连接到光伏自动清洗设备主梁支架上，毛刷滚子通过复位弹簧能够沿支架轨道上下位移，实现了毛刷滚子根据现场光伏组件表面高低不平的状况上下弹性位移，使毛刷始终与光伏组件表面保持一定的接触力，保证了毛刷与组件表面的良好覆贴。
2、根据现场光伏组件的排列布置情况，活络连接装置把光伏自动清洗设备主梁分为多段，当光伏组件表面弯曲、高低不平时，主梁能够根据光伏组件实际状况上下弯曲位移，光伏自动清洗设备能够在弯曲、高低不平的组件阵列表面顺畅行走，保证了清洗效果，提高了光伏自动清洗效率。
3、光伏自动清洗设备同步组件包括伞形齿轮箱和伞形齿轮组成，同步组件一端连接驱动电机，另一端连接行走轮和导向轮。驱动电机旋转时，通过伞形齿轮箱内的伞形齿轮可同步驱动行走轮、导向轮。
4、在光伏自动清洗设备驱动轴各段间增加万向节，驱动轴能够根据光伏组件表面实际状况上下弯曲位移，光伏自动清洗设备能够在弯曲、高低不平的组件阵列表面顺畅行走。
5、光伏自动清洗设备配备可编程序控制器，通过编制程序软件，该设备能够实现蓄电池电压判断，障碍物规避，行走过程中受阻后智能回退再前进，设备工作状态信息远传到上位机等功能。
 附图说明
为了更清楚地说明本发明实施方式的技术方案，下面将对实施方式中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本发明光伏清扫设备的主视结构示意图；
图2是本发明光伏清扫设备的俯视结构示意图；
图3是本发明主梁的结构示意图；
图4是本发明弹性接头的结构示意图；
图5是本发明清洗设备的驱动组件在第一视角下结构示意图；
图6是本发明清洗设备的驱动组件在第二视角下结构示意图；
图中：1-外壳；11-电源箱；12-控制柜；13-光伏板；14-桥支架；2-主梁；21-第一梁组件；211-耳板；212-连接柱；22-第二梁组件；221-插头；23-销轴；24-复位弹簧；3-驱动轴；31-行走轮；32-万向节；4-同步组件；41-锥齿轮；42-连接轴；5-驱动电机；6-导向轮；7-毛刷电机；8-传动轴；81-转接头；9-弹性接头；91-固定板；92-伸缩杆；93-伸缩弹簧；94-轴承座；95-万向轴；96-连接槽；10-刷辊；101-刷毛。
具体实施方式
为使本发明实施方式的目的、技术方案和优点更加清楚，下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。因此，以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施方式。基于本发明中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。
实施例：参照图1和图2所示：一种可适应光伏组件阵列表面高低不平的光伏清洗设备，包括外壳1，外壳1底部内部设有主梁2，且外壳1底部前后两端均设有驱动轴3，驱动轴3一端探出外壳1，且驱动轴3探出外壳1的一端连接有同步组件4，同步组件4未与驱动轴3连接的一侧设有驱动电机5，且同步组件4底部转动连接有导向轮6，外壳1内部中部设有传动轴8，且传动轴8一端探出外壳1，且传动轴8探出外壳1的一端设有毛刷电机7，传动轴8分为多段，每相邻的两段传动轴8之间通过弹性接头9连接在一起，且每段传动轴8上均安装有刷辊10；外壳1便于对整个光伏清洗设备进行保护，也便于安装光伏清洗设备的各个领不件，便于光伏清洗设备的使用，驱动轴3便于带动整个光伏清扫设备进行移动，同步组件4便于配合驱动电机5，从而方便驱动电机5能够稳定快速的使得传动轴8上的行走轮31和同步组件4底部的导向轮6的旋转速度相通，毛刷电机7便于带动传动轴8旋转，传动轴8便于安装刷辊10，从而方便刷辊10旋转对光伏表面进行清扫；这种结构使得光伏清扫机器人毛刷滚子各段间增加弹性连接装置，把光伏自动清洗设备主梁2分段，在主梁2各段间增加活络连接装置，在驱动轴3各段间增加万向节32，实现了毛刷能够与光伏组件表面良好敷贴，清洗设备能够在弯曲、高低不平的光伏阵列表面顺畅行走，保证了清洗效果，提高了清洗效率，通过光伏自动清洗设备同步装置实现了驱动电机5对导向轮6提供驱动力，解决了因光伏组件上沿高低不平导致光伏自动清洗设备行走时容易卡涩的问题。
参照图1所示：外壳1一侧内部设有电源箱11，外壳1内部沿电源箱11同步设有控制柜12，外壳1上表面设有光伏板13，且外壳1两端均安装有桥支架14；电源箱11便于对整个光伏清扫设备进行通电，便于整个光伏清扫设备能够稳定快速的运作，控制柜12便于控制整个光伏清扫设备，便于整个光伏清扫设备的操作和使用，光伏板13便于采集太阳能，从而方便通过太阳能发电的方式对太阳能进行发电处理，桥支脚便于安装传动轴8、驱动轴3和主梁2，从而方便整个光伏清扫设备的运作和使用。
参照图3所示：主梁2包括两个第一梁组件21和一个第二梁组件22，第一梁组件21和第二梁组件22之间通过活络连接方式连接在一起；主梁2通过活络连接的方式进行组装是方便在活络连接装置把光伏自动清洗设备主梁2分为多段，当光伏组件表面弯曲、高低不平时，主梁2能够根据光伏组件实际状况上下弯曲位移，光伏自动清洗设备能够在弯曲、高低不平的组件阵列表面顺畅行走，保证了清洗效果，提高了光伏自动清洗效率；第一梁组件21一端设有一对耳板211，且第一梁组件21顶部设有凹槽，凹槽远离第二梁组件22的一端设有连接柱212，第二梁组件22两端均设有插头221，且第二梁组件22顶端对齐插头221的位置也设有凹槽，第二梁组件22凹槽内部远离第一梁组件21的一端设有连接柱212，两个连接柱212之间通过复位弹簧24连接在一起，且插头221和耳板211通过销轴23连接在一起；耳板211便于配合第二梁组件22，便于第二梁组件22和第一梁组件21连接在一起，凹槽便于配合复位弹簧24，便于复位弹簧24稳定在第一梁组件21和第二梁组件22连接端内侧，插头221便于配合耳板211，连接柱212便于配合复位弹簧24，便于复位弹簧24的安装和拆卸，复位弹簧24便于主梁2在弯曲后能够具有弹力进行主动恢复，便于复位弹簧24的安装和使用，销轴23便于第一梁组件21和第二梁组件22转动连接在一起。
参照图1和图2所示：驱动轴3上转动连接有若干对行走轮31，且驱动轴3上均匀的设有若干万向节32，驱动轴3和外壳1转动连接在一起；行走轮31便于配合光伏清扫设备，便于光伏清扫设备能够沿阵列光伏上进行移动，从而方便对光伏表面进行清扫，万向节32便于驱动轴3能够从不同方向弯折，从而方便整个光伏清扫设备弯曲清扫，从而方便在高低不平的阵列光伏上对光伏面板进行清扫，驱动轴3和外壳1转动连接在一起是便于驱动电机5能够稳定的带动驱动轴3转动，便于驱动轴3的旋转和使用。
参照图5和图6所示：同步组件4内部设有两个锥齿轮41，两个锥齿轮41垂直设置，且两个锥齿轮41相互啮合在一起，其中一个锥齿轮41和驱动轴3过盈连接在一起，另外一个锥齿轮41过盈连接有连接轴42，连接轴42底端探出同步组件4；两个锥齿轮41便于相互配合，从而方便行走轮31和导向轮6能够同步转动，便于整个光伏清扫设备能够稳定的清扫，连接轴42便于和导向轮6连接在一起，从而方便锥齿轮41旋转带动导向轮6的旋转和使用，也便于导向轮6卡在阵列光伏顶部和底部，进而方根光伏清扫设备稳定在阵列光伏上。
参照图2和图4所示：传动轴8对齐弹性接头9的一端设有转接头81，转接头81与弹性接头9匹配，弹性接头9和插头转接头81通过销轴23连接在一起；转接头81便于和弹性接头9连接，从而方便传动轴8也能够进行完全，进而方便刷辊10能够倾斜，便于刷辊10能够均匀有效的对光伏表面的灰尘进行清扫。
参照图4所示：弹性接头9靠近顶部的位置两侧对称设有固定板91，且弹性接头9底端设有伸缩杆92，伸缩杆92圆弧面设有伸缩弹簧93，伸缩杆92底端设有轴承座94，轴承座94两端转动连接有万向轴95，万向轴95端部设有连接槽96；固定板91便于弹性接头9和光伏清扫设备的主体连接在一起，便于弹性接头9的安装和固定，伸缩杆92便于弹性接头9能够上下伸缩，进而方便刷辊10能够上下移动，从而方便刷辊10稳定有效的对光伏板13表面进行清扫，伸缩弹簧93便于对弹性接头9进行复位处理，从而方便弹性接头9的使用，轴承座94便于弹性接头9和传动轴8连接在一起，万向轴95便于配合传动轴8，从而方便传动轴8能够多向弯曲，便于刷辊10对阵列光伏进行稳定有效的清扫，连接槽96便于配合插头221，从而方便传动轴8和弹性接头9通过销轴23连接在一起，便于弹性接头9和传动轴8相互配合，进而方便光伏清扫设备能够对不平整的光伏表面进行清扫处理。
参照图4所示：刷辊10表面设有密集的刷毛101，刷毛101材质为EVA闭孔高泡棉；该刷毛101材质柔软，克服了传统刷毛101材质较硬造成组件表面磨损的缺点，该刷毛101清洗光伏组件时对组件表面无损伤，另外该刷毛101长度较长，可有效适应高低不平的光伏组件阵列表面，克服了传统刷毛101由于长度短与光伏组件表面敷贴不良的缺点，提高了清洗效果。
工作原理：将光伏清扫设备安装在阵列光伏表面上，外壳1上的光伏板13采集太阳能进行发电，光伏发电后将发电量存储在电源箱11内部，当需要对阵列光伏表面进行清扫时可以通过控制柜12控制驱动电机5光伏清扫设备移动，在光伏设备移动的同时毛刷电机7带动传动轴8以及刷辊10旋转，从而通过刷辊10对光伏表面的灰尘进行处理，当遇到阵列光伏表面不平坦时主梁2的活络连接部位，以及传动轴8上的弹性连接部位，会使得光伏清扫设备的清扫组件能够进行弯曲，根据阵列光伏表面的不平整度自动弯曲，从而使得刷辊10便于对光伏表面进行清扫，且在主梁2和传动轴8弯曲时驱动轴3上的万向节32也会弯曲，从而方便光伏清扫设备能够稳定的移动和使用。
以上所述仅为本发明的优选实施方式而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (9)

  1. 一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于：包括外壳（1），所述外壳（1）底部内部设有主梁（2），所述外壳（1）底部前后两端均设有驱动轴（3），所述驱动轴（3）一端探出外壳（1），所述驱动轴（3）探出外壳（1）的一端连接有同步组件（4），所述同步组件（4）未与驱动轴（3）连接的一侧设有驱动电机（5），所述同步组件（4）底部转动连接有导向轮（6），所述外壳（1）内部中部设有传动轴（8），所述传动轴（8）一端探出外壳（1），所述传动轴（8）探出外壳（1）的一端设有毛刷电机（7），所述传动轴（8）分为多段，每相邻的两段所述传动轴（8）之间通过弹性接头（9）连接在一起，且每段所述传动轴（8）上均安装有刷辊（10）。
  2. 根据权利要求1所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述外壳（1）一侧内部设有电源箱（11），所述外壳（1）内部沿电源箱（11）同步设有控制柜（12），所述外壳（1）上表面设有光伏板（13），所述外壳（1）两端均安装有桥支架（14）。
  3. 根据权利要求2所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述主梁（2）包括两个第一梁组件（21）和一个第二梁组件（22），所述第一梁组件（21）和第二梁组件（22）之间通过活络连接方式连接在一起。
  4. 根据权利要求3所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述第一梁组件（21）一端设有一对耳板（211），所述第一梁组件（21）顶部设有凹槽，所述凹槽远离第二梁组件（22）的一端设有连接柱（212），所述第二梁组件（22）两端均设有插头（221），所述第二梁组件（22）顶端对齐插头（221）的位置也设有凹槽，所述第二梁组件（22）凹槽内部远离第一梁组件（21）的一端设有连接柱（212），两个所述连接柱（212）之间通过复位弹簧（24）连接在一起，所述插头（221）和耳板（211）通过销轴（23）连接在一起。
  5. 根据权利要求4所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述驱动轴（3）上转动连接有若干对行走轮（31），所述驱动轴（3）上均匀的设有若干万向节（32），所述驱动轴（3）和外壳（1）转动连接在一起。
  6. 根据权利要求5所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述同步组件（4）内部设有两个锥齿轮（41），两个所述锥齿轮（41）垂直设置，且两个所述锥齿轮（41）相互啮合在一起，其中一个所述锥齿轮（41）和驱动轴（3）过盈连接在一起，另外一个所述锥齿轮（41）过盈连接有连接轴（42），所述连接轴（42）底端探出同步组件（4）。
  7. 根据权利要求6所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述传动轴（8）对齐弹性接头（9）的一端设有转接头（81），所述转接头（81）与弹性接头（9）匹配，所述弹性接头（9）和转接头（81）通过销轴（23）连接在一起。
  8. 根据权利要求7所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述弹性接头（9）靠近顶部的位置两侧对称设有固定板（91），所述弹性接头（9）底端设有伸缩杆（92），所述伸缩杆（92）圆弧面设有伸缩弹簧（93），所述伸缩杆（92）底端设有轴承座（94），所述轴承座（94）两端转动连接有万向轴（95），所述万向轴（95）端部设有连接槽（96）。
  9. 根据权利要求8所述的一种可适应光伏组件阵列表面高低不平的光伏清洗设备，其特征在于，所述刷辊（10）表面设有密集的刷毛（101），所述刷毛（101）材质为EVA闭孔高泡棉。
PCT/CN2022/089259 2021-07-09 2022-04-26 一种可适应光伏组件阵列表面高低不平的光伏清洗设备 WO2023279811A1 (zh)

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