CN108745998A - A kind of full automatic solar photovoltaic battery plate cleaning detection robot - Google Patents
A kind of full automatic solar photovoltaic battery plate cleaning detection robot Download PDFInfo
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- CN108745998A CN108745998A CN201810869523.8A CN201810869523A CN108745998A CN 108745998 A CN108745998 A CN 108745998A CN 201810869523 A CN201810869523 A CN 201810869523A CN 108745998 A CN108745998 A CN 108745998A
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- connecting rod
- robot
- side frame
- battery plate
- photovoltaic battery
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- 238000004140 cleaning Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 230000007547 defect Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 23
- 238000012423 maintenance Methods 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 238000010408 sweeping Methods 0.000 description 21
- 238000003032 molecular docking Methods 0.000 description 15
- 230000001105 regulatory effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
Classifications
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- 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
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- 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
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- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full automatic solar photovoltaic battery plates to clean detection robot, including cover board, cleaning agency, deformation fixed mechanism and robot running gear；Deformation fixed mechanism includes upper side frame, lower side frame, connecting rod one and connecting rod two；The side of cover board is hinged with connecting rod one, and the other side and the connecting rod two of cover board are slidably connected；Clean component and universal joint one；Roller brush assembly can rotate, and universal joint one is arranged at the both ends of roller brush assembly, and the other end of two universal joints is connect with upper side frame or downside gantry rotation.It is of the invention can automatically walk on photovoltaic panel array group steelframe guide rail, different angle can be adapted to automatically and photovoltaic battery plate plate face is parallel and vertical direction misalignment, realize the full-automatic cleaning of photovoltaic battery plate.In addition, image scanning can also be carried out to photovoltaic plate surface by image scanning sensor, being transmitted to the defects of cloud platform carries out breakage, hot spot together with location information detects, and safeguards and replaces convenient for guidance.
Description
Technical field
The present invention relates to the technical field that photovoltaic battery plate is safeguarded, especially a kind of full automatic solar photovoltaic battery plates
Clean detection robot.
Background technology
Solar energy is a kind of reproducible clean energy resource, inexhaustible.Solar energy power generating is to pass through light
It lies prostrate battery plate and absorbs solar radiant energy, and solar radiant energy is converted directly into electric energy using photovoltaic effect and is utilized.
If photovoltaic plate surfaces are blocked the efficiency that can greatly reduce its absorption solar energy by dust etc., to influence to generate electricity
Efficiency reduces the generating equipment service life, possibly even causes fire when serious.
Solar photovoltaic power plant uses the photovoltaic battery plate of same specification to carry out large area laying and generates electricity substantially, by many
Small photovoltaic battery plate scrabbles up one piece big of photovoltaic battery plate, then carries out the laying of photovoltaic electric board group large area.And photovoltaic electric board group
In if the defects of one of small photovoltaic battery plate hot spot or crackle occurs because of dust stratification, can influence the hair of entire photovoltaic electric board group
Electrical efficiency.If can find in time, clean in time and replace defect photovoltaic battery plate, system power generation can be greatly promoted
Efficiency.
The maintained equipment of the prior art can only substantially solve one or more continuously with the photovoltaic electric board group at inclination angle
It cleans.If you need to solve the problems, such as, in the cleaning that photovoltaic panel plate face parallel direction misplaces, to need manual intervention.
Invention content
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of full automatic solars
Photovoltaic battery plate cleans detection robot, which cleans detection robot energy automatically walk in photovoltaic panel
On array group steelframe, different angle can be adapted to automatically and photovoltaic battery plate plate face is parallel and vertical direction misalignment, is realized
The full-automatic cleaning of photovoltaic battery plate.In addition it is possible to which the defects of damaged to the battery plate in photovoltaic battery plate operational process situation carries out
Detection, and defective position is sent to cloud platform and is identified, guidance, which is safeguarded, to be replaced.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of full automatic solar photovoltaic battery plate cleaning detection robot, including cover board, cleaning agency, deformation fixed mechanism and machine
Device people's walking mechanism.
Deformation fixed mechanism includes upper side frame, lower side frame, connecting rod one and connecting rod two；Upper side frame and lower side frame phase
Parallel, connecting rod one and connecting rod two are parallel, and the both ends of connecting rod one and connecting rod two are respectively mutually cut with scissors with upper side frame and lower side frame
It connects.
The side of cover board is hinged with connecting rod one, and the other side and the connecting rod two of cover board are slidably connected.
Cleaning agency includes roller brush assembly and universal joint one；Roller brush assembly can rotate, and universal joint one is arranged in round brush groups
The both ends of part, the other end of two universal joints one are connect with upper side frame or downside gantry rotation.
Robot running gear includes at least two driving wheels, and driving wheel is connect with upper side frame or downside gantry rotation.
Robot running gear includes two driving wheels and two driven wheels, the rotations of two driving wheels and roller brush assembly
Rotation is driven by same set of driving device.
Be connected by transmission component between two driving wheels, transmission component include telescopic transmission rod, two universal joints two,
Drive shaft one and drive shaft two；One end of drive shaft one is connected by universal joint two with one end of telescopic transmission rod, drive shaft
One other end is connect with upside gantry rotation；The other end phase that one end of drive shaft two passes through universal joint two and telescopic transmission rod
Connection, the other end of drive shaft two are connected with lower side frame；The length of telescopic transmission rod being capable of telescopic adjustment.
The driving gear and be sleeved on driven in drive shaft one that driving device includes motor, is sleeved on motor output shaft
Gear；One end of motor output shaft is connected after passing through upper side frame with the universal joint one of roller brush assembly one end, drives round brush groups
Part rotates；Driving gear and driven gear are meshed, driving driving wheel rotation；The rotation side of the rotation direction and driving wheel of round brush
To opposite.
The upper surface of connecting rod two is nested with ball, and ball upper surface is in contact with cover board lower surface.
Further include position sensor, position sensor is used to detect extreme position letter of the robot in photovoltaic panel array group
Breath, when robot reaches capacity position, position sensor can send out stopping control signal to robot running gear.
Further include Position and attitude sensor, Position and attitude sensor is made of two groups of distance measuring sensors；Position and attitude sensor is used for detection light
The posture information of steelframe guide rail in plate array group is lied prostrate, posture information includes inclination angle and distance；And the posture information of detection is transmitted
Robot carrier is given, to adjust the walking angles and positions that robot enters photovoltaic board group.
Further include image scanning sensor, image scanning sensor can carry out real time scan to photovoltaic plate surface, and will sweep
The video image retouched is sent to maintenance management cloud platform together with location information by way of Wireless transceiver, and maintenance management cloud is flat
Platform is detected the defect of photovoltaic plate surface.
Retainer ring is provided in the middle part of roller brush assembly, the top of retainer ring is connected by supporting shaft with cross bar, cross bar
Both ends are connected with connecting rod one and connecting rod two respectively.
Further include walking guiding mechanism, walking guiding mechanism includes that four directive wheels and four guiding axis, two of which are led
It is hinged respectively by guiding axis and upper side frame to wheel, other two directive wheel is mutually cut with scissors by guiding axis and lower side frame respectively
It connects.
Photovoltaic battery plate is provided at the top of cover board.
The present invention has the advantages that：
1. directive wheel can walk on the steelframe guide rail of height, front-back staggered, driving wheel is kept after the deformation of deformation fixed mechanism
Along track travel above steelframe, according to robot power and climbing capacity, adapt to be no more than 40 ° of height, front and back 45 ° of gradual changes
Track adapts to complicated laying scene.
2. liang distance measuring sensor can detect the posture informations such as the accurate inclination angle of steelframe guide rail and distance in photovoltaic plate array group,
And then the information of adjustment robot angles and positions is provided to carrier；Steelframe guide rail is smoothly passed in and out convenient for robot.
3. round brush direction of rotation and driving wheel direction of rotation are opposite, it can be achieved that inversely cleaning, preventing will be grey in cleaning agency
The sundries such as dirt sweep go back to the surface cleared up and form secondary pollution, reduce cleaning effect.
4. the present invention only needs a motor to realize walking and cleaning works, the scheme compared with more than two motors reduces control
Difficulty, it is ensured that the synchronization of two side drive wheels, and it is more energy saving, it can once realize that larger range of cleaning is safeguarded.
5. primary clean while realizing photovoltaic plate surfaces image scanning, defects detection is carried out for platform, while can will lack
Fall into plate positioning；Maintenance management cloud platform can then carry out later stage fixed point according to this information and safeguard guide.
Description of the drawings
Fig. 1 shows a kind of artwork of photovoltaic battery plate sweeping robot carrier middle orbit of the present invention.
Fig. 2 shows a kind of stereogram one of photovoltaic battery plate sweeping robot carrier body part of the present invention.
Fig. 3 shows a kind of stereogram two of photovoltaic battery plate sweeping robot carrier body part of the present invention.
Fig. 4 shows a kind of solid that photovoltaic battery plate sweeping robot carrier car body slides along guide rail of the present invention
Figure one.
Fig. 5 shows a kind of solid that photovoltaic battery plate sweeping robot carrier car body slides along guide rail of the present invention
Figure two.
Have in Fig. 1 to Fig. 5：
1- sweeping robots；2- brush holders；3- brushes；4- movable guiding rails；5- butt joints；6- solar panels；7- chassis；8- connections
Seat；9- wheel carriers；10- wheels；11- tracks；12- locator 13- position-sensing switches；14- drive sprockets；15- movable motors；16-
Chain；17- driven sprockets；18- driving wheels；19- drive shafts；20- gears；21- racks；22- docks motor；23- docking drivings
Bar；24- adjustable connecting-rods；The upper oblique framves of 25-；26- range sensors；27- splices bar；28- photovoltaic panel array groups.
Fig. 6 shows that a kind of full automatic solar photovoltaic battery plate of the present invention cleans structure of the detection robot without cover board and shows
It is intended to.
Fig. 7 shows the enlarged diagram at the ends A in Fig. 6.
Fig. 8 shows the enlarged diagram at the ends B in Fig. 6.
Fig. 9 shows schematic diagram of the cleaning detection robot ambulation of the present invention on front-back staggered photovoltaic battery plate.
Figure 10 shows that the deformation that the cleaning detection robot of the present invention is run to from photovoltaic battery plate on angled transition frame is shown
It is intended to.
Figure 11 shows that the deformation that the cleaning detection robot of the present invention is run to from angled transition frame on photovoltaic battery plate is shown
It is intended to.
Figure 12 shows the end enlarged diagram in Figure 11.
Figure 13 shows the layout position illustration of each sensor on cover board.
Have in Fig. 6 to Figure 13：
31. round brush；32. universal joint one；33. support shaft；
Side frame on 41.；42. lower side frame；43. connecting rod one；431. pin；44. connecting rod two；441. ball；45. cross bar；451.
Supporting shaft；
50. driving wheel；51. drive shaft one；52. driven gear；53. telescopic transmission rod；54. universal joint two；55. drive shaft two；
60. driven wheel；61. driven shaft；
71. motor；72. driving gear；
81. directive wheel；82. guiding axis；
90. cover board；91. image scanning sensor；92. position sensor；93. distance measuring sensor.
Specific implementation mode
The present invention is described in further detail with specific better embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 6, Fig. 7, Fig. 8 and Figure 13, a kind of full automatic solar photovoltaic battery plate cleaning detection robot, including lid
Plate 90, cleaning agency, deformation fixed mechanism, robot running gear, walking guiding mechanism, photovoltaic battery plate, position sensor 92,
Position and attitude sensor and image scanning sensor 91.
Photovoltaic battery plate is arranged at the top of cover board, can be cleaning agency, robot running gear, position sensor, pose biography
Sensor and image scanning sensor are powered.
As shown in figure 13, position sensor（Or limit switch）Cover board both sides are preferably attached to, position sensor is for examining
Extreme position information of the robot in photovoltaic panel array group is surveyed, when robot reaches capacity position, position sensor can be sent out
Go out to stop control signal to robot running gear.
The Position and attitude sensor of two distance measuring sensors 93 composition is preferably attached to cover board side, close to lower edges.Pose passes
Sensor is passed for detecting the posture informations such as the inclination angle of steelframe guide rail and distance in photovoltaic plate array group, and by the posture information of detection
It is defeated by robot carrier, to adjust the walking angles and positions that robot enters photovoltaic board group.
Image scanning sensor（Camera）It can be one, or two.When image scanning sensor（Camera shooting
Head）When only using one, it is preferentially installed on the position of certain distance above cover board, one group of camera can also be used, at this point it is possible to
It is installed on the cover board other side.
Image scanning sensor can carry out real time scan to photovoltaic plate surface, and by the video image scanned together with position
Information is sent to maintenance management cloud platform by way of Wireless transceiver, maintenance management cloud platform to the defect of photovoltaic plate surface into
Row detection；Maintenance management cloud platform is preferably molded-in in the intelligent terminals such as computer, mobile phone or IPAD.
Common ultrasonic distance-measuring sensor, laser ranging sensing can be selected in above-mentioned position sensor and distance measuring sensor
Device, infrared distance sensor etc..Limit switch can then select mechanical stroke switch or proximity sensor etc..Graph scanning passes
Various cameras etc. can be selected in sensor.
Deformation fixed mechanism includes upper side frame 41, lower side frame 42, connecting rod 1 and connecting rod 2 44.
Upper side frame and lower side frame are parallel, and connecting rod one and connecting rod two are parallel, and the both ends of connecting rod one and connecting rod two are equal
It is hinged respectively with upper side frame and lower side frame.
The side of cover board is hinged with connecting rod one, and pin 431 is preferably provided on connecting rod one, and the quantity of pin is preferably two,
Cover board is connected by pin 431 with connecting rod one.
The other side of cover board is slidably connected with connecting rod two, and the upper surface of connecting rod two is preferably nested with ball 441, ball upper table
Face is in contact with cover board lower surface, is supported to cover board.
Cleaning agency includes roller brush assembly and universal joint 1；Roller brush assembly can rotate, and universal joint one is arranged in round brush
The both ends of component, the other end of two universal joints one are connect with upper side frame or downside gantry rotation.That is, one of them is universal
By being connected with support shaft 33, the other end of support shaft is hinged the other end of section with lower side frame.Another universal joint one
The other end be connected with the output shaft of motor in driving device, the output shaft of motor is hinged with upper side frame.
Roller brush assembly may include a round brush, may include the round brush 31 of multiple coaxial arrangements.When round brush length is longer,
At the middle part of round brush, retainer ring is set.When using multiple round brush, retainer ring is set in the connecting portion of two neighboring round brush.It is right
In shorter round brush, centre is not necessarily to retainer ring.
The top of retainer ring is connected by supporting shaft 451 with cross bar 45, cross bar both ends respectively with connecting rod one and connecting rod
Two are connected.
Robot running gear includes at least two driving wheels 50, and driving wheel connects with upper side frame or downside gantry rotation
It connects.In the application, robot running gear preferably includes two driving wheels and two driven wheels 60, the rotation of two driving wheels and
The rotation of roller brush assembly is driven by same set of driving device.
It is connected by transmission component between two driving wheels, transmission component includes 53, two universal joints of telescopic transmission rod
2 54, drive shaft 1 and drive shaft 2 55；One end of drive shaft one is connected by universal joint two with one end of telescopic transmission rod
It connects, the other end of drive shaft one is connect with upside gantry rotation；One end of drive shaft two passes through universal joint two and telescopic transmission rod
The other end be connected, the other end of drive shaft two is connected with lower side frame.
The length of telescopic transmission rod can telescopic adjustment, telescopic transmission rod can be automatic in photovoltaic panel array group front-back staggered
Adapt to length variation.
One driven wheel is hinged by driven shaft 61 and upper side frame, another driven wheel passes through driven shaft and downside machine
Frame is hinged.
The driving gear 72 and be sleeved in drive shaft one that driving device includes motor 71, is sleeved on motor output shaft
Driven gear 52.One end of motor output shaft is connected after passing through upper side frame with the universal joint one of roller brush assembly one end, drives
Roller brush assembly rotates；Driving gear and driven gear are meshed, driving driving wheel rotation；The rotation direction of round brush and driving wheel
Rotation direction is opposite.
Walking guiding mechanism includes that four directive wheels 81 and four guiding axis 82, two of which directive wheel pass through guiding respectively
Axis is hinged with upper side frame, other two directive wheel is hinged by guiding axis and lower side frame respectively.Wherein, driving wheel and
Directive wheel axis is vertical, is contacted respectively with two vertical planes in photovoltaic panel array group steelframe guide rail front and lateral surface.
The motion control flow of sweeping robot of the present invention is as follows：
1. the photovoltaic battery plate on cover board is powered to motor, the output shaft of motor is passed motion to after deceleration.
2. the driving gear rotation being fixed on output shaft, drives the driven gear of engagement to rotate；Driven gear, which drives, to be driven
Moving axis one rotates, and then drives driving wheel rotation, and driving equipment is walked on the steelframe guide rail in photovoltaic panel array group.
3. drive shaft one drives universal joint two simultaneously, it is further driven to telescopic transmission rod rotation, under telescopic transmission rod drives
The universal joint two of side rotates, and then drives the rotation of the driving wheel of drive shaft two and downside.Two driving wheels keep absolute synchronization.
4. motor output shaft drives universal joint one to rotate, universal joint one drives round brush rotation.Round brush can be one or more
A combination, when multiple combinations among supported by retainer ring.The same universal-joint one of the round brush other end and support shaft ensure round brush
Rotate smoothly realization cleaning works.The direction of rotation of round brush and the direction of rotation of driving wheel are opposite, it is ensured that the dust of cleaning
It is cleaned toward moving direction, avoids secondary pollution.
5. when being moved in high infraversion malposition photovoltaic panel, angle of leaning to one side mainly is determined by driving wheel and driven wheel, is led along steelframe
Rail is walked.
6. as shown in Fig. 9 to Figure 12, when front-back staggered, driven wheel is moved along steelframe guide rail, causes side frame around vertical
Line rotates by a certain angle, and connecting rod one and connecting rod two and rack are hinge connections, can be rotated.In the work of connecting rod one and connecting rod two
Under, lower side frame synchronous rotary equal angular, the rectangular configuration variation on normal position is parallelogram.Telescopic transmission rod
With round brush because being connected with universal joint, synchronous rotation can be done, and keeps the rotary motion advanced and cleaned.Middle transverse rod with
The connection of connecting rod one, connecting rod two and retainer ring is hinge connection, can be dynamic around supporting pin shaft rotation, and there is no interference.
When front-back staggered, cover board is fixed on connecting rod one and the relative direction position of connecting rod one remains unchanged.Two He of connecting rod
The relative position of connecting rod one changes, and the relative position of connecting rod two and cover board changes simultaneously, the rolling installed on connecting rod two
Pearl rolls along cover inner surface, while keeping supporting the stress of cover board.
7. in robot cleaning process, distance measuring sensor and image scanning sensor are scanned detection in real time, and will inspection
It surveys result and position data and maintenance management cloud platform is beamed back by wireless network, maintenance management cloud platform is after testing after operation as found
Photovoltaic panel is defective, carries out relevant information record and mark.
8. the position sensor of robot both sides（Or travel switch）It is sent out when reaching the limit of position for robot device
Stop control signal, prevents robot from continuing to move to.It can also be by other such as the same function of the realization of hanging sensor.
As shown in Figures 1 to 5, a kind of photovoltaic battery plate sweeping robot carrier, including track 11 and carrier
Car body.
Track is arranged in the side of several row's photovoltaic panel array groups, and runs through all row's photovoltaic panel array groups.Often arrange photovoltaic
Plate array group 28 is located at collinear photovoltaic plate array including several, passes through ledge between two neighboring photovoltaic plate array
It is connected.
Carrier car body includes walking mechanism, regulating mechanism, docking mechanism, position detecting mechanism and self-cleaning mechanism.
Walking mechanism can walk along track, walking mechanism include chassis 7, wheel 10, travel driving unit and it is upper tiltedly
Frame 25.
Wheel is preferably no less than three, is four in the application, each wheel is preferably suspended on chassis by wheel carrier 9
Bottom.
Travel driving unit is for driving wheel to walk along track.
Above-mentioned travel driving unit preferably includes driving wheel 18, drive sprocket 14, chain 16, driven sprocket 17, drive shaft
19 and movable motor 15.It is driving wheel there are two wheel in above-mentioned wheel, two driving wheels are co-axially located at the two of drive shaft
The middle part at end, drive shaft is set with driven sprocket, and movable motor is fixed on chassis, and drive sprocket is driven to rotate；Driving
Sprocket wheel is rotated by chain-driving driven sprocket.
Upper oblique frame is arranged in the top of chassis, and upper oblique frame bottom end is preferably hinged by two connecting seats 8 with chassis,
The upper oblique frame bottom other end is connected by regulating mechanism with chassis；Regulating mechanism is used to adjust the angle of inclination of oblique frame.
Regulating mechanism is preferably the adjustable connecting-rod 24 that length can stretch.Adjustable connecting-rod 24 is preferably by motor-driven electricity
Dynamic push rod, but may be forward and reverse screw rod etc..The setting of regulating mechanism, so as to make the carrier versatility of the present invention
By force, the photovoltaic panel of different gradients is adapted to.
Docking mechanism includes movable guiding rail 4 and docking driving device.
The both sides up and down of movable guiding rail and upper oblique frame are slidably connected, and can mutually be spelled with the steelframe guide rail in photovoltaic panel array group
It connects.
Movable guiding rail preferably includes two sliding rails and a splicing bar 27.Two sliding rails are mutually parallel, splicing
Bar is positioned close to the side of photovoltaic panel array group, and two sliding rails are fixedly connected, and splicing bar can be with photovoltaic plate array
Steelframe guide rail in group mutually splices.Splicing bar towards photovoltaic panel array group side be preferably provided with can in photovoltaic panel array group
Steelframe guide rail phase split connector 5.
The both sides up and down of upper oblique frame are preferably provided with guide chute, and two in movable rail sliding rail can be oriented to
Sliding in sliding slot.
Docking driving device is used to drive the sliding of movable guiding rail.
It includes docking drive rod 23, docking motor 22, gear 20 and rack 21 to dock driving device.As an alternative, docking
Driving device can also select electric pushrod etc..
Docking drive rod both ends are fixedly connected with two sliding rails in movable rail, and transverse direction is provided in guide chute
Opening, docking drive rod can transversely be open sliding.
Rack is fixed at the bottom of docking drive rod；Docking motor is fixed at oblique frame bottom, docks motor
Sliding tooth wheel rotates, and wheel and rack is meshed.
Position detecting mechanism includes range sensor 26, locator 12 and position-sensing switch 13.
Range sensor is arranged on movable guiding rail, for detecting movable guiding rail and steelframe guide rail end in photovoltaic panel array group
The distance between portion；Docking driving device drives the slide displacement of movable guiding rail according to the distance value that range sensor detects.
The setting of above-mentioned range sensor, can detect automatically in movable guiding rail and photovoltaic panel array group steelframe rail end it
Between distance, to avoid distance between carrier and steelframe guide rail inconsistent namely photovoltaic panel array group is dislocated
Phenomenon.
Position-sensing switch is arranged in chassis bottom.
It is respectively provided with a locator on track corresponding with every row's photovoltaic panel array group, for triggering position-sensing switch.
Sweeping robot 1 is placed on oblique frame, and can be walked along movable guiding rail.Further, the outside of upper oblique frame, namely
Side far from photovoltaic panel array group, is preferably provided with positioning baffle, carries out limit blocking to sweeping robot, prevent scavenging machine
Device people falls.
Above-mentioned self-cleaning mechanism includes brush holder 2 and brush 3；The both ends of brush holder are positioned close to photovoltaic by holder
Above the upper oblique frame of plate array group side, brush is arranged in the bottom of brush holder；Photovoltaic battery plate is equipped at the top of sweeping robot, when
When sweeping robot walks along movable guiding rail and passes through below brush holder, brush can clean photovoltaic battery plate.
Further, above-mentioned carrying car body further preferably includes solar panel 6, and solar panel is positioned close to photovoltaic panel array group side
In the frame of upper oblique frame, solar panel can be that travel driving unit, docking driving device, regulating mechanism and position detecting mechanism carry out
Power supply；When sweeping robot is walked along movable guiding rail, solar panel upper surface can be cleaned.
A kind of method for carrying of photovoltaic battery plate sweeping robot, includes the following steps.
Step 1, orientation triggering：Photovoltaic battery plate sweeping robot carrier, abbreviation carrier are filled in hoofing part
Under the driving set, walk along track；Position-sensing switch below chassis is in contact and triggers with locator, and carrier stops
Walking；At this point, carrier is located at same axis with the wherein row's photovoltaic panel array group to be cleaned.
Step 2, movable guiding rail splices：Range sensor detects movable guiding rail front end and steelframe guide rail in photovoltaic panel array group
The distance between end；The distance value driving movable guiding rail that docking driving device is detected according to range sensor slides corresponding position
It moves；The front end for making movable guiding rail and the steelframe rail end of photovoltaic panel array group are mutually spliced.
Step 3, sweeping robot, which starts, cleans：Sweeping robot runs to correspondence at the top of upper oblique frame and movable guiding rail
Photovoltaic panel array group on carry out the cleaning of photovoltaic panel upper surface, which completes after one cycle cleans, to return
It is back to the rest area on oblique frame.
In step 3, when sweeping robot is walked along the top of upper oblique frame and movable guiding rail, sweeping robot will be from solar panel
Upper surface and brush frame bottom are passed through, and the cleaning certainly to photovoltaic battery plate on solar panel upper surface and sweeping robot is completed.
Step 4, other row's photovoltaic panel array groups clean：Step 1 is repeated to 3, completes the clear of other row's photovoltaic panel array groups
It sweeps.
The carrier of the present invention can carry out carrying movement between multiple rows of photovoltaic electric board group, and adapt to photovoltaic electric board group paving
If irregular actual conditions, without being modified to existing photovoltaic electric slab frame, convenient for construction, sweeping machine is greatly promoted
The utilization rate of people reduces maintenance cost.
The preferred embodiment of the present invention has been described above in detail, still, during present invention is not limited to the embodiments described above
Detail can carry out a variety of equivalents to technical scheme of the present invention within the scope of the technical concept of the present invention, this
A little equivalents all belong to the scope of protection of the present invention.
Claims (9)
1. a kind of full automatic solar photovoltaic battery plate cleans detection robot, it is characterised in that：Including cover board, cleaning agency, shape
Become fixed mechanism and robot running gear；
Deformation fixed mechanism includes upper side frame, lower side frame, connecting rod one and connecting rod two；Upper side frame is equal with lower side frame
Row, connecting rod one and connecting rod two are parallel, and the both ends of connecting rod one and connecting rod two are respectively hinged with upper side frame and lower side frame；
The side of cover board is hinged with connecting rod one, and the other side and the connecting rod two of cover board are slidably connected；
Cleaning agency includes roller brush assembly and universal joint one；Roller brush assembly can rotate, and universal joint one is arranged in roller brush assembly
Both ends, the other end of two universal joints are connect with upper side frame or downside gantry rotation；
Robot running gear includes at least two driving wheels, and driving wheel is connect with upper side frame or downside gantry rotation.
2. full automatic solar photovoltaic battery plate according to claim 1 cleans detection robot, it is characterised in that：Robot
Walking mechanism includes two driving wheels and two driven wheels, and the rotation of two driving wheels and the rotation of roller brush assembly are by same set of drive
Dynamic device is driven；
It is connected by transmission component between two driving wheels, transmission component includes telescopic transmission rod, two universal joints two, driving
Axis one and drive shaft two；One end of drive shaft one is connected by universal joint two with one end of telescopic transmission rod, drive shaft one
The other end is connect with upside gantry rotation；One end of drive shaft two is connected by universal joint two with the other end of telescopic transmission rod
It connects, the other end of drive shaft two is connected with lower side frame；The length of telescopic transmission rod being capable of telescopic adjustment；
Driving device includes motor, the driving gear being sleeved on motor output shaft and the driven tooth being sleeved in drive shaft one
Wheel；One end of motor output shaft is connected after passing through upper side frame with the universal joint one of roller brush assembly one end, drives roller brush assembly
Rotation；Driving gear and driven gear are meshed, driving driving wheel rotation；The rotation direction of round brush and the rotation direction of driving wheel
On the contrary.
3. full automatic solar photovoltaic battery plate according to claim 1 cleans detection robot, it is characterised in that：Connecting rod two
Upper surface be nested with ball, ball upper surface is in contact with cover board lower surface.
4. full automatic solar photovoltaic battery plate according to claim 1 cleans detection robot, it is characterised in that：Further include
Position sensor, position sensor is for detecting extreme position information of the robot in photovoltaic panel array group, when robot reaches
When to extreme position, position sensor can send out stopping control signal to robot running gear.
5. full automatic solar photovoltaic battery plate according to claim 4 cleans detection robot, it is characterised in that：Further include
Position and attitude sensor, Position and attitude sensor are made of two groups of distance measuring sensors；Position and attitude sensor is for detecting steel in photovoltaic plate array group
The posture information of frame guide rail, posture information include inclination angle and distance；And the posture information of detection is transferred to robot carrier,
To adjust the walking angles and positions that robot enters photovoltaic board group.
6. full automatic solar photovoltaic battery plate according to claim 4 or 5 cleans detection robot, it is characterised in that：Also
Including image scanning sensor, image scanning sensor can carry out photovoltaic plate surface real time scan, and the video that will be scanned
Image is sent to maintenance management cloud platform together with location information by way of Wireless transceiver, and maintenance management cloud platform is to photovoltaic panel
The defect on surface is detected.
7. full automatic solar photovoltaic battery plate according to claim 1 cleans detection robot, it is characterised in that：Round brush groups
Retainer ring is provided in the middle part of part, the top of retainer ring is connected by supporting shaft with cross bar, cross bar both ends respectively with connecting rod
One is connected with connecting rod two.
8. full automatic solar photovoltaic battery plate according to claim 1 cleans detection robot, it is characterised in that：Further include
Walking guiding mechanism, walking guiding mechanism includes four directive wheels and four guiding axis, and two of which directive wheel is respectively by leading
It is hinged to axis and upper side frame, other two directive wheel is hinged by guiding axis and lower side frame respectively.
9. full automatic solar photovoltaic battery plate according to claim 1 cleans detection robot, it is characterised in that：Cover board
Top is provided with photovoltaic battery plate.
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| CN201810869523.8A CN108745998B (en) | 2018-08-02 | 2018-08-02 | Full-automatic solar photovoltaic panel cleaning and detecting robot |
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| CN201810869523.8A CN108745998B (en) | 2018-08-02 | 2018-08-02 | Full-automatic solar photovoltaic panel cleaning and detecting robot |
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| CN109347429A (en) * | 2018-11-29 | 2019-02-15 | 南京师范大学 | The connection of the multiple rows of solar energy photovoltaic panel of walking robot becomes rail mechanism and orbit changing method |
| CN109379037A (en) * | 2018-05-28 | 2019-02-22 | 苏州瑞得恩光能科技有限公司 | It plugs into robot and cleaning systems |
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| US10594258B1 (en) | 2019-01-09 | 2020-03-17 | Kuwait Institute For Scientific Research | Device and method for measuring effect of soiling on photovoltaic device |
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| CN111463960A (en) * | 2020-05-09 | 2020-07-28 | 中国计量大学 | Gear rack transmission type automatic line-changing photovoltaic panel monitoring device and method |
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| CN111420907A (en) * | 2020-05-17 | 2020-07-17 | 唐山工业职业技术学院 | Combined brush type photovoltaic cell panel array cleaning robot |
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| CN112228698B (en) * | 2020-12-09 | 2021-03-30 | 深圳市润渤船舶与石油工程技术有限公司 | Slant wheeled steering pipeline robot |
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