CN108745998B - Full-automatic solar photovoltaic panel cleaning and detecting robot - Google Patents
Full-automatic solar photovoltaic panel cleaning and detecting robot Download PDFInfo
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- CN108745998B CN108745998B CN201810869523.8A CN201810869523A CN108745998B CN 108745998 B CN108745998 B CN 108745998B CN 201810869523 A CN201810869523 A CN 201810869523A CN 108745998 B CN108745998 B CN 108745998B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 238000005096 rolling process Methods 0.000 claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 28
- 239000010959 steel Substances 0.000 claims abstract description 28
- 238000012423 maintenance Methods 0.000 claims abstract description 17
- 230000007547 defect Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 26
- 210000001503 joint Anatomy 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 10
- 238000010408 sweeping Methods 0.000 claims description 10
- 238000003032 molecular docking Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000003491 array Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 claims description 2
- 238000010248 power generation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000001960 triggered effect Effects 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
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- 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 full-automatic solar photovoltaic panel cleaning and detecting robot which comprises a cover plate, a cleaning mechanism, a deformation fixing mechanism and a robot travelling mechanism, wherein the cover plate is arranged on the cleaning mechanism; the deformation fixing mechanism comprises an upper side frame, a lower side frame, a first connecting rod and a second connecting rod; one side of the cover plate is hinged with the first connecting rod, and the other side of the cover plate is in sliding connection with the second connecting rod; a cleaning assembly and a first universal joint; the rolling brush assembly can rotate, the first universal joint is arranged at two ends of the rolling brush assembly, and the other ends of the two universal joints are rotationally connected with the upper side frame or the lower side frame. The invention can automatically walk on the steel frame guide rail of the photovoltaic panel array group, can automatically adapt to the conditions of different inclination angles and dislocation of the panel surfaces of the photovoltaic panels in the parallel and vertical directions, and realizes the full-automatic cleaning of the photovoltaic panels. In addition, the surface of the photovoltaic panel can be scanned through the image scanning sensor, and the image scanning sensor and the position information are transmitted to the cloud platform to detect defects such as damage, hot spots and the like, so that the maintenance and replacement can be guided conveniently.
Description
Technical Field
The invention relates to the technical field of solar photovoltaic panel maintenance, in particular to a full-automatic solar photovoltaic panel cleaning and detecting robot.
Background
Solar energy is a renewable clean energy source, is inexhaustible. Solar photovoltaic power generation is to absorb solar radiation energy through a photovoltaic panel and directly convert the solar radiation energy into electric energy by utilizing the photovoltaic effect. The surface of a solar photovoltaic panel can greatly reduce the efficiency of absorbing solar energy if being shielded by dust and the like, thereby influencing the power generation efficiency, reducing the service life of power generation equipment and even possibly causing fire disaster when serious.
The solar photovoltaic power station basically adopts photovoltaic electric plates of the same specification to carry out large-area laying for generating electricity, a large photovoltaic electric plate is formed by splicing a plurality of small photovoltaic electric plates, and then the large-area laying of the photovoltaic electric plate group is carried out. And if one small photovoltaic panel in the photovoltaic panel group has defects such as hot spots or cracks due to dust accumulation, the power generation efficiency of the whole photovoltaic panel group can be affected. If the defect photovoltaic electric plate can be found out in time, cleaned in time and replaced, the power generation efficiency of the system can be greatly improved.
The maintenance equipment of the prior art can only basically solve the cleaning of one or more continuous photovoltaic panel groups with the same inclination angle. If the cleaning problem of dislocation in the parallel direction of the photovoltaic panel surface needs to be solved, manual intervention is needed.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides a full-automatic solar photovoltaic panel cleaning and detecting robot which can automatically walk on a photovoltaic panel array steel frame, can automatically adapt to the conditions of different dip angles and dislocation of the photovoltaic panel surfaces in the parallel and vertical directions, and can realize full-automatic cleaning of the photovoltaic panel. In addition, the defect conditions such as the damage of the photovoltaic panel in the operation process of the photovoltaic panel can be detected, and the defective position is sent to the cloud platform for identification, so that maintenance and replacement are guided.
In order to solve the technical problems, the invention adopts the following technical scheme:
a full-automatic solar photovoltaic panel cleaning and detecting robot comprises a cover plate, a cleaning mechanism, a deformation fixing mechanism and a robot travelling mechanism.
The deformation fixing mechanism comprises an upper side frame, a lower side frame, a first connecting rod and a second connecting rod; the upper side frame is parallel to the lower side frame, the first connecting rod is parallel to the second connecting rod, and two ends of the first connecting rod and the second connecting rod are hinged to the upper side frame and the lower side frame respectively.
One side of the cover plate is hinged with the first connecting rod, and the other side of the cover plate is in sliding connection with the second connecting rod.
The cleaning mechanism comprises a rolling brush assembly and a universal joint I; the rolling brush assembly can rotate, the first universal joint is arranged at two ends of the rolling brush assembly, and the other end of the first universal joint is rotationally connected with the upper side frame or the lower side frame.
The robot running mechanism comprises at least two driving wheels, and the driving wheels are rotationally connected with the upper side frame or the lower side frame.
The robot walking mechanism comprises two driving wheels and two driven wheels, and the rotation of the two driving wheels and the rotation of the rolling brush assembly are driven by the same set of driving device.
The two driving wheels are connected through a transmission assembly, and the transmission assembly comprises a telescopic transmission rod, two universal joints II, a driving shaft I and a driving shaft II; one end of the first driving shaft is connected with one end of the telescopic transmission rod through the second universal joint, and the other end of the first driving shaft is rotationally connected with the upper side frame; one end of the second driving shaft is connected with the other end of the telescopic transmission rod through the second universal joint, and the other end of the second driving shaft is connected with the lower side frame; the length of the telescopic transmission rod can be telescopically adjusted.
The driving device comprises a motor, a driving gear sleeved on an output shaft of the motor and a driven gear sleeved on a first driving shaft; one end of an output shaft of the motor passes through the upper side frame and then is connected with a universal joint I at one end of the rolling brush assembly to drive the rolling brush assembly to rotate; the driving gear is meshed with the driven gear to drive the driving wheel to rotate; the rotation direction of the rolling brush is opposite to the rotation direction of the driving wheel.
The upper surface of the second connecting rod is nested with balls, and the upper surface of the balls is contacted with the lower surface of the cover plate.
The robot walking mechanism further comprises a position sensor, wherein the position sensor is used for detecting the limit position information of the robot on the photovoltaic panel array group, and when the robot reaches the limit position, the position sensor can send a stop control signal to the robot walking mechanism.
The device also comprises a pose sensor, wherein the pose sensor consists of two groups of distance measuring sensors; the pose sensor is used for detecting pose information of the steel frame guide rail in the photovoltaic panel array group, and the pose information comprises an inclination angle and a distance; and transmitting the detected pose information to the robot carrier so as to adjust the walking angle and the walking position of the robot entering the photovoltaic panel group.
The system also comprises an image scanning sensor, wherein the image scanning sensor can scan the surface of the photovoltaic panel in real time, and the scanned video image and the position information are transmitted to a maintenance management cloud platform in a wireless transmission mode, so that the maintenance management cloud platform detects defects of the surface of the photovoltaic panel.
The middle part of the rolling brush component is provided with a supporting ring, the top of the supporting ring is connected with a cross rod through a supporting pin shaft, and two ends of the cross rod are respectively connected with a first connecting rod and a second connecting rod.
The walking guide mechanism comprises four guide wheels and four guide shafts, wherein two guide wheels are respectively hinged with the upper side frame through the guide shafts, and the other two guide wheels are respectively hinged with the lower side frame through the guide shafts.
The top of apron is provided with photovoltaic electroplax.
The invention has the following beneficial effects:
1. the guide wheels can walk on the steel frame guide rails with the height and the front and back staggered, the deformation fixing mechanism keeps the driving wheel to walk above the steel frame along the rails after deformation, and the robot can adapt to gradual change rails with the height of not more than 40 degrees and the front and back 45 degrees according to the power and climbing capacity of the robot, and can adapt to complex paving scenes.
2. The two distance measuring sensors can detect the precise inclination angle, distance and other pose information of the steel frame guide rail in the photovoltaic panel array group, and further provide information for adjusting the angle and the position of the robot for the carrier; the robot can smoothly enter and exit the steel frame guide rail.
3. The rotation direction of the rolling brush in the cleaning mechanism is opposite to that of the driving wheel, so that reverse cleaning can be realized, dust and other impurities are prevented from being cleaned back to the cleaned surface to form secondary pollution, and the cleaning effect is reduced.
4. According to the invention, walking and cleaning work can be realized by only one motor, compared with the scheme of more than two motors, the control difficulty is reduced, the synchronization of driving wheels at two sides is ensured, the energy is saved, and the cleaning maintenance in a larger range can be realized at one time.
5. The surface image scanning of the photovoltaic panel is realized at the same time when the cleaning is performed once, so that the platform can detect defects and position the defect panel; the maintenance management cloud platform can conduct post-fixed-point maintenance guide according to the information.
Drawings
Fig. 1 shows a layout diagram of a track in a solar photovoltaic panel cleaning robot carrier of the present invention.
Fig. 2 shows a perspective view of a body part of a solar photovoltaic panel cleaning robot carrier according to the present invention.
Fig. 3 shows a second perspective view of a body portion of a solar photovoltaic panel cleaning robot cart according to the present invention.
Fig. 4 shows a perspective view of a solar photovoltaic panel cleaning robot carrier body sliding along a guide rail.
Fig. 5 shows a second perspective view of the solar photovoltaic panel cleaning robot carrier body sliding along the guide rail.
In fig. 1 to 5, there are:
1-a cleaning robot; 2-a brush bracket; 3-brushing; 4-a movable guide rail; 5-butt joint; 6-cell plates; 7-a chassis; 8-connecting seats; 9-a wheel frame; 10-wheels; 11-track; 12-positioner 13-positioning switch; 14-driving a sprocket; 15-a walking motor; 16-chain; 17-driven sprocket; 18-a drive wheel; 19-a drive shaft; 20-gear; 21-a rack; 22-butting motor; 23-butting a driving rod; 24-an adjustable linkage; 25-upper inclined frame; 26-a distance sensor; 27-splicing the rods; 28-photovoltaic panel array group.
Fig. 6 shows a schematic structural diagram of a full-automatic solar photovoltaic panel cleaning and detecting robot without a cover plate.
Fig. 7 shows an enlarged schematic view of the end a of fig. 6.
Fig. 8 shows an enlarged schematic view of the end B of fig. 6.
Fig. 9 shows a schematic view of the cleaning and inspection robot of the present invention walking on a front-to-back misplaced photovoltaic panel.
Fig. 10 shows a schematic diagram of the deformation of the cleaning and detecting robot of the present invention from the photovoltaic panel walking onto the inclined transition frame.
Fig. 11 shows a schematic diagram of the deformation of the cleaning and inspection robot of the present invention traveling from the inclined transition frame onto the photovoltaic panel.
Fig. 12 shows an enlarged schematic end view of fig. 11.
Fig. 13 shows a schematic view of the layout position of each sensor on the cover plate.
Fig. 6 to 13 include:
31. a rolling brush; 32. a universal joint I; 33. a support shaft;
41. an upper frame; 42. a lower frame; 43. a first connecting rod; 431. a pin; 44. a second connecting rod; 441. a ball; 45. a cross bar; 451. a supporting pin shaft;
50. a driving wheel; 51. a first driving shaft; 52. a driven gear; 53. a telescopic transmission rod; 54. a universal joint II; 55. a second driving shaft;
60. driven wheel; 61. a driven shaft;
71. a motor; 72. a drive gear;
81. a guide wheel; 82. a guide shaft;
90. a cover plate; 91. an image scanning sensor; 92. a position sensor; 93. a distance measuring sensor.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
As shown in fig. 6, 7, 8 and 13, a full-automatic solar photovoltaic panel cleaning and detecting robot comprises a cover plate 90, a cleaning mechanism, a deformation fixing mechanism, a robot traveling mechanism, a traveling guide mechanism, a photovoltaic panel, a position sensor 92, a pose sensor and an image scanning sensor 91.
The photovoltaic electric plate is arranged at the top of the cover plate and can supply power for the cleaning mechanism, the robot travelling mechanism, the position sensor, the pose sensor and the image scanning sensor.
As shown in fig. 13, position sensors (or limit switches) are preferably installed on both sides of the cover plate, the position sensors are used for detecting the limit position information of the robot on the photovoltaic panel array group, and when the robot reaches the limit position, the position sensors can send a stop control signal to the robot travelling mechanism.
The pose sensor composed of two ranging sensors 93 is preferably installed at one side of the cover plate, close to the upper and lower edges. The pose sensor is used for detecting the inclination angle, the distance and the like of the steel frame guide rail in the photovoltaic panel array group and transmitting the detected pose information to the robot carrier so as to adjust the walking angle and the walking position of the robot entering the photovoltaic panel group.
The number of image scanning sensors (cameras) may be one or two. When only one image scanning sensor (camera) is used, the image scanning sensor is preferentially installed at a position above the cover plate at a certain distance, or a group of cameras can be used, and the image scanning sensor can be installed at the other side of the cover plate.
The image scanning sensor can scan the surface of the photovoltaic panel in real time, and sends the scanned video image and the position information to the maintenance management cloud platform in a wireless transmission mode, and the maintenance management cloud platform detects defects of the surface of the photovoltaic panel; the maintenance management cloud platform is preferably built in an intelligent terminal such as a computer, a mobile phone or an IPAD.
The position sensor and the distance measuring sensor can be common ultrasonic distance measuring sensors, laser distance measuring sensors, infrared distance measuring sensors and the like. The limit switch can be a mechanical travel switch or a proximity sensor. The pattern scanning sensor can be selected from various cameras and the like.
The deformation fixing mechanism includes an upper frame 41, a lower frame 42, a first link 43, and a second link 44.
The upper side frame is parallel to the lower side frame, the first connecting rod is parallel to the second connecting rod, and two ends of the first connecting rod and the second connecting rod are hinged to the upper side frame and the lower side frame respectively.
One side of the cover plate is hinged with the first connecting rod, the first connecting rod is preferably provided with pins 431, the number of the pins is preferably two, and the cover plate is connected with the first connecting rod through the pins 431.
The other side of the cover plate is in sliding connection with a second connecting rod, the upper surface of the second connecting rod is preferably nested with a ball 441, and the upper surface of the ball is contacted with the lower surface of the cover plate to support the cover plate.
The cleaning mechanism comprises a rolling brush assembly and a universal joint I32; the rolling brush assembly can rotate, the first universal joint is arranged at two ends of the rolling brush assembly, and the other end of the first universal joint is rotationally connected with the upper side frame or the lower side frame. That is, the other end of one of the universal joints is connected to the support shaft 33, and the other end of the support shaft is hinged to the lower frame. The other end of the first universal joint is connected with an output shaft of a motor in the driving device, and the output shaft of the motor is hinged with the upper side frame.
The roller brush assembly may comprise one roller brush and may comprise a plurality of coaxially arranged roller brushes 31. When the length of the rolling brush is longer, a supporting ring is arranged in the middle of the rolling brush. When a plurality of rolling brushes are adopted, a supporting ring is arranged at the connecting part of two adjacent rolling brushes. For shorter brushes, no backing ring is needed in the middle.
The top of the supporting ring is connected with a cross rod 45 through a supporting pin 451, and two ends of the cross rod are respectively connected with a first connecting rod and a second connecting rod.
The robot running mechanism comprises at least two driving wheels 50 which are rotatably connected with the upper side frame or the lower side frame. In this application, the robotic walking mechanism preferably comprises two driving wheels and two driven wheels 60, the rotation of the two driving wheels and the rotation of the roller brush assembly being driven by the same set of driving means.
The two driving wheels are connected through a transmission assembly, and the transmission assembly comprises a telescopic transmission rod 53, two universal joints II 54, a driving shaft I51 and a driving shaft II 55; one end of the first driving shaft is connected with one end of the telescopic transmission rod through the second universal joint, and the other end of the first driving shaft is rotationally connected with the upper side frame; one end of the second driving shaft is connected with the other end of the telescopic transmission rod through the second universal joint, and the other end of the second driving shaft is connected with the lower side frame.
The length of the telescopic transmission rod can be adjusted in a telescopic mode, and the telescopic transmission rod can automatically adapt to the length change when the photovoltaic panel array group is staggered front and back.
One driven wheel is hinged with the upper side frame through a driven shaft 61, and the other driven wheel is hinged with the lower side frame through a driven shaft.
The drive means comprises a motor 71, a driving gear 72 fitted over the output shaft of the motor and a driven gear 52 fitted over the first drive shaft. One end of an output shaft of the motor passes through the upper side frame and then is connected with a universal joint I at one end of the rolling brush assembly to drive the rolling brush assembly to rotate; the driving gear is meshed with the driven gear to drive the driving wheel to rotate; the rotation direction of the rolling brush is opposite to the rotation direction of the driving wheel.
The walking guide mechanism comprises four guide wheels 81 and four guide shafts 82, wherein two guide wheels are respectively hinged with the upper side frame through the guide shafts, and the other two guide wheels are respectively hinged with the lower side frame through the guide shafts. The driving wheel and the guide wheel are perpendicular to the axis of the guide wheel and respectively contact with the two perpendicular surfaces of the front surface and the outer side surface of the steel frame guide rail of the photovoltaic panel array group.
The motion control flow of the cleaning robot is as follows:
1. the photovoltaic panel on the cover plate supplies power to the motor, and the motor is transmitted to the output shaft of the motor after the motor is decelerated.
2. The driving gear fixed on the output shaft rotates to drive the meshed driven gear to rotate; the driven gear drives the first driving shaft to rotate, so that the driving wheel is driven to rotate, and the driving equipment walks on the steel frame guide rail in the photovoltaic panel array group.
3. The first driving shaft drives the second universal joint at the same time and further drives the telescopic transmission rod to rotate, and the telescopic transmission rod drives the second universal joint at the lower side to rotate so as to drive the second driving shaft and the driving wheel at the lower side to rotate. The two driving wheels are kept in absolute synchronization.
4. The output shaft of the motor drives the first universal joint to rotate, and the first universal joint drives the rolling brush to rotate. The rolling brush can be one or more combinations, and the middle of the combinations is supported by the supporting ring. The other end of the rolling brush is also connected with the universal joint I and the supporting shaft, so that the rolling brush can stably rotate to realize cleaning. The rotation direction of the rolling brush is opposite to that of the driving wheel, so that the sweeping dust can be guaranteed to sweep towards the moving direction, and secondary pollution is avoided.
5. When the high-low dislocation photovoltaic panel moves, the side body angle is mainly determined by the driving wheel and the driven wheel, and the photovoltaic panel walks along the steel frame guide rail.
6. As shown in fig. 9 to 12, when the front and back are dislocated, the driven wheel moves along the steel frame guide rail, so that the upper frame rotates around a vertical line by a certain angle, and the first connecting rod and the second connecting rod are hinged with the frame and can rotate. Under the action of the first connecting rod and the second connecting rod, the lower side frame synchronously rotates by the same angle, and the rectangular structure at the normal position is changed into a parallelogram. The telescopic transmission rod and the rolling brush can synchronously rotate due to the universal joint, and can keep the rotary motion of advancing and cleaning. The middle cross rod is hinged with the first connecting rod, the second connecting rod and the supporting ring, and can rotate around the supporting pin shaft without interference.
When the front and back are misplaced, the cover plate is fixed on the first connecting rod, and the relative direction position of the first connecting rod is kept unchanged. The relative position of the second connecting rod and the first connecting rod changes, the relative position of the second connecting rod and the cover plate changes at the same time, and the balls arranged on the second connecting rod roll along the inner surface of the cover plate and simultaneously keep stressed support on the cover plate.
7. In the robot cleaning process, the ranging sensor and the image scanning sensor perform scanning detection in real time, the detection result and the position data are sent back to the maintenance management cloud platform through the wireless network, and if the maintenance management cloud platform finds that the photovoltaic panel is defective after detection operation, relevant information recording and identification are performed.
8. The position sensors (or travel switches) on the two sides of the robot are used for sending out a stop control signal when the robot equipment reaches the limit position, so that the robot is prevented from moving continuously. The same function may be implemented with other sensors such as a suspended sensor.
As shown in fig. 1 to 5, a solar photovoltaic panel cleaning robot carrier includes a rail 11 and a carrier body.
The track is arranged at one side of the photovoltaic panel array groups and penetrates through all the photovoltaic panel array groups. Each row of photovoltaic panel array groups 28 comprises a plurality of photovoltaic panel arrays positioned on the same straight line, and two adjacent photovoltaic panel arrays are connected through a lap joint frame.
The carrier body comprises a travelling mechanism, an adjusting mechanism, a butt joint mechanism, a position detection mechanism and a self-cleaning mechanism.
The travelling mechanism can travel along the rail and comprises a bottom frame 7, wheels 10, a travelling driving device and an upper inclined frame 25.
The wheels are preferably not less than three, in this case four, each of which is preferably suspended from the bottom of the chassis by a wheel frame 9.
The walking driving device is used for driving the wheels to walk along the track.
The travel drive device preferably includes a drive wheel 18, a drive sprocket 14, a chain 16, a driven sprocket 17, a drive shaft 19, and a travel motor 15. Two wheels are driving wheels, the two driving wheels are coaxially arranged at two ends of a driving shaft, a driven sprocket wheel is sleeved in the middle of the driving shaft, and a walking motor is fixedly arranged on the underframe and drives the driving sprocket wheel to rotate; the driving sprocket drives the driven sprocket to rotate through the chain.
The upper inclined frame is arranged above the underframe, one end of the bottom of the upper inclined frame is preferably hinged with the underframe through two connecting seats 8, and the other end of the bottom of the upper inclined frame is connected with the underframe through an adjusting mechanism; the adjusting mechanism is used for adjusting the inclination angle of the upper inclined frame.
The adjustment mechanism is preferably an adjustable link 24 that is telescopic in length. The adjustable link 24 is preferably an electric push rod driven by a motor, but may be a forward and reverse screw, or the like. The arrangement of the adjusting mechanism can enable the carrier provided by the invention to be high in universality and capable of adapting to photovoltaic panels with different inclinations.
The docking mechanism comprises a movable guide rail 4 and a docking driving device.
The movable guide rail is connected with the upper side and the lower side of the upper inclined frame in a sliding way and can be spliced with the steel frame guide rail in the photovoltaic panel array group.
The movable rail preferably comprises two sliding rails and a splice bar 27. The two sliding rails are parallel to each other, and the splicing rod is arranged on one side close to the photovoltaic panel array group and fixedly connected with the steel frame guide rail in the photovoltaic panel array group. The side of the splicing rod facing the photovoltaic panel array group is preferably provided with a connector 5 which can be spliced with a steel frame guide rail in the photovoltaic panel array group.
The upper side and the lower side of the upper inclined frame are both preferably provided with guide sliding grooves, and two sliding rails in the movable rail can slide in the guide sliding grooves.
The butt joint driving device is used for driving the movable guide rail to slide.
The docking drive includes a docking drive rod 23, a docking motor 22, a gear 20, and a rack 21. Alternatively, the docking drive device may be an electric push rod or the like.
Two ends of the butt joint driving rod are fixedly connected with two sliding rails in the movable rail, a transverse opening is formed in the guide chute, and the butt joint driving rod can slide along the transverse opening.
The rack is fixedly arranged at the bottom of the butt joint driving rod; the butt-joint motor is fixedly arranged at the bottom of the upper inclined frame, drives the gear to rotate, and the gear is meshed with the rack.
The position detection mechanism includes a distance sensor 26, a positioner 12, and a position switch 13.
The distance sensor is arranged on the movable guide rail and used for detecting the distance between the movable guide rail and the end part of the steel frame guide rail in the photovoltaic panel array group; the butt joint driving device drives the sliding displacement of the movable guide rail according to the distance value detected by the distance sensor.
The distance sensor can automatically detect the distance between the movable guide rail and the end part of the steel frame guide rail in the photovoltaic panel array group, so that the phenomenon that the distance between the carrier and the steel frame guide rail is inconsistent, namely the photovoltaic panel array group is misplaced left and right is avoided.
The positioning switch is arranged at the bottom of the underframe.
And a locator is arranged on the track corresponding to each row of photovoltaic panel array groups and used for triggering a locating switch.
The cleaning robot 1 is placed on the upper inclined frame and can walk along the movable guide rail. Further, the outside of going up the sloping frame, namely keep away from the one side of photovoltaic board array group, be provided with the positioning baffle preferably, carry out spacing blocking to cleaning robot, prevent that cleaning robot from falling.
The self-cleaning mechanism comprises a brush bracket 2 and a brush 3; the two ends of the sweeping brush support are arranged above the upper inclined frame close to the photovoltaic panel array group through the support, and the sweeping brush is arranged at the bottom of the sweeping brush support; the top of the cleaning robot is provided with a photovoltaic panel, and when the cleaning robot walks along the movable guide rail and passes below the cleaning brush support, the cleaning brush can clean the photovoltaic panel.
Further, the transporting vehicle body preferably further includes a battery panel 6, which is disposed in the frame of the upper inclined frame near the photovoltaic panel array group side and is capable of supplying power to the traveling driving device, the docking driving device, the adjusting mechanism and the position detecting mechanism; when the cleaning robot walks along the movable guide rail, the upper surface of the battery plate can be cleaned.
A carrying method of a solar photovoltaic panel cleaning robot comprises the following steps.
Step 1, positioning and triggering: the solar photovoltaic electric plate cleaning robot carrier, which is simply called carrier, walks along the track under the drive of the walking driving device; when the positioning switch below the underframe is contacted with the positioner and triggered, the carrier stops walking; at this time, the carrier and one of the photovoltaic panel array groups to be cleaned are located on the same axis.
Step 2, splicing the movable guide rail: the distance sensor detects the distance between the front end of the movable guide rail and the end part of the steel frame guide rail in the photovoltaic panel array group; the butt joint driving device drives the movable guide rail to slide for corresponding displacement according to the distance value detected by the distance sensor; the front end of the movable guide rail is spliced with the end part of the steel frame guide rail of the photovoltaic panel array group.
Step 3, starting cleaning by the cleaning robot: the cleaning robot walks to the corresponding photovoltaic panel array group along the top of the upper inclined frame and the movable guide rail to clean the upper surface of the photovoltaic panel, and the row of photovoltaic panel array group returns to the placement area on the upper inclined frame after one-time circulating cleaning is completed.
In the step 3, when the cleaning robot walks along the top of the upper inclined frame and the movable guide rail, the cleaning robot passes through the upper surface of the battery plate and the bottom of the sweeping support, and the self-cleaning of the upper surface of the battery plate and the photovoltaic panel on the cleaning robot is completed.
Step 4, cleaning other rows of photovoltaic panel array groups: and (3) repeating the steps 1 to 3 to finish the cleaning of other rows of photovoltaic panel array groups.
The carrier disclosed by the invention can carry among a plurality of rows of photovoltaic panel groups, can adapt to the actual situation that the photovoltaic panel groups are not laid neatly, does not need to change the existing photovoltaic panel steel frame, is convenient for construction, greatly improves the utilization rate of the cleaning robot, and reduces the maintenance cost.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the equivalent changes belong to the protection scope of the present invention.
Claims (9)
1. A full-automatic solar photovoltaic panel cleans detection robot, its characterized in that: comprises a cover plate, a cleaning mechanism, a deformation fixing mechanism, a robot walking mechanism and a carrier;
the deformation fixing mechanism comprises an upper side frame, a lower side frame, a first connecting rod and a second connecting rod; the upper side frame is parallel to the lower side frame, the first connecting rod is parallel to the second connecting rod, and two ends of the first connecting rod and the second connecting rod are respectively hinged with the upper side frame and the lower side frame;
one side of the cover plate is hinged with the first connecting rod, and the other side of the cover plate is in sliding connection with the second connecting rod;
the cleaning mechanism comprises a rolling brush assembly and a universal joint I; the rolling brush assembly can rotate, the universal joints I are arranged at two ends of the rolling brush assembly, and the other ends of the two universal joints are rotationally connected with the upper side frame or the lower side frame;
the robot walking mechanism comprises at least two driving wheels, and the driving wheels are rotationally connected with the upper side frame or the lower side frame;
the carrier comprises a track and a carrier body;
the track is arranged on one side of the photovoltaic panel array groups and penetrates through all the photovoltaic panel array groups; each row of photovoltaic panel array group comprises a plurality of photovoltaic panel arrays positioned on the same straight line, and two adjacent photovoltaic panel arrays are connected through a lap joint frame;
the carrier body comprises a travelling mechanism, an adjusting mechanism, a butt joint mechanism, a position detection mechanism and a self-cleaning mechanism;
the travelling mechanism can travel along the track and comprises a bottom frame, wheels, a travelling driving device and an upper inclined frame; the wheels are arranged at the bottom of the underframe, and the walking driving device is used for driving the wheels to walk along the track; the upper inclined frame is arranged above the underframe, one end of the bottom of the upper inclined frame is hinged with the underframe, and the other end of the bottom of the upper inclined frame is connected with the underframe through an adjusting mechanism; the adjusting mechanism is used for adjusting the inclination angle of the upper inclined frame;
the docking mechanism comprises a movable guide rail and a docking driving device; the movable guide rail is connected with the upper side and the lower side of the upper inclined frame in a sliding manner and can be spliced with the steel frame guide rail in the photovoltaic panel array group; the butt joint driving device is used for driving the movable guide rail to slide;
the position detection mechanism comprises a distance sensor, a positioner and a positioning switch;
the distance sensor is arranged on the movable guide rail and used for detecting the distance between the movable guide rail and the end part of the steel frame guide rail in the photovoltaic panel array group; the butt joint driving device drives the sliding displacement of the movable guide rail according to the distance value detected by the distance sensor;
the positioning switch is arranged at the bottom of the underframe;
a positioner is arranged on the track corresponding to each row of photovoltaic panel array groups and used for triggering a positioning switch;
the cleaning robot is placed on the upper inclined frame and can walk along the movable guide rail;
the self-cleaning mechanism comprises a sweeping brush bracket and a sweeping brush; the two ends of the sweeping brush support are arranged above the upper inclined frame close to the photovoltaic panel array group through the support, and the sweeping brush is arranged at the bottom of the sweeping brush support; the top of the cleaning robot is provided with a photovoltaic panel, and when the cleaning robot walks along the movable guide rail and passes below the cleaning brush bracket, the cleaning brush can clean the photovoltaic panel;
the guide wheels can walk on the steel frame guide rails with the height being staggered front and back, the deformation fixing mechanism keeps the driving wheel to walk above the steel frame along the rails after deformation, and the guide wheels can adapt to gradual change rails with the height not exceeding 40 degrees and the front and back 45 degrees according to the power and climbing capacity of the robot and can adapt to complex paving scenes;
the two distance measuring sensors can detect the inclination angle and the distance information of the steel frame guide rail in the photovoltaic panel array group, and further provide information for adjusting the angle and the position of the robot for the carrier; the robot can smoothly enter and exit the steel frame guide rail.
2. The fully automated solar photovoltaic panel cleaning inspection robot of claim 1, wherein: the robot walking mechanism comprises two driving wheels and two driven wheels, and the rotation of the two driving wheels and the rotation of the rolling brush assembly are driven by the same set of driving device;
the two driving wheels are connected through a transmission assembly, and the transmission assembly comprises a telescopic transmission rod, two universal joints II, a driving shaft I and a driving shaft II; one end of the first driving shaft is connected with one end of the telescopic transmission rod through the second universal joint, and the other end of the first driving shaft is rotationally connected with the upper side frame; one end of the second driving shaft is connected with the other end of the telescopic transmission rod through the second universal joint, and the other end of the second driving shaft is connected with the lower side frame; the length of the telescopic transmission rod can be adjusted in a telescopic way;
the driving device comprises a motor, a driving gear sleeved on an output shaft of the motor and a driven gear sleeved on a first driving shaft; one end of an output shaft of the motor passes through the upper side frame and then is connected with a universal joint I at one end of the rolling brush assembly to drive the rolling brush assembly to rotate; the driving gear is meshed with the driven gear to drive the driving wheel to rotate; the rotation direction of the rolling brush is opposite to the rotation direction of the driving wheel.
3. The fully automated solar photovoltaic panel cleaning inspection robot of claim 1, wherein: the upper surface of the second connecting rod is nested with balls, and the upper surface of the balls is contacted with the lower surface of the cover plate.
4. The fully automated solar photovoltaic panel cleaning inspection robot of claim 1, wherein: the robot walking mechanism further comprises a position sensor, wherein the position sensor is used for detecting the limit position information of the robot on the photovoltaic panel array group, and when the robot reaches the limit position, the position sensor can send a stop control signal to the robot walking mechanism.
5. The fully automated solar photovoltaic panel cleaning inspection robot of claim 4, wherein: the device also comprises a pose sensor, wherein the pose sensor consists of two groups of distance measuring sensors; the pose sensor is used for detecting pose information of the steel frame guide rail in the photovoltaic panel array group, and the pose information comprises an inclination angle and a distance; and transmitting the detected pose information to the robot carrier so as to adjust the walking angle and the walking position of the robot entering the photovoltaic panel group.
6. The fully automated solar photovoltaic panel cleaning inspection robot of claim 4 or 5, wherein: the system also comprises an image scanning sensor, wherein the image scanning sensor can scan the surface of the photovoltaic panel in real time, and the scanned video image and the position information are transmitted to a maintenance management cloud platform in a wireless transmission mode, so that the maintenance management cloud platform detects defects of the surface of the photovoltaic panel.
7. The fully automated solar photovoltaic panel cleaning inspection robot of claim 1, wherein: the middle part of the rolling brush component is provided with a supporting ring, the top of the supporting ring is connected with a cross rod through a supporting pin shaft, and two ends of the cross rod are respectively connected with a first connecting rod and a second connecting rod.
8. The fully automated solar photovoltaic panel cleaning inspection robot of claim 1, wherein: the walking guide mechanism comprises four guide wheels and four guide shafts, wherein two guide wheels are respectively hinged with the upper side frame through the guide shafts, and the other two guide wheels are respectively hinged with the lower side frame through the guide shafts.
9. The fully automated solar photovoltaic panel cleaning inspection robot of claim 1, wherein: the top of apron is provided with photovoltaic electroplax.
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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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