CN209982425U - Photovoltaic array cleaning device and photovoltaic array automatic positioning cleaning robot - Google Patents
Photovoltaic array cleaning device and photovoltaic array automatic positioning cleaning robot Download PDFInfo
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- CN209982425U CN209982425U CN201920613140.4U CN201920613140U CN209982425U CN 209982425 U CN209982425 U CN 209982425U CN 201920613140 U CN201920613140 U CN 201920613140U CN 209982425 U CN209982425 U CN 209982425U
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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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Abstract
The utility model discloses a photovoltaic array cleaning device, which comprises a base, wherein a rubber roller is arranged below the base; the base is provided with a blower, a sweeping motor, a water spraying electromagnetic valve, a nozzle and a cleaning brush; the air outlet of the air blower and the output port of the nozzle face the solar panel; the input port of the nozzle is connected with the output port of the water spraying electromagnetic valve; the input port of the water spraying electromagnetic valve is connected with a water supply pipe; the sweeping motor drives the cleaning brush to swing. The utility model also discloses a photovoltaic array automatic positioning cleaning robot, which comprises the photovoltaic array cleaning device; also comprises a lifting device and a walking device. The utility model solves the problem that the prior cleaning robot is inconvenient to move; by adopting a multi-process and combined cleaning mode, the dirt on the surface of the solar photovoltaic panel is effectively removed, and the problems of single cleaning mode, limited cleaning effect and the like are solved.
Description
Technical Field
The utility model relates to a cleaning device and cleaning machines people, in particular to photovoltaic array cleaning device and photovoltaic array automatic positioning cleaning machines people.
Background
At present, because a solar cell panel in a photovoltaic array is exposed in an outdoor environment for a long time, dust particles and impurities in the air are easily accumulated on the surface of the solar cell panel, a photovoltaic cell module shielded by pollutants cannot generate electricity, so that the energy conversion efficiency of the cell is reduced to a considerable extent, and the service life of the full photovoltaic array is influenced by local overheating. Therefore, the treatment of the surface dust deposition of the solar cell panel is an important way for improving the power generation efficiency of the photovoltaic array.
The currently known photovoltaic cell panel cleaning method comprises the steps of simply and mechanically cleaning ② water sprayed from ① to flush away dirt by manually wiping ③.
Disclosure of Invention
The utility model discloses a solve the technical problem that exists among the well-known technology and provide a low, efficient photovoltaic array cleaning device of water consumption and photovoltaic array automatic positioning cleaning machines people.
The utility model discloses a solve the technical scheme that technical problem that exists among the well-known technique took and be: a photovoltaic array cleaning device comprises a base, wherein a rubber roller is arranged below the base; the base is provided with a blower, a sweeping motor, a water spraying electromagnetic valve, a nozzle and a cleaning brush; the air outlet of the air blower and the output port of the nozzle face the solar panel; the input port of the nozzle is connected with the output port of the water spraying electromagnetic valve; the input port of the water spraying electromagnetic valve is connected with a water supply pipe; the sweeping motor drives the cleaning brush to swing.
Further, the cleaning motor is a stepping motor.
Furthermore, a plurality of flow distribution nozzles are uniformly distributed at an air outlet of the air blower; the flow distribution nozzle faces the solar cell panel and forms an included angle of 45-90 degrees with the solar cell panel.
Further, the cleaning brush is a plurality of, a plurality of the cleaning brush is arranged side by side and is swung in step.
The utility model also provides a photovoltaic array automatic positioning cleaning robot, which comprises the photovoltaic array cleaning device; the device also comprises a lifting device and a walking device; the photovoltaic array cleaning device, the lifting device and the walking device are sequentially connected; the lifting device is used for lifting the photovoltaic array cleaning device; the walking device is used for horizontally moving the lifting device and the photovoltaic array cleaning device.
Further, elevating gear includes the pneumatic flexible arm, the stiff end of pneumatic flexible arm is installed running gear is last, the end that stretches out of pneumatic flexible arm with photovoltaic array cleaning device is connected.
Further, the lifting device also comprises a scissor type telescopic arm; one end of the scissor type telescopic arm is fixed on the walking device, and the other end of the scissor type telescopic arm is connected with the extending end of the pneumatic telescopic arm and the photovoltaic array cleaning device respectively.
Further, the walking device comprises a chassis; the chassis is provided with four universal wheels; and each universal wheel is provided with a driving motor.
Furthermore, the four sides of the chassis are respectively provided with an ultrasonic ranging module.
Further, a water tank, a water pump and an air compressor are also arranged on the chassis; the water inlet of the water pump is connected with the water tank; the water outlet of the water pump is communicated with the water supply pipe; and the air compressor supplies air to the pneumatic telescopic arm.
The utility model has the advantages and positive effects that: the solar cell panel is cleaned in all directions, the photovoltaic array is cleaned comprehensively by combining various cleaning modes, and dust and the like are effectively removed.
Drawings
Fig. 1 is a schematic structural view of a photovoltaic array cleaning apparatus of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a schematic structural view of a photovoltaic array automatic positioning cleaning robot of the present invention;
fig. 4 is a schematic view of a connection structure of each component of the automatic positioning and cleaning robot for photovoltaic array of the present invention;
FIG. 5 is a schematic view of the structure of the walking device of the present invention;
fig. 6 is a schematic view of the chassis structure of the walking device of the present invention;
fig. 7 is an electrical schematic diagram of the power supply of the present invention;
fig. 8 is an electrical schematic diagram of a first K60 single chip microcomputer of the present invention;
fig. 9 is an electrical schematic diagram of a second K60 single chip microcomputer according to the present invention;
FIG. 10 is an electrical schematic diagram of a cleaning motor driving circuit according to the present invention;
fig. 11 is an electrical schematic diagram of the ultrasonic ranging module of the present invention;
fig. 12 is an electrical schematic diagram of a fan drive circuit according to the present invention;
fig. 13 is an electrical schematic diagram of a water pump driving circuit of the present invention;
FIG. 14 is an electrical schematic diagram of the air compressor drive circuit of the present invention;
fig. 15 is an electrical schematic diagram of a first traveling motor drive circuit according to the present invention;
fig. 16 is an electrical schematic diagram of a second travel motor drive circuit according to the present invention.
In the figure: 1. a traveling device; 2. a lifting device; 3. a photovoltaic array cleaning device; 4. a solar panel; 101. an upper chassis; 102. a lower chassis; 103. a power supply module; 104. a circuit board; 105. a traveling motor; 106. a universal wheel; 107. a water pump; 108. an ultrasonic ranging module; 109. a water tank; 201. a pneumatic telescopic arm; 202. a scissor-fork type telescopic arm; 203. an air compressor; 301. a water spray solenoid valve; 302. a blower; 303. cleaning a motor; 304. cleaning brushes; 305. a rubber roller; 306. a base; 307. a swing lever; 308. and (4) a nozzle.
Detailed Description
For further understanding of the contents, features and effects of the present invention, the following embodiments are listed and will be described in detail with reference to the accompanying drawings:
referring to fig. 1 to 16, a photovoltaic array cleaning apparatus 3 includes a base 306, a rubber roller 305 is installed under the base 306; the base 306 is provided with a blower 302, a sweeping motor 303, a water spraying electromagnetic valve 301, a nozzle 308 and a cleaning brush 304; the air outlet of the blower 302 and the output port of the nozzle 308 face the solar panel 4; the input port of the nozzle 308 is connected with the output port of the water spraying solenoid valve 301; the input port of the water spraying electromagnetic valve 301 is connected with a water supply pipe; the sweeping motor 303 drives the cleaning brush 304 to swing. The photovoltaic array cleaning apparatus 3 may have the base 306 made of a high-strength aluminum alloy plate; rubber roller 305, small blower 302, nozzle 308, cleaning motor 303, lifting cylinder, cleaning brush 304. A base 306 is made of a high-strength aluminum alloy plate, rubber rollers 305 are additionally arranged at four corners of the lower surface of the base 306, and the rubber rollers 305 can be universal wheels; the rubber roller 305 can avoid abrasion damage to the surface of the photovoltaic cell panel. A nozzle 308 and a small blower 302 are additionally arranged on a base 306, the inlet end of the nozzle 308 is connected with a water supply pipe, the output shaft of a motor can be connected with a handle to drive a swing rod 307 to swing left and right, the swing rod 307 is connected with a cleaning brush 304, so that the cleaning brush 304 can swing to clean pollutants such as dust on the surface of a photovoltaic cell panel, and a lifting cylinder can be arranged to control the cleaning brush 304 to be lifted and lowered. The cleaning motor can also adopt a direct-current permanent magnet motor connected with the speed reducing mechanism; the direct current permanent magnet motor can be controlled by a relay; the cleaning motor 303 may also be a stepping motor. The cleaning brush 304 is swung by forward and reverse rotation of the stepping motor.
Further, a plurality of flow distribution nozzles can be uniformly distributed at the air outlet of the blower 302; the flow distribution nozzle can face the solar cell panel 4 and form an included angle of 45-90 degrees with the solar cell panel.
Further, the cleaning brush 304 may be plural, and the plural cleaning brushes 304 may be arranged side by side and synchronously oscillate.
The utility model also provides a photovoltaic array automatic positioning cleaning robot, which comprises the photovoltaic array cleaning device 3; the device also comprises a lifting device 2 and a walking device 1; the photovoltaic array cleaning device 3, the lifting device 2 and the walking device 1 are sequentially connected; the lifting device 2 is used for lifting the photovoltaic array cleaning device 3; the walking device 1 is used for horizontally moving the lifting device 2 and the photovoltaic array cleaning device 3.
Further, the lifting device 2 may include a pneumatic telescopic arm, a fixed end of the pneumatic telescopic arm may be installed on the traveling device 1, and an extending end of the pneumatic telescopic arm may be connected to the photovoltaic array cleaning device 3.
Further, the lifting device 2 may further include a scissor-type telescopic arm 202; one end of the scissor type telescopic arm 202 is fixed on the walking device 1, and the other end of the scissor type telescopic arm can be respectively connected with the extending end of the pneumatic telescopic arm and the photovoltaic array cleaning device 3. A scissor-fork type telescopic arm 202 is additionally arranged, so that the photovoltaic array cleaning device 3 can be lifted stably and stressed evenly.
Further, the walking device 1 may include a chassis; the chassis may be fitted with four universal wheels 106; each of the universal wheels 106 may be provided with a drive motor. That is, a driving motor drives a universal wheel 106, and the driving motor is driven by the output voltage of the driving control circuit of the motor. The chassis can be made of high-strength aluminum alloy plates and can comprise an upper chassis 101 and a lower chassis 102; a power supply, a circuit board 104, a driving circuit of a motor, etc. may be disposed between the upper chassis 101 and the lower chassis 102.
Further, in order to determine the position of the running gear 1; the four sides of the chassis can be respectively provided with an ultrasonic ranging module 108. The ultrasonic ranging modules can be installed only at the front end and the rear end or the left end and the right end of the upper chassis 101 according to the working environment. The ultrasonic ranging module 108 may be an HC-SR type ultrasonic ranging module.
Further, a water tank 109, a water pump 107 and an air compressor 203 can be arranged on the chassis; the water inlet of the water pump 107 can be connected with the water tank 109; the water outlet of the water pump 107 can be communicated with the water supply pipe; the air compressor 203 may supply the air supply to the pneumatic telescoping arm.
In order to prevent the water pump 107 from leaking water and damaging the running gear 1, the water pump 107 may be installed at the lower portion of the lower chassis 102.
The following is the utility model discloses a photovoltaic array cleaning device and a photovoltaic array automatic positioning cleaning machines people's preferred embodiment and theory of operation explain:
FIG. 1 is a schematic structural view of a preferred embodiment of a photovoltaic array cleaning apparatus of the present invention; the power module 103 supplies power to the stepper motor, blower 302. The photovoltaic array cleaning device 3 pushes the chassis to move up and down on the surface of the photovoltaic cell panel through the rubber roller 305 under the action of the lifting device 2. In the moving process, the blower 302 blows away the large particles on the surface of the photovoltaic cell panel, and abrasion of the surface of the cell panel caused by the particles in the cleaning process is avoided. The water pump 107 conveys water in the water tank 109 to the nozzle 308, and the water is sprayed to the surface of the photovoltaic cell panel through the nozzle 308 for primary cleaning. When the photovoltaic array cleaning device 3 ascends, a lifting cylinder can be arranged, the lifting cylinder is adopted to support the cleaning brush 304, and the increase of resistance caused by the direct contact of the cleaning brush and the photovoltaic cell panel is avoided.
As fig. 3, the utility model relates to a photovoltaic array automatic positioning cleaning machines people comprises running gear 1 and elevating gear 2 and photovoltaic array cleaning device 3. The robot is driven to move forwards in the photovoltaic array by the walking device 1 controlled by the first K60 single chip microcomputer, the lifting device 2 controls the upper position and the lower position of the photovoltaic array cleaning device 3 on the photovoltaic cell panel, and the photovoltaic cell panel is conveniently cleaned by the photovoltaic array cleaning device 3 from the upper position, the lower position, the left position and the right position.
Fig. 5 is a schematic structural view of the traveling apparatus 1 of the present invention, fig. 6 is a schematic structural view of a chassis of the traveling apparatus 1 of the present invention, fig. 6 illustrates the installation positions of the driving motor and the universal wheels 106, and the chassis may include an upper chassis 101 and a lower chassis 102; both the upper chassis 101 and the lower chassis 102 may be made of high-strength aluminum alloy plate. The upper chassis 101 and the lower chassis 102 are supported and connected by copper columns. The lower chassis 102 is provided with a power module 103 and a circuit board 104, the power module 103 supplies power to the circuit board 104, a water pump 107, an ultrasonic ranging module 108, a walking motor 105 and other components, the chassis is provided with four walking motors 105, and each walking motor 105 drives one universal wheel 106 respectively. The ultrasonic ranging module 108 is used for detecting the distance between the walking device 1 and the photovoltaic cell panel and other objects, water is injected into the water tank 109 before cleaning, and the water pump 107 is used for conveying the water in the water tank 109 to the photovoltaic array cleaning device 3.
After the robot reaches the position, the lifting device 2 controls the air compressor 203 to provide compressed air for the pneumatic telescopic arm 201, so that the pneumatic telescopic arm 201 extends out, the extension length of the pneumatic telescopic arm 201 is adjusted and controlled, and the lifting device and the scissor type telescopic arm 202 control the lifting condition of the photovoltaic array cleaning device 3 together.
When the photovoltaic array cleaning device 3 reaches the highest point of the photovoltaic cell panel, compressed air output by the air compressor 203 enters the lifting cylinder through the lifting solenoid valve for controlling the action of the lifting cylinder to drive the lifting cylinder to act, so that the cleaning brush 304 is in contact with the surface of the photovoltaic cell panel; compressed air enters the air cylinder of the pneumatic telescopic arm 201 through a telescopic electromagnetic valve for controlling the action of the pneumatic telescopic arm 201, drives the pneumatic telescopic arm 201 to act, enables the pneumatic telescopic arm 201 to retract, and meanwhile drives the scissor type telescopic arm 202 to retract, so that the photovoltaic array cleaning device 3 descends from the highest point; compressed air enters the rotary cylinder through a rotary electromagnetic valve controlling the rotary cylinder to act, and drives the rotary cylinder to act, so that the rotary cylinder drives the cleaning brush 304 to swing left and right to clean the surface of the photovoltaic cell panel. After the photovoltaic array cleaning device 3 finishes cleaning one area, the walking device 1 moves to the next area, and the cleaning operation is continued.
The electrical control and drive system may include a power module 103, a travel motor 105 control module, a blower 302 drive module, an air compressor 203 drive module, an ultrasonic ranging module 108, a stepper motor control module, a water pump 107 drive module, and the like. The electric control and electric drive system can be arranged on the chassis of the walking device 1; the water tank 109, the water pump 107, the air compressor 203, and the like may be mounted on the chassis of the traveling device 1.
The power supply module 103: the nickel-metal hydride battery pack can be connected in series to provide a 14.4V direct-current power supply, and the nickel-metal hydride battery pack can be connected with the LM2596 module for voltage stabilization because the power supply voltages of other elements are different and the output voltage fluctuates due to the reduction of the battery power. The LM2596 module can provide stable 12V voltage and can be used for supplying power to electric elements such as the walking motor 105, the stepping motor, the water pump 107, the air compressor 203, the blower 302 and the like.
A plurality of sets of LM2596 modules can be arranged as required, the plurality of sets of LM2596 modules can respectively provide different voltages, and the LM2596 modules perform DC-DC conversion to obtain the voltage required by each component. For example, one of them may provide a stable 5V voltage for powering the ultrasonic ranging module 108; two of them can provide stable 3.3V power for supply power for first K60 singlechip and second K60 singlechip. The first K60 singlechip and the second K60 singlechip are minimum system boards: the control center of the cleaning robot controls the actions of other components.
The driving module of the walking motor 105 can adopt a DBH-01A type driving module; the driving modules of the walking motor 105 can receive control signals from the first K60 single chip microcomputer, and each driving module drives two driving motors.
And (3) walking control: a detection signal returned by the ultrasonic ranging module 108 is input into a second K60 single chip microcomputer, and the second K60 single chip microcomputer controls the DBH-01A type driving module according to a fed-back distance detection value so as to control the action of the walking motor 105; and the traveling direction is adjusted by a left-right differential. If the ultrasonic ranging module 108 detects that the distance between the solar cell panel 4 and the traveling device 1 is suddenly changed and keeps a new state, the traveling device stops traveling and cleaning operation when the traveling device 1 reaches a boundary, and the next round of cleaning is ready to be performed.
The cleaning motor 303 can adopt a stepping motor, and the cleaning motor 303 controls and drives: the TB6600 type driving module can be selected as the stepping motor driving module, is powered by the power supply module 103, and can receive a control signal from the first K60 singlechip to drive the cleaning motor 303 to work.
Driving of lifting cylinder, rotating cylinder, pneumatic telescopic arm 201: the actions of the lifting cylinder, the rotating cylinder and the pneumatic telescopic arm 201 can be controlled by adopting a pneumatic solenoid valve; 3 pneumatic electromagnetic valves can be arranged according to functions and are respectively lifting electromagnetic valves for controlling the lifting air cylinders to act; a telescopic solenoid valve for controlling the action of the pneumatic telescopic arm 201; a rotary electromagnetic valve for controlling the action of the rotary cylinder; the first K60 singlechip or the second K60 singlechip can output signals to control the actions of 3 pneumatic solenoid valves, for example, the first K60 singlechip outputs voltage to a coil of a lifting solenoid valve; the coil of the lifting solenoid valve is electrified, the lifting solenoid valve is opened, compressed air output by the air compressor 203 enters the lifting cylinder, so that a piston in the cylinder moves, the lifting cylinder is driven to lift, and the lifting cylinder can be arranged below the end, close to the cleaning brush 304, of the oscillating rod 307; the end of the cleaning brush 304 of the oscillating rod 307 can be supported, and resistance is avoided when the photovoltaic array cleaning device 3 moves up and down.
The blower 302 drives: a common contact of the relay K1 is connected with a 12V power supply, the enabling end of the blower 302 is connected with a normally open contact of the relay, and the input end of the relay K1 is connected with a second K60 singlechip; the second K60 singlechip controls the normally open contact of the relay to be closed or opened, thereby controlling the operation of the blower 302.
The air compressor 203 drives: the common contact of the relay K3 is connected with a 12V power supply, the enabling end of the air compressor 203 is connected with the normally open contact of the relay K3, and the input end of the relay K3 is connected with the second K60 single chip microcomputer; the second K60 singlechip controls the normally open contact of the relay K3 to be closed or opened, thereby controlling the operation of the air compressor 203.
The water pump 107 drives: a common contact of the relay K2 is connected with a 12V power supply, the enabling end of the water pump 107 is connected with a normally open contact of the relay K2, and the input end of the relay K2 is connected with a second K60 single chip microcomputer; the second K60 singlechip controls the normally open contact of the relay to be closed or opened, thereby controlling the water pump 107 to work.
Ultrasonic ranging: the ultrasonic ranging module 108 is powered by the power module 103, and the second K60 singlechip controls the ultrasonic ranging module 108 to send and receive ultrasonic signals, perform data processing, and determine the position of the walking device 1.
The utility model provides a photovoltaic array automatic positioning cleaning machines people's whole actions are all accomplished by first K60 singlechip and second K60 single chip microcomputer control, start to carry out photovoltaic array cleaning device 3's control after the robot reachs the target position, control elevating gear 2 earlier and make photovoltaic array cleaning device 3 rise, rise the in-process and rise through the lift cylinder, hold up cleaning brush 304, make cleaning brush 304 and solar cell panel 4 contactless, open air-blower 302 simultaneously and blow the partial great particulate matter on the solar cell panel 4 and move, when avoiding cleaning brush 304 to clean, great particulate matter can cause wearing and tearing to the photovoltaic cell panel surface, water spray simultaneously and wash solar cell panel 4. After the photovoltaic array cleaning device 3 reaches the highest point, the lifting air cylinder descends to enable the cleaning brush 304 to be attached to the surface of the photovoltaic cell panel under the action of gravity, the stepping motor drives the cleaning brush 304 to swing and clean, the lifting device 2 is controlled to enable the photovoltaic array cleaning device 3 to slowly descend, the surface of the photovoltaic cell panel is gradually and comprehensively cleaned, and the cleaning effect is enhanced. After the longitudinal cleaning is finished, the photovoltaic array cleaning device 3 transversely moves by means of the walking device 1, and the operation is repeated again until the solar cell panel 4 is completely cleaned.
The electric components, the pneumatic components, the hydraulic components and the like of the types which are not mentioned above can be commercially available products, and suitable products can be selected according to conventional technical methods. The specific circuit connection and control method can be realized by adopting the circuit connection and the conventional control method of the conventional technical means according to the product specification.
The above-mentioned embodiments are only used for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention accordingly, the scope of the present invention should not be limited by the embodiment, that is, all equivalent changes or modifications made by the spirit of the present invention should still fall within the scope of the present invention.
Claims (10)
1. The photovoltaic array cleaning device is characterized by comprising a base, wherein a rubber roller is arranged below the base; the base is provided with a blower, a sweeping motor, a water spraying electromagnetic valve, a nozzle and a cleaning brush; the air outlet of the air blower and the output port of the nozzle face the solar panel; the input port of the nozzle is connected with the output port of the water spraying electromagnetic valve; the input port of the water spraying electromagnetic valve is connected with a water supply pipe; the sweeping motor drives the cleaning brush to swing.
2. The photovoltaic array cleaning apparatus of claim 1, wherein the sweeping motor is a stepper motor.
3. The photovoltaic array cleaning device according to claim 1, wherein a plurality of flow distribution nozzles are uniformly distributed at an air outlet of the blower; the shunting nozzle faces the photovoltaic array plate and forms an included angle of 45-90 degrees with the photovoltaic array plate.
4. The photovoltaic array cleaning apparatus of claim 1, wherein the cleaning brush is in plurality, and the plurality of cleaning brushes are arranged side by side and oscillate synchronously.
5. A photovoltaic array automatic positioning cleaning robot, characterized by comprising a photovoltaic array cleaning device according to any one of claims 1 to 4; the device also comprises a lifting device and a walking device; the photovoltaic array cleaning device, the lifting device and the walking device are sequentially connected; the lifting device is used for lifting the photovoltaic array cleaning device; the walking device is used for horizontally moving the lifting device and the photovoltaic array cleaning device.
6. The photovoltaic array automatic positioning and cleaning robot according to claim 5, wherein the lifting device comprises a pneumatic telescopic arm, a fixed end of the pneumatic telescopic arm is mounted on the walking device, and an extending end of the pneumatic telescopic arm is connected with the photovoltaic array cleaning device.
7. The photovoltaic array robotic positioning and cleaning robot of claim 6, wherein the lifting device further comprises a scissor-type telescoping arm; one end of the scissor type telescopic arm is fixed on the walking device, and the other end of the scissor type telescopic arm is connected with the extending end of the pneumatic telescopic arm and the photovoltaic array cleaning device respectively.
8. The photovoltaic array robotic positioning and cleaning robot of claim 6, wherein the walking device comprises a chassis; the chassis is provided with four universal wheels; and each universal wheel is provided with a driving motor.
9. The photovoltaic array automatic positioning and cleaning robot according to claim 8, wherein the chassis is further provided with an ultrasonic ranging module on each of four sides.
10. The photovoltaic array automatic positioning and cleaning robot according to claim 8, wherein a water tank, a water pump and an air compressor are further arranged on the chassis; the water inlet of the water pump is connected with the water tank; the water outlet of the water pump is communicated with the water supply pipe; and the air compressor supplies air to the pneumatic telescopic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920613140.4U CN209982425U (en) | 2019-04-30 | 2019-04-30 | Photovoltaic array cleaning device and photovoltaic array automatic positioning cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920613140.4U CN209982425U (en) | 2019-04-30 | 2019-04-30 | Photovoltaic array cleaning device and photovoltaic array automatic positioning cleaning robot |
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| CN209982425U true CN209982425U (en) | 2020-01-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109981043A (en) * | 2019-04-30 | 2019-07-05 | 天津大学 | A kind of photovoltaic array cleaning device and automatic positioning clean robot |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109981043A (en) * | 2019-04-30 | 2019-07-05 | 天津大学 | A kind of photovoltaic array cleaning device and automatic positioning clean robot |
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