Full-automatic line-feed intelligent photovoltaic panel cleaning robot

Abstract

The invention discloses a full-automatic line-feed intelligent photovoltaic panel cleaning robot, which belongs to the technical field of photovoltaic panel cleaning, and comprises a support frame, a crawler walking mechanism is arranged on the support frame, auxiliary wheels are arranged at positions, close to two ends, of the bottom of the support frame, and a brush mechanism, a dust collection mechanism and a cleaning mechanism are arranged in the support frame. The system further comprises a line-feed carrier. According to the invention, automatic line feed of the cleaning robot is realized through the line feed carrier, and the line feed carrier can be used for continuous cleaning work of the surfaces of photovoltaic panels which are arranged side by side and obliquely mounted; dirt and accumulated snow attached to the photovoltaic panel are removed, the light transmittance is improved, and the power generation efficiency is improved; through regular cleaning, the photovoltaic panel is kept clean and stable in operation, the maintenance cost is reduced, and the service life is prolonged; dust, soil dust and other sundries are collected through the dust collecting mechanism, and local flying dust pollution can be avoided; and the 4G networking controller is arranged in the equipment, so that a user can control the machine to operate on a webpage end or a mobile phone APP, and the operation cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic panel cleaning, and in particular to a fully automatic line-changing intelligent photovoltaic panel cleaning robot. Background Art

[0002] Photovoltaic power generation has ushered in a major development opportunity, and the scale of new development continues to expand. However, when photovoltaic modules are installed outdoors, the fine dust particles and snow attached to their surface will affect the transmittance of light, and then affect the amount of radiation received by the module surface, affecting the power generation efficiency; surface dirt, bird droppings and other local obstructions will cause hot spot effects in the photovoltaic module, reducing the power generation efficiency or even burning the module. In order to improve the power generation efficiency of solar panels, solar panels need to be cleaned regularly.

[0003] At present, many photovoltaic power stations still use manual cleaning or semi-automatic cleaning, and the existing photovoltaic panel cleaning robots have many shortcomings, such as low degree of automation, many devices lack intelligent walking function, resulting in unstable operation, cleaning work relies on human assistance, low work efficiency and high labor costs; for photovoltaic panels arranged side by side or installed at an angle, automatic row wrapping and continuous cleaning cannot be achieved, the operation is cumbersome, and the practicality and operability of the equipment are reduced. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic line-wrapping intelligent photovoltaic panel cleaning robot to solve the problems existing in the existing cleaning robots described in the background technology.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention discloses a fully automatic line-changing intelligent photovoltaic panel cleaning robot, comprising a support frame, a crawler walking mechanism is arranged on the support frame, auxiliary wheels are arranged at the bottom of the support frame near the two ends, a brush mechanism is arranged inside the support frame, a dust collecting mechanism is arranged outside the brush mechanism, a cleaning mechanism is also arranged on the support frame, and also includes a line-changing transport vehicle for carrying the photovoltaic panel cleaning robot in line-changing manner.

[0007] Furthermore, there are multiple crawler walking mechanisms, and the multiple crawler walking mechanisms are arranged on the support frame at equal intervals.

[0008] Furthermore, the crawler walking mechanism includes a fixed plate, a motor is installed on one side of the fixed plate, a driving wheel and a plurality of driven wheels are installed on the other side of the fixed plate, the output shaft of the motor is connected to the driving wheel through a first transmission assembly, and the driving wheel and the plurality of driven wheels are connected through a crawler transmission.

[0009] Furthermore, the number of the brush mechanisms is set to at least two, and the two brush mechanisms are arranged in parallel.

[0010] Furthermore, the brush mechanism comprises a round rod, the round rod is rotatably connected to the support frame, and a nylon brush is arranged on the outer wall of the round rod.

[0011] Furthermore, the dust collecting mechanism includes a DC dust collecting fan, which is arranged on a mounting plate on the top surface of the support frame, a dust collecting bag is arranged on one side of the DC dust collecting fan, and a dust collecting port is arranged below the DC dust collecting fan.

[0012] Furthermore, the cleaning mechanism includes a spray pipeline, the spray pipeline is arranged on the top surface of the support frame, a plurality of spray ports are arranged at the bottom of the spray pipeline, and a water inlet interface is arranged on one side of the spray pipeline.

[0013] Furthermore, the line change transport vehicle includes a vehicle body, a rail wheel is provided at the bottom of the vehicle body, a wheel axle is also provided at the bottom of the vehicle body, gears are provided at both ends of the wheel axle, a track is installed on the ground on one side of the photovoltaic panel, a tooth groove meshing with the gear is provided on the track, a driving mechanism is provided on one side of the wheel axle, a support rod is provided on the top of the vehicle body, a self-generating photovoltaic panel is provided on the top surface of the support rod, a distribution box is provided inside the vehicle body, and a forward limit component and a backward limit component are provided on the bottom surface of the vehicle body.

[0014] Furthermore, the driving mechanism includes a rotating driving component, which is mounted on the vehicle body, and an output end of the rotating driving component is connected to the wheel axle through a second transmission assembly.

[0015] Furthermore, the second transmission assembly includes two sprockets, one of which is arranged at the output end of the rotating drive component, and the other sprocket is arranged on the wheel axle, and the two sprockets are connected by chain transmission.

[0016] Compared with the prior art, the beneficial technical effects of the present invention are:

[0017] The present invention realizes automatic row changing of the cleaning robot through the row changing transport vehicle, and can be used for continuous cleaning of the surfaces of photovoltaic panels arranged side by side or installed obliquely, greatly improving the degree of automation; by cleaning the photovoltaic panels, dirt and snow attached thereto can be removed, thereby improving the transmittance of light and the power generation efficiency; through regular cleaning, the photovoltaic panels can be kept clean and run stably, thus reducing maintenance costs and extending their service life; the dust cleaned by the brush mechanism is sucked into the dust collecting bag through the DC dust collecting fan, so that dust, soil dust and other debris are collected, thereby avoiding local dust pollution; the equipment has a built-in 4G network controller, and users can control the operation of the machine on the web page or mobile phone APP without the need for on-site operation by personnel, thus reducing operating costs; the cleaning mode can be selectively switched according to on-site requirements; the edging profiles installed on both sides of the photovoltaic panels are conducive to the cleaning and walking of the cleaning equipment, ensuring its smooth operation and making it more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 A bottom view of the fully automatic line-wrapping intelligent photovoltaic panel cleaning robot of the present invention;

[0020] Figure 2 A side view of the fully automatic line-wrapping intelligent photovoltaic panel cleaning robot of the present invention;

[0021] Figure 3 It is a three-dimensional structural schematic diagram of the crawler walking mechanism of the present invention;

[0022] Figure 4 for Figure 1 The enlarged view of point A in the middle;

[0023] Figure 5 for Figure 2 The enlarged view of point B in the middle;

[0024] Figure 6 for Figure 1 Enlarged view of point C in the middle;

[0025] Figure 7 A side view of a row-swap transport vehicle used in the present invention;

[0026] Figure 8 It is a three-dimensional structural schematic diagram of the driving mechanism of the row change transport vehicle of the present invention.

[0027] Explanation of reference numerals: 1. crawler walking mechanism; 2. brush mechanism; 3. dust collecting mechanism; 4. cleaning mechanism; 5. line change transport vehicle; 6. auxiliary wheel; 7. support frame; 1-1. motor; 1-2. driving wheel; 1-3. driven wheel; 1-4. crawler; 1-5. fixing plate; 2-1. round rod; 2-2. nylon brush; 3-1. DC dust collecting fan; 3-2. dust collecting bag; 3-3. dust collecting port; 4-1. spray pipe; 4- 2. Water inlet interface; 4-3. Spray port; 5-1. Vehicle body; 5-2. Track wheel; 5-3. Gear; 5-4. Axle; 5-5. Driving mechanism; 5-5-1. Rotating driving component; 5-5-2. Second transmission assembly; 5-5-2-1. Sprocket; 5-5-2-2. Chain; 5-6. Distribution box; 5-7. Support rod; 5-8. Self-generating photovoltaic panel; 5-9. Forward limit component; 5-10. Reverse limit component. DETAILED DESCRIPTION

[0028] like Figure 1-8 As shown, a fully automatic line-changing intelligent photovoltaic panel cleaning robot includes a support frame 7, which is a rectangular frame, and a crawler walking mechanism 1 is arranged on the support frame 7. Auxiliary wheels 6 are installed at the bottom of the support frame 7 near the two ends. A brush mechanism 2 is arranged inside the support frame 7, and a dust collecting mechanism 3 is arranged outside the brush mechanism 2. A cleaning mechanism 4 is also arranged on the support frame 7, and also includes a line-changing transport vehicle 5 for line-changing transport of the photovoltaic panel cleaning robot. After the line-changing transport vehicle 5 detects that the cleaning robot has returned to its position, it moves to the next row of photovoltaic panels for cleaning, so that the cleaning robot can accurately clean the next row of photovoltaic panels. The cleaning equipment performs a cyclic operation in sequence until the cleaning task is completed. After the task cleaning is completed, the cleaning robot returns to the transport vehicle.

[0029] There are multiple crawler walking mechanisms 1, and the multiple crawler walking mechanisms 1 are arranged on the support frame 7 at equal intervals; Figure 3 As shown, the crawler walking mechanism 1 includes a fixed plate 1-5, a motor 1-1 is installed on one side of the fixed plate 1-5, a driving wheel 1-2 and a plurality of driven wheels 1-3 are installed on the other side of the fixed plate 1-5, the output shaft of the motor 1-1 is connected to the fixed plate 1-5 through a bearing, the output shaft of the motor 1-1 is connected to the driving wheel 1-2 through a first transmission component, the driving wheel 1-2 and the plurality of driven wheels 1-3 are connected through a crawler 1-4 transmission; the crawler 1-4 is made of rubber material; the first transmission component is a pulley and a synchronous belt, and a sprocket and a chain, or a gear set can also be used. The pulley and the synchronous belt are used for explanation, one pulley is installed on the output shaft of the motor 1-1, and the other pulley is installed on the central axis of the driving wheel 1-2, the two pulleys are connected together through a synchronous belt drive, and the pulley and the synchronous belt are installed on the same side of the fixed plate 1-5 as the motor 1-1.

[0030] The number of the brush mechanisms 2 is at least two, and the two brush mechanisms 2 are arranged in parallel; Figure 4 As shown, the brush mechanism 2 includes a round rod 2-1, which is rotatably connected to the support frame 7 through a bearing, and the round rod 2-1 is connected to the output shaft of the motor 1-1, and a nylon brush 2-2 is wound on the outer wall of the round rod 2-1; the number of motors 1-1 is set to two, and the two motors 1-1 are matched with the two round rods 2-1. The motor 1-1 is a servo motor, and the output shaft of the motor 1-1 passes through the fixed plate 1-5 and then connects to the round rod 2-1, driving the round rod 2-1 and the nylon brush 2-2 to rotate to clean the surface of the photovoltaic panel; the brush mechanism is used to clean the floating dust on the surface of the photovoltaic panel. Taking into account the excrement of birds, a small amount of mud and sand flowing down the wall, and leaves / grass leaves, etc., the wire diameter of the brush should be 0.3mm, and the range of cleaning dirt includes: floating dust, bird droppings, leaves and other comprehensive dirt.

[0031] like Figure 5 As shown, the dust collecting mechanism 3 includes a DC dust collecting fan 3-1, which is installed on the mounting plate on the top surface of the support frame 7. A dust collecting bag 3-2 is connected to one side of the DC dust collecting fan 3-1, and a dust collecting port 3-3 is connected to the bottom of the DC dust collecting fan 3-1. The dust cleaned by the brush mechanism is sucked into the dust collecting bag 3-2 by the DC dust collecting fan 3-1, thereby completing the collection of dust, soil dust and other debris.

[0032] like Figure 6 As shown, the cleaning mechanism 4 includes a spray pipeline 4-1, which is configured as a U-shaped pipeline. The spray pipeline 4-1 is installed on the inner side of the support frame 7. A plurality of spray ports 4-3 are provided at the bottom of the spray pipeline 4-1. A water inlet interface 4-2 is provided on one side of the spray pipeline 4-1, and the water inlet interface 4-2 is connected to an external pressurized water source.

[0033] like Figure 7As shown, the line-changing transport vehicle 5 includes a vehicle body 5-1, a track wheel 5-2 is installed at the bottom of the vehicle body 5-1, and a wheel axle 5-4 is rotatably installed at the bottom of the vehicle body 5-1. Gears 5-3 are installed at both ends of the wheel axle 5-4. A track is installed on the ground on one side of the photovoltaic panel. The track has a tooth groove that meshes with the gear 5-3. The gear 5-3 moves along the tooth groove. A driving mechanism 5-5 is arranged on one side of the wheel axle 5-4. The top surface of the vehicle body 5-1 is inclined. A support rod 5-7 is connected to the top of the vehicle body 5-1. The top surface of the support rod 5-7 is installed with a self-generating photovoltaic panel. 5-8, a distribution box 5-6 is installed inside the vehicle body 5-1, and a forward limit component 5-9 and a backward limit component 5-10 are installed on the bottom surface of the vehicle body 5-1. The forward limit component 5-9 and the backward limit component 5-10 are limit sensors, and a limit stop iron is installed on the track. When the line change transport vehicle 5 senses the limit stop iron installed on the track during the forward and backward process, the line change transport vehicle 5 will stop running; the self-generating photovoltaic panel 5-8 can generate electricity by itself, and the electric energy is stored in the distribution box 5-6 to supply power to the driving mechanism 5-5, the forward limit component 5-9 and the backward limit component 5-10.

[0034] like Figure 8 As shown, the driving mechanism 5-5 includes a rotating driving component 5-5-1, and the rotating driving component 5-5-1 is installed on the vehicle body 5-1, and the output end of the rotating driving component 5-5-1 is connected to the wheel axle 5-4 through a second transmission assembly 5-5-2; the second transmission assembly 5-5-2 includes two sprockets 5-5-2-1, one of the sprockets 5-5-2-1 is arranged at the output end of the rotating driving component 5-5-1, and the other sprocket 5-5-2-1 is arranged on the wheel axle 5-4, and the two sprockets 5-5-2-1 are connected by a chain 5-5-2-2; the rotating driving component 5-5-1 is a motor; when in use, the rotating driving component 5-5-1 drives the sprocket 5-5-2-1 connected thereto to rotate, and the sprocket 5-5-2-1 drives another sprocket 5-5-2-1 to rotate through the chain 5-5-2-2, thereby driving the wheel axle 5-4 to rotate, and the rotation of the wheel axle 5-4 drives the gear 5-3 to rotate.

[0035] In terms of control, the device has a built-in 4G network controller, and users can control the operation of the machine on the web or mobile phone APP, without the need for on-site operation, thus reducing manual intervention.

[0036] The working process of the present invention is as follows:

[0037] The edging profiles are installed on both sides of the photovoltaic panel to facilitate the cleaning of the cleaning equipment. The cleaning equipment and the photovoltaic panel are connected in a chain-like manner. Three horizontal auxiliary wheels 6 are installed at the bottom of both sides of the cleaning robot to clamp the cleaning robot on the upper and lower ends of the photovoltaic panel. An additional cleaning equipment stop area is set at the initial end of the photovoltaic panel without manual disassembly. A solar panel is installed on the upper surface of the equipment to absorb solar energy for charging.

[0038] Solar panels are used for charging, and the 4G Internet controller is matched with the centralized control software. The equipment is controlled through the control unit and placed in a pre-set parking area, i.e., on the line-changing transport vehicle 5.

[0039] After receiving the command, the fully automatic cleaning equipment performs a self-check to confirm that the cleaning equipment is in place. The line change transport vehicle 5 executes the positioning command, finds and reaches the nearest photovoltaic panel mark point, and then starts the cleaning equipment. The cleaning equipment relies on the crawler walking mechanism 1 to move forward along the photovoltaic panel on the track. The auxiliary wheels 6 can keep the cleaning equipment running smoothly. The brush mechanism 2 inside the cleaning equipment starts to operate, and the DC dust collecting fan 3-1 is powered by the AC power interface. The removed dust enters the dust collecting bag 3-2 from the dust collecting port 3-3.

[0040] The cleaning mechanism 4 can be started according to the actual needs of the site, and the effect is better, but the dust collection mechanism and the cleaning mechanism cannot operate at the same time; according to the requirements of the site, the cleaning mode can be selectively switched, mode one is that the brush mechanism and the dust collection mechanism cooperate to clean; mode two is that the cleaning mechanism performs cleaning.

[0041] After the equipment cleans the photovoltaic panels to the end, it automatically returns to the line-changing transport vehicle 5. After the line-changing transport vehicle 5 detects that the cleaning robot has returned to its position, it moves to the next row of photovoltaic panels along the preset track, so that the cleaning robot can accurately reach the next row of photovoltaic panels for cleaning; the cleaning equipment performs a cyclic operation in sequence until the cleaning task is completed. After the cleaning task is completed, the cleaning robot returns to the line-changing transport vehicle 5 and stays in the parking area.

[0042] The design of this photovoltaic panel cleaning robot follows the principles of simple structure, stable equipment operation, high degree of automation, and economy and practicality. The working conditions meet the requirements of the on-site environment. The entire operating device is composed of a control unit, a crawler walking mechanism, a line-changing transport vehicle, a brush mechanism, a dust collection mechanism, a cleaning mechanism, a lithium battery, a solar panel, a DC motor, a 4G Internet controller and other units.

[0043] Compared with the existing photovoltaic cleaning equipment, the cleaning robot walks on the profiles at the edge of the photovoltaic panel with rubber tracks, which achieves smooth operation and is more beautiful. The round-trip cleaning greatly improves the cleaning effect. After a row of photovoltaic panels is cleaned, the row-changing transporter is used to realize automatic row change of the cleaning equipment and continue to clean the next row of photovoltaic panels, thus realizing the cleaning of large-area photovoltaic panels. The power of the equipment is provided by its own photovoltaic panel, which improves the automation degree of the photovoltaic panel cleaning robot, reduces manpower and maintenance costs, and ensures the power generation efficiency of solar panels.

[0044] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A fully automatic line-wrapping intelligent photovoltaic panel cleaning robot, characterized in that: The invention comprises a support frame (7), a crawler walking mechanism (1) is arranged on the support frame (7), auxiliary wheels (6) are arranged at positions near both ends of the bottom of the support frame (7), a brush mechanism (2) is arranged inside the support frame (7), a dust collecting mechanism (3) is arranged outside the brush mechanism (2), a cleaning mechanism (4) is also arranged on the support frame (7), and a row-changing transport vehicle (5) for row-changing transport of the photovoltaic panel cleaning robot is also included.

2. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 1 is characterized in that: The number of the crawler walking mechanisms (1) is multiple, and the multiple crawler walking mechanisms (1) are arranged on the support frame (7) at equal intervals.

3. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 2 is characterized in that: The crawler walking mechanism (1) comprises a fixed plate (1-5), a motor (1-1) is installed on one side of the fixed plate (1-5), a driving wheel (1-2) and a plurality of driven wheels 1-3 are installed on the other side of the fixed plate (1-5), an output shaft of the motor (1-1) is connected to the driving wheel (1-2) via a first transmission assembly, and the driving wheel (1-2) and the plurality of driven wheels (1-3) are connected via a crawler (1-4).

4. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 1, characterized in that: The number of the brush mechanisms (2) is set to be at least two, and the two brush mechanisms (2) are arranged in parallel.

5. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 4 is characterized in that: The brush mechanism (2) comprises a round rod (2-1), the round rod (2-1) is rotatably connected to the support frame (7), and a nylon brush (2-2) is arranged on the outer wall of the round rod (2-1).

6. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 1, characterized in that: The dust collecting mechanism (3) comprises a DC dust collecting fan (3-1), the DC dust collecting fan (3-1) being arranged on a mounting plate on the top surface of the support frame (7), a dust collecting bag (3-2) being arranged on one side of the DC dust collecting fan (3-1), and a dust collecting port (3-3) being arranged below the DC dust collecting fan (3-1).

7. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 1, characterized in that: The cleaning mechanism (4) comprises a spray pipeline (4-1), the spray pipeline (4-1) is arranged on the top surface of the support frame (7), a plurality of spray ports (4-3) are arranged at the bottom of the spray pipeline (4-1), and a water inlet interface (4-2) is arranged on one side of the spray pipeline (4-1).

8. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 1, characterized in that: The line-changing transport vehicle (5) comprises a vehicle body (5-1), a rail wheel (5-2) is arranged at the bottom of the vehicle body (5-1), a wheel axle (5-4) is also arranged at the bottom of the vehicle body (5-1), gears (5-3) are arranged at both ends of the wheel axle (5-4), a track is installed on the ground on one side of the photovoltaic panel, a tooth groove meshing with the gear (5-3) is arranged on the track, a driving mechanism (5-5) is arranged on one side of the wheel axle (5-4), a support rod (5-7) is arranged on the top of the vehicle body (5-1), a self-generating photovoltaic panel (5-8) is arranged on the top surface of the support rod (5-7), a distribution box (5-6) is arranged inside the vehicle body (5-1), and a forward limit component (5-9) and a backward limit component (5-10) are arranged on the bottom surface of the vehicle body (5-1).

9. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 8, characterized in that: The driving mechanism (5-5) comprises a rotating driving component (5-5-1), the rotating driving component (5-5-1) is mounted on the vehicle body (5-1), and the output end of the rotating driving component (5-5-1) is connected to the wheel axle (5-4) via a second transmission assembly (5-5-2).

10. The fully automatic line-wrapping intelligent photovoltaic panel cleaning robot according to claim 9, characterized in that: The second transmission assembly (5-5-2) comprises two sprocket wheels (5-5-2-1), one of which is arranged at the output end of the rotating drive component (5-5-1), and the other sprocket wheel (5-5-2-1) is arranged on the wheel shaft (5-4), and the two sprocket wheels (5-5-2-1) are connected by a chain (5-5-2-2).

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