Modularized solar photovoltaic panel cleaning robot and using method

Abstract

The invention provides a modularized solar photovoltaic panel cleaning robot and a using method, the modularized solar photovoltaic panel cleaning robot comprises a cleaning mechanism body part, the cleaning mechanism body part adopts a telescopic structure to adapt to photovoltaic panels of different models, and the surface of the photovoltaic panel is cleaned; a rapid splicing driving device is mounted on the cleaning mechanism body part, and the rapid splicing driving device clamps the upper side and the lower side of the photovoltaic panel and drives the whole machine to walk on the photovoltaic panel; the rapid splicing driving device comprises a bidirectional rapid connecting device, and the bidirectional rapid connecting device achieves rapid connection and fixation of the multiple cleaning mechanism body parts so as to adapt to the scene that multiple photovoltaic panels are spliced. According to the automatic cleaning robot, through the modularization thought and the scalability of independent modules, the wide applicability of photovoltaic panel cleaning is achieved, high-quality and efficient cleaning is achieved, and in addition, the automatic cleaning robot can greatly reduce the labor cost, improve the cleaning efficiency and guarantee the consistency of the cleaning effect.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and in particular to a modular solar photovoltaic panel cleaning robot and a use method thereof. Background Art

[0002] With the continuous growth of global energy demand and the improvement of environmental protection awareness, solar photovoltaic power generation has been widely used as a clean and renewable energy. However, photovoltaic panels face an important problem in practical application, that is, the accumulation of surface dust, bird droppings and other pollutants, which can significantly reduce the power generation efficiency of photovoltaic panels. According to studies, photovoltaic panels that are not cleaned in time may cause a 20% or more reduction in power generation efficiency.

[0003] Traditional photovoltaic panel cleaning methods mainly rely on manual cleaning, which is inefficient, costly, and difficult to implement in large photovoltaic power plants or rooftop photovoltaic systems. Especially in areas with droughts and frequent sandstorms, photovoltaic panels are more susceptible to contamination and require more frequent cleaning, which further increases maintenance costs and workload. As the scale of photovoltaic power generation systems continues to expand, the demand for automated cleaning equipment is becoming more urgent. Summary of the invention

[0004] In response to the above problems, the present invention proposes a modular solar photovoltaic panel cleaning robot and a method of use. This robot, through the concept of modularization and the scalability of individual modules, achieves wide applicability for photovoltaic panel cleaning and realizes high-quality and efficient cleaning. In addition, the automated cleaning robot can significantly reduce labor costs, improve cleaning efficiency, and ensure the consistency of cleaning effects.

[0005] In order to realize the above-mentioned technical features, the purpose of the present invention is realized as follows: a modular solar photovoltaic panel cleaning robot, comprising a cleaning mechanism body part, the cleaning mechanism body part adopts a telescopic structure to adapt to different types of photovoltaic panels, so as to realize the cleaning of the surface of the photovoltaic panel; a quick splicing drive device is installed on the cleaning mechanism body part, the quick splicing drive device clamps on the upper and lower sides of the photovoltaic panel, and drives the whole machine to walk on the photovoltaic panel; the quick splicing drive device comprises a two-way quick connection device, the two-way quick connection device realizes the quick connection and fixation of multiple cleaning mechanism body parts, so as to adapt to the scene of splicing multiple photovoltaic panels; it also includes a power supply and a control system, the power supply and the control system are connected to the cleaning mechanism body part and the quick splicing drive device.

[0006] Preferably, the rapid splicing drive device includes a main body frame and a lateral guide wheel, wherein the lateral guide wheel is installed at the bottom of the main body frame and is used for positioning the entire machine on the photovoltaic panel; It also includes a driving wheel, which is driven by a motor and used to provide power for the machine to travel. The motor is installed on the main body frame, and a left positioning pin and a right positioning pin are provided on the top of the main body frame.

[0007] Preferably, the main body of the cleaning mechanism includes a supporting fixing member 1, a servo motor is fixed on the supporting fixing member 1, the output shaft of the servo motor is connected to the screw rod, the screw rod is connected to the screw rod sleeve, the screw rod sleeve is connected and fixed to the roller motor shaft through a pin shaft, the roller motor shaft is installed inside the spiral brush roller, the roller motor shaft is also fixed to the supporting fixing member 2, the supporting fixing member 2 is also equipped with a passive telescopic rod sleeve, the passive telescopic rod sleeve is connected to the telescopic inner rod, and the telescopic inner rod is fixed to the roller shaft through an adapter.

[0008] Preferably, telescopic rod 1 and telescopic rod 2 are respectively installed on both sides of the supporting fixing member 1 and the supporting fixing member 2, the telescopic rod 1 is installed with a hot air slot, and the telescopic rod 2 is installed with a spray device.

[0009] Preferably, the left locating pin and the right locating pin are used for quick fixation with the supporting fixing member 1 or the supporting fixing member 2 to achieve splicing.

[0010] Preferably, the power supply and control system includes a support frame, a base plate is installed on the support frame, a hot air blower is fixed on the base plate, the hot air blower generates hot air for melting ice and snow, a power supply and control panel are also fixed on the base plate, the power supply and control panel provide power for the entire device and control the movement of the entire machine, a camera is fixed to the top of the base plate through a camera bracket, the camera provides the operator with a field of view of the robot to facilitate observation of the cleaning situation; a temporary water tank is also fixed on the top of the base plate, the temporary water tank provides water for the spray device.

[0011] Preferably, the two-way quick connection device includes a connection device body, a support guide wheel is installed at the bottom of the connection device body, and a positioning pin is also provided at the top of the connection device body, and the positioning pin is used to quickly fix the support fixing member 1 or the support fixing member 2 at both ends.

[0012] A method for using a modular solar photovoltaic panel cleaning robot, the method for using is implemented based on the cleaning robot, and the method for using comprises the following steps: When the photovoltaic panels are not spliced ​​and the weather is normal: Step 1: Install the quick splicing drive device on both ends of the cleaning mechanism body, place the cleaning mechanism body close to the surface of the photovoltaic panel, and use the upper end of the photovoltaic panel as a reference. The cleaning mechanism body completes the telescopic structure of the overall structure through the telescopic structure. After holding the photovoltaic panel tightly, stop telescoping, and the robot is placed. Step 2: Entering the cleaning stage, the photovoltaic panel is moistened by means of a temporary water tank and a spray device. The spiral brush roller is driven to rotate under the action of the roller motor shaft, and the sewage is continuously discharged by means of the spiral brush roller. Then, in the staggered arrangement of the spiral brush rollers, the sewage cleaned by the upper spiral brush roller can be cleaned in time by the lower spiral brush roller and discharged to the outside of the photovoltaic panel. Under the cleaning of the two rows of spiral brush rollers, the cleaning quality is ensured, and the operator controls the robot forward with the view provided by the camera until the cleaning is completed; In the case of unjointed photovoltaic panels and snow accumulation: In this scenario, the cleaning robot adopts a two-way cleaning method. First, it moves to one side, and the spiral brush roller first cleans the snow on the surface. Then, the hot air blower generates hot air and discharges it from the hot air trough to the surface of the photovoltaic panel to further melt the ice layer close to the surface of the photovoltaic panel. When cleaning to a certain distance, it moves in the opposite direction to further melt the remaining ice surface and dry it to prevent the water surface from freezing again. After completing the above actions, the robot continues to clean the next part of the working surface, and repeats this process until the entire working surface is cleaned. In the case of multiple photovoltaic panels being spliced: When multiple photovoltaic panels are spliced ​​together, the extension and retraction of the cleaning mechanism body alone can no longer meet the requirements. At this time, a two-way quick connection device is installed at one end of the cleaning mechanism body to quickly connect multiple identical cleaning mechanism body parts, and a quick splicing drive device is installed at both ends of the two cleaning mechanism body parts. The layout of the robot and the cleaning process of the photovoltaic panel surface are the same as the cleaning process of a single cleaning mechanism body part.

[0013] The present invention has the following beneficial effects: 1. At present, the traditional photovoltaic panel cleaning method mainly relies on manual cleaning, which is inefficient, costly, and difficult to implement in large photovoltaic power stations or rooftop photovoltaic systems. The robot of the present invention can reduce manual labor and improve cleaning efficiency.

[0014] 2. The robot of the present invention adopts a modular concept, splitting a large robot unit into multiple small robot modules that can work independently, and each small robot can be adaptively retracted and retracted. When multiple photovoltaic panels are spliced, they can be quickly reorganized by means of various connecting devices, which greatly improves the adaptability and reliability of the robot, and can adapt to the cleaning of solar photovoltaic panels of different models and different arrangements.

[0015] 3. The present invention uses a spiral roller brush and a front-to-rear roller arrangement to discharge sewage outside the photovoltaic panel during the cleaning process, relying on the characteristics of the spiral, thereby solving the secondary pollution that may be caused by a single-row brush cleaning process.

[0016] 4. The robot of the present invention can clean photovoltaic panels in extreme conditions such as ice and snow by adding devices such as hot air troughs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 The figure is a schematic diagram of the overall structure of the present invention after being assembled by two robots.

[0019] Figure 2 It is the front view of the rapid splicing drive device of the present invention.

[0020] Figure 3 It is a side view of the rapid splicing drive device of the present invention.

[0021] Figure 4 It is a schematic diagram of the cleaning mechanism body of the present invention.

[0022] Figure 5 It is a schematic diagram of the power supply and control system of the present invention.

[0023] Figure 6 It is a schematic diagram of the two-way quick connection device of the present invention.

[0024] Figure 7 This is the overall schematic diagram of a single-module robot.

[0025] In the figure: a quick splicing drive device 10, a cleaning mechanism body 20, a power supply and control system 30, and a two-way quick connection device 40; Lateral guide wheel 101, driving wheel 102, left positioning pin 103, body frame 104, right positioning pin 105, motor 106; Support fixing part 1 201, servo motor 202, screw 203, screw sleeve 204, roller motor shaft 205, spiral brush roller 206, telescopic rod 1 207, hot air slot 208, adapter 209, telescopic inner rod 210, passive telescopic rod sleeve 211, spray device 212, support fixing part 213, telescopic rod 2 214; Support frame 301, bottom plate 302, hot air blower 303, power supply and control board 304, camera bracket 305, camera 306, temporary water tank 307; Connecting device body 401 , supporting guide wheel 402 , and positioning pin 403 . DETAILED DESCRIPTION

[0026] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0027] Embodiment 1: like Figure 1 A modular solar photovoltaic panel cleaning robot includes a cleaning mechanism body 20, which can adapt to different types of photovoltaic panels by means of a telescopic structure to clean the surface of the photovoltaic panel. A quick splicing drive device 10 is installed on the outside of the cleaning mechanism body 20, which clamps the upper and lower sides of the photovoltaic panel to drive the entire machine to move on the photovoltaic panel, and can widely adapt to the inclination angle of the photovoltaic panel. It also includes a two-way quick connection device 40, which can realize the quick connection and fixation of multiple cleaning mechanism body parts 20 to adapt to the scene of splicing multiple photovoltaic panels. It also includes a power supply and control system 30, which reduces the robot's dependence on the external environment.

[0028] like Figure 2-3 Furthermore, the quick splicing drive device 10 includes a main body frame 104, which also includes a lateral guide wheel 101, and the lateral guide wheel 101 is installed at the bottom of the main body frame 104. The lateral guide wheel is used to position the entire machine on the photovoltaic panel. It also includes a driving wheel 102, and the driving wheel 102 is driven by a motor 106. The driving wheel 102 is used to provide power for the machine to move. The motor 106 is installed on the main body frame 104. The top of the main body frame 104 has a left positioning pin 103 and a right positioning pin 105. The left positioning pin 103 and the right positioning pin 105 are used for quick fixation with the support fixing member 1 201 or the support fixing member 213.

[0029] like Figure 4 Further, the cleaning mechanism body 20 includes a supporting fixing member 201, on which a servo motor 202 is fixed, and an output shaft of the servo motor 202 is connected to a screw 203, and the screw 203 is fixed with a screw sleeve 204, and the screw sleeve 204 is connected and fixed with a drum motor shaft 205 through a pin shaft, and the drum motor shaft 205 is installed inside a spiral brush drum 206, and the drum motor shaft 205 is also fixed to a supporting fixing member 213, and a passive telescopic rod sleeve 211 is also installed on the supporting fixing member 213, and the passive telescopic rod sleeve 211 is connected to a telescopic inner rod 210, and the telescopic inner rod 210 is fixed to the drum shaft through an adapter 209, and telescopic rods 1 207 and 214 are installed on both sides of the supporting fixing member 213, and a hot air slot 208 is installed on the fixed end of the telescopic rod 1 207, and a spray device 212 is installed on the telescopic rod 214.

[0030] like Figure 5The power supply and control system 30 includes a support frame 301, on which a base plate 302 is installed, and the base plate 302 provides support for various control devices and power supplies. A hot air blower 303 is fixed on the base plate 302, and the hot air blower 303 generates hot air for melting ice and snow. A power supply and control panel 304 is also fixed, and the power supply and control panel 304 provides power for the entire device and controls the movement of the entire machine. A camera bracket 305 is also fixed, and a camera 306 is fixed on the camera bracket 305. The camera 306 provides the operator with a field of view of the robot, which is convenient for observing the cleaning situation. A temporary water tank 307 is also fixed, and the temporary water tank 307 provides a water source for the spray device 212.

[0031] like Figure 6 The bidirectional quick connection device 40 includes a connection device body 401, a support guide wheel 402 is installed at the bottom of the connection device body 401, and a positioning pin 403 is also provided at the top of the connection device body 401. The positioning pin 403 is used to quickly fix the support fixing member 1 201 or the support fixing member 2 213 at both ends.

[0032] Embodiment 2: The method for using the modular solar photovoltaic panel cleaning robot is characterized in that it comprises the following steps: When photovoltaic panels are not spliced, use Figure 7 The robot modules shown: Step 1: The two ends of the cleaning mechanism body 20 can be equipped with a quick splicing drive device 10, and the cleaning mechanism body 20 is placed close to the surface of the photovoltaic panel. With the upper end of the photovoltaic panel as a reference, the cleaning mechanism body 20 relies on the lifting and shrinking structure to complete the extension and retraction of the overall structure. After hugging the photovoltaic panel, the extension and retraction stops, and the placement of the robot is completed.

[0033] Step 2: Start to enter the cleaning stage, rely on the temporary water tank 307 and the spray device 212 to wet the photovoltaic panel, and drive the spiral brush roller 206 to start rotating under the action of the roller motor shaft 205. With the advantages of the spiral brush roller 206, the sewage is continuously discharged. Then, with the special arrangement method of the spiral brush roller 206, the sewage cleaned by the upper roller can be cleaned by the lower roller in time and discharged to the outside of the photovoltaic panel. With the cleaning of the two rows of rollers, the quality of cleaning is guaranteed. The operator relies on the perspective provided by the camera to operate the robot to move forward until the cleaning is completed.

[0034] In the case of unjointed photovoltaic panels and snow accumulation: The roller first cleans the snow on the surface, and then the hot air blower 303 generates hot air, which is discharged from the hot air slot 208 to the surface of the photovoltaic panel, further melting the ice layer close to the surface of the photovoltaic panel, further melting the remaining ice surface, and the roller further cleans the melted water. When cleaning to a certain distance, it moves in the opposite direction to further melt the remaining ice surface, and can perform a certain drying process to prevent the water surface from freezing again. After completing the above actions, the robot continues to clean the next part of the working surface.

[0035] When multiple photovoltaic panels are connected, Figure 1 The multi-module splicing form shown: When multiple photovoltaic panels are spliced, the extension and retraction of the cleaning mechanism body 20 alone cannot meet the requirements. At this time, a two-way quick connection device 40 is installed at one end of the cleaning mechanism body 20 to quickly connect two identical cleaning mechanism body parts 20, and a quick splicing drive device 10 is installed at both ends of the two cleaning mechanism body parts 20. The layout of the machine on the photovoltaic panel surface and the cleaning process are the same as those of a single cleaning mechanism body part 20.

[0036] Finally, the robot uses modular thinking to quickly connect two or more cleaning devices to adapt to different photovoltaic panel cleaning scenarios, improving the robot's practicality and versatility.

Claims

1. A modular solar photovoltaic panel cleaning robot, characterized in that: The invention comprises a cleaning mechanism body part (20), wherein the cleaning mechanism body part (20) adopts a telescopic structure to adapt to different types of photovoltaic panels and realize cleaning of the surface of the photovoltaic panels; a quick splicing drive device (10) is installed on the cleaning mechanism body part (20), wherein the quick splicing drive device (10) is clamped on the upper and lower sides of the photovoltaic panel and drives the entire machine to move on the photovoltaic panel; the quick splicing drive device (10) comprises a two-way quick connection device (40), wherein the two-way quick connection device (40) realizes the quick connection and fixation of multiple cleaning mechanism body parts (20) to adapt to the scene of splicing multiple photovoltaic panels; and also comprises a power supply and control system (30), wherein the power supply and control system (30) is connected to the cleaning mechanism body part (20) and the quick splicing drive device (10).

2. A modular solar photovoltaic panel cleaning robot according to claim 1, characterized in that: The rapid splicing drive device (10) comprises a main body frame (104), and also comprises a lateral guide wheel (101), wherein the lateral guide wheel (101) is installed at the bottom of the main body frame (104), and the lateral guide wheel (101) is used for positioning the entire machine on the photovoltaic panel; It also includes a driving wheel (102), the driving wheel (102) being driven by a motor (106), the driving wheel being used to provide power for the machine to travel, the motor (106) being mounted on a main body frame (104), and a left positioning pin (103) and a right positioning pin (105) being provided on the top of the main body frame (104).

3. A modular solar photovoltaic panel cleaning robot according to claim 2, characterized in that: The cleaning mechanism body (20) comprises a first supporting fixture (201), a servo motor (202) being fixed on the first supporting fixture (201), an output shaft of the servo motor (202) being connected to a screw rod (203), the screw rod (203) being connected in cooperation with a screw rod sleeve (204), the screw rod sleeve (204) being connected and fixed to a roller motor shaft (205) via a pin shaft, the roller motor shaft (205) being installed inside a spiral brush roller (206), the roller motor shaft (205) being also fixed to a second supporting fixture (213), a passive telescopic rod sleeve (211) being also installed on the second supporting fixture (213), the passive telescopic rod sleeve being connected to a telescopic inner rod (210), the telescopic inner rod (210) being fixed to the roller shaft via an adapter (209).

4. A modular solar photovoltaic panel cleaning robot according to claim 3, characterized in that: A telescopic rod 1 (207) and a telescopic rod 2 (214) are respectively mounted on both sides of the supporting fixing member 1 (201) and the supporting fixing member 2 (213); a hot air slot (208) is mounted on the telescopic rod 1 (207), and a spray device (212) is mounted on the telescopic rod 2 (214).

5. A modular solar photovoltaic panel cleaning robot according to claim 4, characterized in that: The left positioning pin (103) and the right positioning pin (105) are used for rapid fixing with the first supporting fixing member (201) or the second supporting fixing member (213) to achieve splicing.

6. A modular solar photovoltaic panel cleaning robot according to claim 4, characterized in that: The power supply and control system (30) comprises a support frame (301), a base plate (302) is mounted on the support frame (301), a hot air blower (303) is fixed on the base plate (302), the hot air blower (303) generates hot air for melting ice and snow, a power supply and control panel (304) is also fixed on the base plate (302), the power supply and control panel (304) provides power to the entire device and controls the movement of the entire machine, a camera (306) is fixed on the top of the base plate (302) via a camera bracket (305), the camera (306) provides a field of view of the robot for the operator to observe the cleaning situation; a temporary water tank (307) is also fixed on the top of the base plate (302), the temporary water tank (307) provides a water source for the spray device (212).

7. A modular solar photovoltaic panel cleaning robot according to claim 4, characterized in that: The bidirectional quick connection device (40) comprises a connection device body (401), a support guide wheel (402) being mounted at the bottom of the connection device body (401), and a positioning pin (403) being disposed at the top of the connection device body (401), wherein the positioning pin (403) is used to quickly fix the support fixing member 1 (201) or the support fixing member 2 (213) at both ends.

8. A method for using a modular solar photovoltaic panel cleaning robot, characterized in that: The method of use is implemented based on the cleaning robot according to any one of claims 3 to 7, and the method of use comprises the following steps: When the photovoltaic panels are not spliced ​​and the weather is normal: Step 1: Install the quick splicing drive devices (10) on both ends of the cleaning mechanism body part (20), place the cleaning mechanism body part (20) close to the surface of the photovoltaic panel, and use the upper end of the photovoltaic panel as a reference. The cleaning mechanism body part (20) completes the telescopic extension of the entire structure through the cooperation of the telescopic structure. After tightly holding the photovoltaic panel, the telescopic extension stops, and the placement of the robot is completed at this time; Step 2: Entering the cleaning stage, the photovoltaic panel is wetted by means of the temporary water tank (307) and the spray device (212), and the spiral brush roller (206) is driven to start rotating under the action of the roller motor shaft (205), and the sewage is continuously discharged downward by means of the spiral brush roller (206). Subsequently, in the staggered arrangement of the spiral brush rollers (206), the sewage cleaned by the upper spiral brush roller (206) can be cleaned in time by the lower spiral brush roller (206) and discharged outside the photovoltaic panel. Under the cleaning of the two rows of spiral brush rollers (206), the cleaning quality is ensured, and the operator controls the robot to move forward by means of the viewing angle provided by the camera (306) until the cleaning is completed; In the case of unjointed photovoltaic panels and snow accumulation: In this scenario, the cleaning robot adopts a bidirectional cleaning method, first moving to one side, with the spiral brush roller (206) first cleaning the snow on the surface, and then the hot air blower (303) generates hot air, which is discharged from the hot air slot (208) to the surface of the photovoltaic panel to further melt the ice layer close to the surface of the photovoltaic panel. When cleaning to a certain distance, the robot moves in the opposite direction to further melt the remaining ice surface, and performs drying treatment to prevent the water surface from freezing again. After completing the above actions, the robot continues to clean the next part of the working surface, and repeats this process until the entire working surface is cleaned. In the case of multiple photovoltaic panels being spliced: When multiple photovoltaic panels are to be spliced ​​together, the extension and retraction of the cleaning mechanism body (20) alone cannot meet the requirements. In this case, a two-way quick connection device (40) is installed at one end of the cleaning mechanism body (20) to quickly connect multiple identical cleaning mechanism body parts (20), and quick splicing drive devices (10) are installed at both ends of two cleaning mechanism body parts (20). The arrangement of the robot and the cleaning process of the photovoltaic panel surface are the same as the cleaning process of a single cleaning mechanism body part (20).

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