Retired photovoltaic module cleaning device, system, and control method

Abstract

The application discloses a retired photovoltaic module cleaning device, system and control method, wherein the device comprises: a support photovoltaic module bearing platform, a movement mechanism for driving each mechanism to move, a limiting mechanism for limiting the position of the aluminum frame of the photovoltaic module, a cleaning mechanism for performing preheating softening, continuous breaking, spiral stripping and negative pressure suction on the residues on the aluminum frame, an identification mechanism for identifying the gap position of the aluminum frame and generating a cleaning path for the cleaning mechanism, and a control mechanism for adjusting the running state of the cleaning execution mechanism. The application realizes flexible and synchronous preheating softening, continuous breaking, spiral stripping and negative pressure suction by the movement mechanism driving the cleaning mechanism, and realizes automatic retired photovoltaic module cleaning.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module cleaning equipment technology, and in particular to a cleaning device, system and control method for retired photovoltaic modules. Background Technology

[0002] With the vigorous development of photovoltaic power generation, the installed capacity has been increasing year by year. Since photovoltaic modules need to be retired after about 20 years of use, a large number of photovoltaic modules will be retired and need to be disposed of in the next few years. How to deal with a large number of retired photovoltaic modules has become a difficult problem for the industry.

[0003] The disposal of decommissioned photovoltaic modules begins with the removal of the aluminum frame. However, the residual glass or adhesive left after the aluminum frame is removed is difficult to clean, reducing its recycling value. Current cleaning methods rely on manual high-temperature baking and mechanical scraping, which are inefficient, result in high frame deformation rates, large amounts of adhesive residue, and dust pollution. There is currently no mature processing device that can automatically clean the residue from the gaps during the removal of the aluminum frame. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a device equipped with a cleaning mechanism that can perform multiple functions in parallel. The cleaning mechanism is driven by a motion mechanism to achieve flexible and synchronous preheating and softening, continuous breaking, spiral peeling and negative pressure suction, thereby realizing automated cleaning of decommissioned photovoltaic modules.

[0005] The present invention provides a cleaning device for decommissioned photovoltaic modules, comprising: The support platform is used to support photovoltaic modules; A motion mechanism is installed above the support platform to drive the movement of various mechanisms; A limiting mechanism, connected to the motion mechanism, is used to limit the position of the aluminum frame of the photovoltaic module; A cleaning mechanism, connected to the motion mechanism, is used to perform preheating softening, continuous breaking, spiral peeling and negative pressure suction on the residue on the aluminum frame; An identification mechanism, connected to the motion mechanism, is used to identify the location of the gap in the aluminum frame and generate a cleaning path for the cleaning mechanism; The control mechanism includes an adjustment component connected to the cleaning mechanism, the adjustment component being used to adjust the operating state of the cleaning execution mechanism.

[0006] In one of the alternative technical solutions, the cleaning mechanism includes a mounting bracket connected to the motion mechanism, and the mounting bracket is provided with a local preheating component for preheating and softening, a narrow blade cutting component for continuous breaking, a spiral cutting component for spiral peeling, and a negative pressure slag removal component for negative pressure suction.

[0007] In one of the alternative technical solutions, the control mechanism can respectively adjust the heating temperature of the local preheating component, the blade angle of the narrow blade cutting component, the cutting depth of the spiral cutting component, and the suction force of the negative pressure slag removal component.

[0008] In one alternative embodiment, the adjustment assembly is connected between the mounting bracket and the helical cutting assembly.

[0009] In one of the alternative technical solutions, the adjustment assembly includes a pressure sensor, a hydraulic telescopic rod, and a controller. The pressure sensor is disposed between the upper end of the hydraulic telescopic rod and the mounting bracket, the lower end of the hydraulic telescopic rod is connected to the helical cutting assembly, and the controller is connected to both the pressure sensor and the hydraulic telescopic rod.

[0010] In one of the alternative technical solutions, the local preheating component includes an infrared heater or a hot air gun, the narrow-blade cutting component includes a narrow-blade cutting blade, the spiral cutting component includes a variable-pitch spiral milling cutter, and the negative pressure slag removal component includes a vacuum generator.

[0011] In one of the alternative technical solutions, the motion mechanism includes a Y-axis moving rod and a plurality of X-axis moving rods movably connected to the Y-axis moving rod. The X-axis moving rods are provided with movable sliders. The mounting bracket, the limiting mechanism, and the identification mechanism are respectively connected to the sliders of the three X-axis moving rods.

[0012] In one of the alternative technical solutions, the identification mechanism includes a CCD camera and a cross-shaped laser emitter.

[0013] The present invention provides a system including a robotic arm and a decommissioned photovoltaic module cleaning device as described in any of the foregoing examples.

[0014] The present invention provides a control method for the aforementioned system, comprising: The aluminum frame of the photovoltaic module is transported to the support platform by a robotic arm; The aluminum frame of the photovoltaic module is located by an identification mechanism, and the gap boundary is identified to generate three-dimensional path coordinates; The aluminum frame of the photovoltaic module is clamped by a limiting mechanism, and a cleaning path for the aluminum frame is generated by an identification mechanism. The control motion mechanism drives the cleaning mechanism to move according to the cleaning path, and controls the cleaning mechanism to simultaneously perform preheating softening, continuous breaking, spiral peeling and negative pressure suction; The operating status of the cleaning mechanism is adjusted in real time by the control mechanism.

[0015] The above technical solution has the following beneficial effects: The retired photovoltaic module cleaning device provided by this invention, through the limiting mechanism, cleaning mechanism and identification mechanism set on the motion mechanism, can realize the limiting and identification of the aluminum frame of the photovoltaic module, and plan the path of the cleaning mechanism for the structure of the aluminum frame. This allows the cleaning mechanism to simultaneously realize mechanical cutting, heating and melting and negative pressure slag removal, breaking through the single process limitation of a single station, significantly reducing the working area required to clean retired photovoltaic modules, reducing the leakage of residue and making the cleaning process more efficient. Attached Figure Description

[0016] The disclosure of this invention will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings: Figure 1 This is a three-dimensional structural diagram of a decommissioned photovoltaic module cleaning device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the cleaning mechanism provided in an embodiment of the present invention; Figure 3 A flowchart of a control method provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0017] Figure reference numerals: 1. Supporting platform; 2. Motion mechanism; 21. Y-axis moving rod; 22. X-axis moving rod; 3. Limiting mechanism; 4. Cleaning mechanism; 41. Mounting bracket; 42. Local preheating component; 43. Narrow blade cutting component; 44. Spiral cutting component; 45. Negative pressure slag removal component; 46. Filter chamber; 5. Identify the structure; 6. Control mechanism; 7. Aluminum frame. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0019] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.

[0020] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0021] In existing technologies, the disposal of decommissioned photovoltaic modules first requires the removal of the aluminum frame. However, the residual glass or adhesive after the aluminum frame is removed is difficult to clean, reducing its recycling value. Current cleaning methods rely on manual high-temperature baking and mechanical scraping, which are inefficient, result in high frame deformation rates, large amounts of adhesive residue, and dust pollution. Currently, there is no mature processing device that can automatically clean the residue from the gaps during the removal of the aluminum frame.

[0022] To address the shortcomings of existing technologies, this solution provides the following embodiments: like Figure 1 and Figure 2 The image shows an embodiment of the present invention providing a cleaning device for decommissioned photovoltaic modules, comprising: Support platform 1, used to support the aluminum frame 7 of photovoltaic modules; Motion mechanism 2 is installed above the support platform 1 and is used to drive the movement of each mechanism; The limiting mechanism 3, connected to the motion mechanism 2, is used to limit the position of the aluminum frame 7 of the photovoltaic module; The cleaning mechanism 4, connected to the motion mechanism 2, is used to perform preheating softening, continuous breaking, spiral peeling and negative pressure suction on the residue on the aluminum frame 7. The identification mechanism 5, connected to the motion mechanism 2, is used to identify the gap position of the aluminum frame 7 and generate a cleaning path for the cleaning mechanism 4. The control mechanism 6 includes an adjustment component connected to the cleaning mechanism 4, which is used to adjust the operating state of the cleaning actuator.

[0023] By using the carrying platform 1 as the basic support and the motion mechanism 2 as the core moving carrier, the limiting mechanism 3, cleaning mechanism 4, and identification mechanism 5 are all integrated and connected to the motion mechanism 2. This enables each mechanism to move in tandem with the motion mechanism 2 and operate independently, allowing the working position of each mechanism to be flexibly adjusted to meet the cleaning needs of aluminum frame 7 of different specifications and positions. At the same time, it avoids spatial interference caused by the scattered arrangement of each mechanism, making the overall layout of the device more compact and the cleaning operation more continuous.

[0024] The support platform 1 is equipped with a workstation for accommodating the aluminum frame 7. The control mechanism 6 can realize the overall control of the device. The motion mechanism 2 can drive the limiting mechanism 3, the cleaning mechanism 4 and the identification mechanism 5 to move above the aluminum frame 7 of the photovoltaic module and align with the aluminum frame 7 and the gap boundary of the aluminum frame 7.

[0025] Preferably, the support platform 1 is made of high-strength aluminum alloy and the surface is covered with a non-slip and wear-resistant rubber buffer layer, which not only ensures the stability of the aluminum frame 7 of the photovoltaic module, but also avoids the aluminum frame 7 from hard contact with the platform and causing collision damage.

[0026] The motion mechanism 2 can be driven by a servo motor. The servo motor communicates with the control mechanism 6 through an industrial bus, enabling coordinated movement control of each connected mechanism with timely movement response. The motion mechanism 2 can be a lead screw mechanism or other transmission mechanisms suitable for this invention, which will not be elaborated here.

[0027] The limiting mechanism 3 can use pneumatically driven adjustable clamping jaws to clamp the aluminum frame 7 of the photovoltaic module. A flexible silicone pad is provided at the contact end to prevent excessive clamping force from damaging the aluminum frame 7. The jaws are connected to the motion mechanism 2 through a slider and can adjust the clamping position with the motion mechanism 2.

[0028] The identification mechanism 5 can use a visual positioning identification device to achieve visual positioning of the aluminum frame 7 and generate a cleaning path for the gaps in the aluminum frame 7. The identification mechanism 5, the cleaning mechanism 4, and the limiting mechanism 3 are all mounted on the motion mechanism 2.

[0029] The movement paths of each mechanism can be calibrated in advance through control mechanism 6 to ensure consistency of the working position.

[0030] In summary, the retired photovoltaic module cleaning device provided in this embodiment of the invention, through the limiting mechanism 3, cleaning mechanism 4 and identification mechanism 5 set on the motion mechanism 2, can realize the limiting and identification of the aluminum frame 7 of the photovoltaic module, and plan the path of the cleaning mechanism 4 according to the structure of the aluminum frame 7, so that the cleaning mechanism 4 can simultaneously realize mechanical cutting, heating melting and negative pressure slag removal, break through the single process limitation of a single station, significantly reduce the working area required for cleaning retired photovoltaic modules, reduce the leakage of residues and make the cleaning process more efficient.

[0031] In one embodiment, the cleaning mechanism 4 includes a mounting bracket 41 connected to the motion mechanism 2. The mounting bracket 41 is provided with a local preheating component 42 for preheating and softening, a narrow blade cutting component 43 for continuous breaking, a spiral cutting component 44 for spiral peeling, and a negative pressure slag removal component 45 for negative pressure suction.

[0032] In this embodiment, by setting four sets of functional components on the mounting bracket 41 at intervals according to the cleaning process, the four processes of cleaning residual adhesive on the aluminum frame 7—preheating and softening, continuous breaking, spiral peeling, and negative pressure suction—are carried out simultaneously and continuously. This allows the working effects of each process to be connected, improving the cleaning cleanliness of the residual adhesive on the aluminum frame 7. At the same time, the integrated mounting structure facilitates the overall movement with the motion mechanism 2, adapting to cleaning operations in different positions.

[0033] Preferably, the mounting bracket 41 is made of lightweight aerospace aluminum alloy, which reduces the load on the motion mechanism 2 and improves the flexibility of movement. The components are arranged linearly along the cleaning direction of the aluminum frame 7, with the local preheating component 42 located at the front end and the negative pressure slag removal component 45 located at the rear end. The spacing between adjacent components can be adjusted by the bracket slide groove to adapt to the cleaning needs of different adhesive layer thicknesses.

[0034] Furthermore, each component can be connected to the mounting bracket 41 via a quick-release flange structure, allowing for disassembly and installation without special tools, facilitating future maintenance and parts replacement. The negative pressure sludge removal component 45 can be equipped with an independent filter chamber 46, which can collect and filter the generated waste adhesive and dust in real time, preventing waste leakage.

[0035] In one embodiment, the control mechanism 6 can adjust the heating temperature of the local preheating component 42, the blade angle of the narrow blade cutting component 43, the cutting depth of the spiral cutting component 44, and the suction force of the negative pressure cleaning component 45, respectively.

[0036] In this embodiment, the control mechanism 6 independently and precisely adjusts the core operating parameters of each functional component of the cleaning mechanism 4, and the identification mechanism 5 can identify the status of the aluminum frame 7 in real time. This allows the cleaning operation to adjust the parameters according to the actual situation such as the curing degree and thickness of the residual adhesive on the aluminum frame 7, adapting to different cleaning conditions and avoiding incomplete cleaning or damage to the aluminum frame 7 substrate caused by fixed parameters.

[0037] Preferably, the heating temperature adjustment range of the local preheating component 42 is 60~150℃, with an adjustment accuracy of ±1℃, and the heating temperature can be adjusted according to the degree of curing of residual adhesive. The blade angle adjustment range of the narrow blade cutting component 43 is 15°~30°, with an adjustment accuracy of ±0.5°, which is achieved by the angle adjustment knob on the bracket, adapting to the gaps of aluminum frame 7 of different widths. The cutting depth adjustment accuracy of the spiral cutting component 44 can reach ±0.05mm, with an adjustment range of 0-10mm, and the cutting depth can be precisely controlled according to the thickness of the adhesive layer. The suction power of the negative pressure cleaning component 45 can be steplessly adjusted in the range of 0.5MPa and above, and the suction power can be adjusted according to the size of the broken adhesive particles to ensure that no waste adhesive is left after suction. The control mechanism 6 can adaptively adjust various parameters according to the cleanliness of the aluminum frame 7 after cleaning as identified by the identification mechanism 5. When there is a lot of residue, the preheating temperature is appropriately increased, the rotation speed of the spiral cutting component 44 is increased, and the moving speed of the cleaning mechanism 4 is reduced.

[0038] In one embodiment, the adjustment component is connected between the mounting bracket 41 and the helical cutting component 44.

[0039] In this embodiment, the adjustment component is specifically set between the mounting bracket 41 and the spiral cutting component 44 to achieve close-range real-time control of the cutting depth of the spiral cutting component 44. This allows the cutting depth to be adjusted in a timely manner according to the actual situation during the operation, ensuring that the spiral cutting component 44 is always at a suitable working depth and improving the stability and consistency of residual adhesive peeling.

[0040] Preferably, the connection between the adjusting component and the mounting bracket 41 can be equipped with a rotational damping structure to counteract the vibration generated during helical cutting and prevent the adjusting component from shifting due to vibration. The overall installation height of the adjusting component can be coarsely adjusted using the fine-tuning bolts on the bracket, and the cutting base height can be pre-set according to the height of the aluminum frame 7, followed by fine adjustment using the adjusting component. A flange-type rigid connection can be used between the adjusting component and the helical cutting component 44 to prevent the milling cutter from shaking due to connection gaps.

[0041] In one embodiment, the adjustment assembly includes a pressure sensor, a hydraulic telescopic rod, and a controller. The pressure sensor is disposed between the upper end of the hydraulic telescopic rod and the mounting bracket 41, the lower end of the hydraulic telescopic rod is connected to the helical cutting assembly 44, and the controller is connected to both the pressure sensor and the hydraulic telescopic rod.

[0042] In this embodiment, a pressure feedback closed-loop adjustment system is formed by a pressure sensor, a hydraulic telescopic rod and a controller to realize the automatic real-time adjustment of the cutting depth of the spiral cutting component 44. This allows the cutting depth to respond instantly to changes in contact pressure during the cutting process, effectively avoiding the problem of scratching the aluminum frame 7 due to excessive pressure or incomplete peeling of residual adhesive due to insufficient pressure.

[0043] Preferably, the pressure sensor is a miniature diaphragm type with a range of 0-50N and a measurement accuracy of ±0.1N, which can accurately sense the contact pressure between the milling cutter and the adhesive layer and aluminum frame 7. The hydraulic telescopic rod is a miniature servo type with an effective stroke of 0-15mm and a telescopic accuracy of ±0.02mm. The cylinder body is made of 304 stainless steel, which is wear-resistant and corrosion-resistant. The controller has a built-in data storage module that can record the adjustment data of cutting pressure and depth of cut in real time, which is convenient for subsequent process optimization. The controller communicates bidirectionally with the main control mechanism 6 of the whole machine and can receive the cleanliness recognition feedback signal from the identification mechanism 5, thereby adjusting the pressure threshold setting.

[0044] In one embodiment, the local preheating assembly 42 includes an infrared heater or a hot air gun, the narrow-blade cutting assembly 43 includes a narrow-blade cutting blade, the spiral cutting assembly 44 includes a variable-pitch spiral milling cutter, and the negative pressure slag removal assembly 45 includes a vacuum generator.

[0045] In this embodiment, special components that match the functional requirements of each cleaning process are selected to form a cleaning assembly, giving full play to the performance characteristics of each component, ensuring the working effect of each cleaning process, and thus improving the overall cleaning quality of residual adhesive on the aluminum frame 7.

[0046] Preferably, the infrared heater uses a ceramic infrared heating tube with a heating power of 500-2000W and a heat radiation range of 5-15mm, achieving precise local heating of the adhesive layer. The hot air gun's outlet temperature and airflow are independently adjustable, with an outlet temperature of 60-150℃ and an airflow of 10-30m³ / h, adapting to preheating needs under different ambient temperatures. The narrow-blade cutting tool is made of carbide, with a blade width of 1mm-2mm, a blade hardness of HRC60-65, strong wear resistance, and a detachable blade for sharpening. The variable-pitch spiral end mill has a gradually changing pitch of 3-8mm, a speed adjustment range of 1000-3000rpm, and a 30° helix angle design for more thorough adhesive removal. The vacuum generator is a multi-stage type with a maximum suction force of ≥0.5MPa. The matching filter chamber 46 is connected to the vacuum generator, which facilitates the cleaning of collected waste glue and dust. A material level sensor can be installed in the filter chamber 46. When the waste material storage reaches the preset value, an alarm signal is sent to the control mechanism 6.

[0047] In one embodiment, the motion mechanism 2 includes a Y-axis moving rod 21 and a plurality of X-axis moving rods 22 movably connected to the Y-axis moving rod 21. The X-axis moving rods 22 are provided with movable sliders. The mounting bracket 41, the limiting mechanism 3 and the identification mechanism 5 are respectively connected to the sliders of the three X-axis moving rods 22.

[0048] In this embodiment, the Y-axis moving rod 21, together with multiple independent X-axis moving rods 22, allows the mounting bracket 41, the limiting mechanism 3, and the identification mechanism 5 to each have their own dedicated moving carrier, enabling independent and precise movement and coordinated operation of each mechanism. This avoids mutual interference between the mechanisms during operation. At the same time, each mechanism can adjust its position synchronously with the Y-axis moving rod 21 to adapt to the operation requirements of aluminum frame 7 of different lengths.

[0049] Preferably, the plurality of X-axis moving rods 22 are three independent X-axis moving rods 22 arranged in parallel, perpendicular to the Y-axis moving rod 21, and are movably connected to the synchronous belt and the Y-axis moving rod 21 through a linkage gear, so as to achieve synchronous or independent movement. The three X-axis moving rods 22 are respectively connected to the mounting bracket 41, the limiting mechanism 3, and the identification mechanism 5 of the cleaning mechanism 4, and the moving stroke is consistent, which is suitable for the cleaning needs of the aluminum frame 7 of mainstream photovoltaic modules.

[0050] At least one Y-axis moving rod 21 is provided, driven by a servo motor. High-rigidity linear guides are installed between the X-axis moving rod 22 and the slider. Each slider is equipped with a pneumatic locking mechanism with a locking force of 100-200N. The mechanism can quickly lock after moving to the designated working position, ensuring operational stability. Both the X-axis moving rod 22 and the Y-axis moving rod 21 use high-precision ball screw drives, ensuring high transmission accuracy.

[0051] In one embodiment, the identification device 5 includes a CCD camera and a cross laser emitter.

[0052] In this embodiment, the combination of a CCD camera and a cross-shaped laser emitter can generate three-dimensional path coordinates, which can locate the clamping position and gap position of the aluminum frame 7. The camera image can be used to identify the cleanliness of the aluminum frame 7 after cleaning. The optical combination of the CCD camera and the cross-shaped laser emitter constitutes the recognition mechanism 5, which realizes non-contact and accurate identification of the gap position of the aluminum frame 7 and automated three-dimensional generation of the cleaning path. This provides reliable path data for the precise operation of the cleaning mechanism 4. At the same time, the recognition mechanism 5 moves with the motion mechanism 2, which can adapt to the positioning requirements of the aluminum frame 7 at different positions.

[0053] Preferably, the high-resolution CCD camera has a resolution of 2 million pixels or more, the crosshair laser emitter has a wavelength of 650nm, the recognition mechanism 5 is equipped with a dedicated image recognition algorithm, which determines the gap boundary of the aluminum frame 7 by recognizing the gray-scale change points in the image. The algorithm can automatically filter out interference factors such as stains and scratches on the surface of the aluminum frame 7, and the recognition result can be converted into an electrical signal and transmitted to the control mechanism 6 to provide data support for parameter adjustment.

[0054] The present invention provides a system including a robotic arm and a decommissioned photovoltaic module cleaning device as described in any of the foregoing examples.

[0055] By integrating industrial robotic arms with a decommissioned photovoltaic module cleaning device, an automated operation system for cleaning aluminum frames is constructed, which realizes the connection between photovoltaic module loading and cleaning processes, reduces manual operation, and improves the overall operation efficiency of aluminum frame cleaning.

[0056] Preferably, a six-axis industrial robotic arm is selected, which can realize multi-directional precise gripping and conveying of the aluminum frame 7 of the photovoltaic module. The gripping end of the robotic arm is equipped with flexible pneumatic grippers, and the contact end of the grippers is covered with rubber pads with anti-slip textures to ensure gripping stability while avoiding damage to the surface of the aluminum frame 7.

[0057] like Figure 3 The figure shows a control method for the aforementioned system provided by an embodiment of the present invention, comprising: Step S1: The aluminum frame 7 of the photovoltaic module is transported to the support platform 1 by a robotic arm; Step S2: Locate the aluminum frame 7 of the photovoltaic module using the identification mechanism 5, and identify the gap boundary to generate three-dimensional path coordinates; Step S3: The aluminum frame 7 of the photovoltaic module is clamped by the limiting mechanism 3, and the cleaning path of the aluminum frame 7 is generated by the identification mechanism 5; Step S4: Control the motion mechanism 2 to drive the cleaning mechanism 4 to move according to the cleaning path, and control the cleaning mechanism 4 to simultaneously perform preheating softening, continuous breaking, spiral peeling and negative pressure suction; Step S5: Adjust the operating status of the cleaning mechanism 4 in real time through the control mechanism 6.

[0058] In this embodiment, a standardized step-by-step control method is established to ensure that the entire process of cleaning the aluminum frame 7 of retired photovoltaic modules is executed in an orderly manner according to preset logic and parameters, thereby guaranteeing the standardization and consistency of the cleaning operation and improving the pass rate of aluminum frame 7 cleaning. The execution order of the steps is not fixed and can be adjusted according to the actual situation.

[0059] Preferably, when the robotic arm transports the aluminum frame 7 of the photovoltaic module to the carrying platform 1, it achieves precise material placement through visual positioning, providing a basis for subsequent positioning and cleaning.

[0060] The recognition mechanism 5 scans the aluminum frame 7 to generate a gap topology map. The image recognition algorithm optimizes the three-dimensional path coordinates to generate the optimal cleaning path, reducing the movement time of the motion mechanism 2.

[0061] After receiving the clamping signal from the identification mechanism 5, the limiting mechanism 3 completes the clamping action of the aluminum frame 7. The clamping force can be preset by the control mechanism 6 to adapt to aluminum frames 7 of different thicknesses.

[0062] The speed of the moving mechanism 2 driving the cleaning mechanism 4 can be steplessly adjusted within a preset range. The control mechanism 6 will automatically adjust the speed according to the curvature of the cleaning path to ensure the cleaning effect.

[0063] When the components of the cleaning mechanism 4 are working synchronously, the control mechanism 6 collects the operating parameters of each component in real time, and the identification mechanism 5 performs image recognition on the cleaned area in real time and automatically adjusts the operating parameters according to the degree of cleanliness.

[0064] The adjustment component adjusts the cutting depth of the spiral cutting component 44 in real time based on pressure feedback to avoid damaging the aluminum frame 7.

[0065] After the cleaning process is completed, the identification mechanism 5 performs a full-area cleanliness test on the aluminum frame 7. If the test meets the standard, the control mechanism 6 generates a cleaning completion signal and the limit mechanism 3 releases the aluminum frame 7. If the test does not meet the standard, the control mechanism 6 instructs the motion mechanism 2 to drive the cleaning mechanism 4 to perform a secondary cleaning.

[0066] After receiving the cleaning completion signal, the robotic arm completes the unloading action within 3 seconds. After the unloading is completed, the system automatically enters the next cycle of loading and cleaning, realizing continuous operation.

[0067] The system will automatically record the cleaning parameters, cleanliness test results and cleaning time of the aluminum frame 7 of each photovoltaic module, forming a production data ledger to facilitate subsequent process optimization.

[0068] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0069] like Figure 4 The diagram shows a hardware structure of an electronic device according to the present invention, including a memory 402, a processor 401, and an electronic device program on the memory 402. The processor 401 executes the electronic device program to implement the steps of the control method of any of the above embodiments.

[0070] Figure 4 Take a processor 401 as an example.

[0071] The electronic device may also include an input device 403 and a display device 404.

[0072] The processor 401, memory 402, input device 403 and display device 404 can be connected by a bus or other means. The figure shows an example of connection by bus.

[0073] The memory 402, as a non-volatile electronic device readable storage medium, can be used to store non-volatile software programs, non-volatile electronic device executable programs, and modules, such as the program instructions / modules corresponding to the control method in the embodiments of this application. The processor 401 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 402, thereby implementing the control method in the above embodiments.

[0074] Memory 402 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created according to the use of the control method, etc. Furthermore, memory 402 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 402 may optionally include memory remotely located relative to processor 401, and these remote memories may be connected to the apparatus performing the control method via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0075] The input device 403 can receive user clicks and generate signal inputs related to user settings and function control of the control method. The display device 404 may include a display screen or other display device.

[0076] When one or more modules are stored in the memory 402, and are run by one or more processors 401, the control method in any of the above method embodiments is executed.

[0077] When the electronic device disclosed in this invention is running, it can execute all the steps of the above-mentioned control method. Through the limiting mechanism, cleaning mechanism and identification mechanism set on the motion mechanism, it can realize the limiting and identification of the aluminum frame of the photovoltaic module, and plan the path of the cleaning mechanism for the structure of the aluminum frame, so that the cleaning mechanism can simultaneously realize mechanical cutting, heating melting and negative pressure slag removal.

[0078] An embodiment of the present invention provides an electronic device readable storage medium storing an electronic device program / instructions, which, when executed by a processor 401, implements all the steps of the control method described above.

[0079] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A cleaning device for retired photovoltaic modules, characterized in that, include: The support platform (1) is used to support photovoltaic modules; The motion mechanism (2) is located above the support platform (1) and is used to drive the movement of each mechanism; A limiting mechanism (3) is connected to the motion mechanism (2) and is used to limit the position of the aluminum frame (7) of the photovoltaic module; The cleaning mechanism (4), connected to the motion mechanism (2), is used to perform preheating softening, continuous breaking, spiral peeling and negative pressure suction on the residue on the aluminum frame (7); The identification mechanism (5), connected to the motion mechanism (2), is used to identify the gap position of the aluminum frame (7) and generate a cleaning path for the cleaning mechanism (4); The control mechanism (6) includes an adjustment component connected to the cleaning mechanism (4), the adjustment component being used to adjust the operating state of the cleaning execution mechanism.

2. The decommissioned photovoltaic module cleaning device according to claim 1, characterized in that, The cleaning mechanism (4) includes a mounting bracket (41) connected to the motion mechanism (2), and the mounting bracket (41) is provided with a local preheating component (42) for preheating and softening, a narrow blade cutting component (43) for continuous breaking, a spiral cutting component (44) for spiral peeling, and a negative pressure slag removal component (45) for negative pressure suction.

3. The decommissioned photovoltaic module cleaning device according to claim 2, characterized in that, The control mechanism (6) can respectively adjust the heating temperature of the local preheating component (42), the blade angle of the narrow blade cutting component (43), the cutting depth of the spiral cutting component (44), and the suction force of the negative pressure cleaning component (45).

4. The decommissioned photovoltaic module cleaning device according to claim 3, characterized in that, The adjustment assembly is connected between the mounting bracket (41) and the helical cutting assembly (44).

5. The decommissioned photovoltaic module cleaning device according to claim 4, characterized in that, The adjustment assembly includes a pressure sensor, a hydraulic telescopic rod, and a controller. The pressure sensor is located between the upper end of the hydraulic telescopic rod and the mounting bracket (41). The lower end of the hydraulic telescopic rod is connected to the spiral cutting assembly (44). The controller is connected to the pressure sensor and the hydraulic telescopic rod respectively.

6. The decommissioned photovoltaic module cleaning device according to claim 2, characterized in that, The local preheating assembly (42) includes an infrared heater or a hot air gun, the narrow blade cutting assembly (43) includes a narrow blade cutting knife, the spiral cutting assembly (44) includes a variable pitch spiral milling cutter, and the negative pressure slag removal assembly (45) includes a vacuum generator.

7. The decommissioned photovoltaic module cleaning device according to claim 2, characterized in that, The motion mechanism (2) includes a Y-axis moving rod (21) and a plurality of X-axis moving rods (22) movably connected to the Y-axis moving rod (21). The X-axis moving rods (22) are provided with movable sliders. The mounting bracket (41), the limiting mechanism (3) and the identification mechanism (5) are respectively connected to the sliders of the three X-axis moving rods (22).

8. The decommissioned photovoltaic module cleaning device according to claim 1, characterized in that, The identification mechanism (5) includes a CCD camera and a cross laser emitter.

9. A system, characterized in that, Includes a robotic arm and a decommissioned photovoltaic module cleaning device as described in any one of claims 1-8.

10. A control method for the system as described in claim 9, characterized in that, include: The aluminum frame (7) of the photovoltaic module is transported to the support platform (1) by a robotic arm; The aluminum frame (7) of the photovoltaic module is located by the identification mechanism (5), and the gap boundary is identified to generate three-dimensional path coordinates; The aluminum frame (7) of the photovoltaic module is clamped by the limiting mechanism (3), and the cleaning path of the aluminum frame (7) is generated by the identification mechanism (5). The control motion mechanism (2) drives the cleaning mechanism (4) to move according to the cleaning path, and controls the cleaning mechanism (4) to simultaneously perform preheating softening, continuous breaking, spiral peeling and negative pressure suction; The operating status of the cleaning mechanism (4) is adjusted in real time by the control mechanism (6).

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