Photovoltaic cleaning robot

Abstract

The utility model provides a photovoltaic cleaning robot. The photovoltaic cleaning robot comprises a moving platform and a cleaning device. The movable platform is provided with a driving mechanism and a multi-axis movement mechanism, and the working end of the cleaning device is mounted at the movable end of the multi-axis movement mechanism; the cleaning device is further provided with a washing mechanism and a drying mechanism. The washing mechanism is provided with nozzles, a water pump and a water tank; and the drying mechanism is provided with a nozzle, a fan and a temperature control box. Wherein a heater and a temperature sensor are arranged in the temperature control box; nozzles and spouts are arranged on the peripheral side of the cleaning roller. The multi-axis cleaning robot is simple in structure and low in cost, the operation basis of automatic cleaning work is achieved through the driving mechanism and the multi-axis movement mechanism of the movable platform, and the multi-axis cleaning robot can adapt to different cleaning scenes; furthermore, the surface of the photovoltaic panel is cleaned through a washing mechanism of the cleaning device, and the surface of the photovoltaic panel is blown and dried through a designed drying mechanism, so that water stains are reduced, the final cleaning effect is improved, and the working efficiency of the photovoltaic panel is maintained.

Description

Technical Field

[0001] The utility model relates to the technical field of flat glass cleaning devices, and particularly relates to a photovoltaic cleaning robot. Background Art

[0002] The surface of a solar photovoltaic panel needs to maintain a certain degree of cleanliness in order to obtain a better amount of solar radiation. Therefore, when a large-scale photovoltaic power plant encounters rain, snow, sand and dust, dust, stains and other sundries that affect light transmission will accumulate on the surface of the photovoltaic panel. Therefore, it is necessary to clean the surface of the photovoltaic panel in time, otherwise the power generation efficiency will be affected.

[0003] However, in the prior art, the cleaning of large-area photovoltaic panels is usually carried out by workers manually cleaning the surface of the photovoltaic panels. Since a large number of photovoltaic panels are installed in large-scale photovoltaic power plants, manual cleaning by workers alone is not only time-consuming and laborious, but also has a slow cleaning efficiency. In addition, in order to better absorb solar radiation, some photovoltaic panels are installed in high positions, and manual cleaning also requires climbing tools to assist climbing, and then cleaning is carried out.

[0004] Although there is also a type of photovoltaic panel robot in the prior art that can achieve automatic cleaning of photovoltaic panels and reduce labor consumption. However, it generally has problems of complex structure and high cost, and cannot handle the water stains left by cleaning liquid or water after cleaning work, resulting in still affecting the light transmittance of the panel glass. Summary of the Utility Model

[0005] The utility model aims at the problems existing in the prior art, and provides a photovoltaic panel cleaning robot with a simple structure, self-walking ability and good ability to solve the problem of cleaning water stains.

[0006] To achieve the above object, the technical solution adopted by the utility model is as follows:

[0007] A photovoltaic cleaning robot includes a mobile platform and a cleaning device; the cleaning device is installed on the mobile platform;

[0008] The mobile platform is provided with a driving mechanism and a multi-axis motion mechanism, and the working end of the cleaning device is installed at the movable end of the multi-axis motion mechanism; at least one cleaning roller is provided at the working end of the cleaning device;

[0009] The cleaning device is further provided with a water washing mechanism and a drying mechanism;

[0010] The water washing mechanism is provided with a nozzle, a water pump and a water tank; the nozzle is connected to the water tank through a water pipe, and the water pump is connected in series on the water pipe;

[0011] The drying mechanism is provided with a spray nozzle, a blower and a temperature control box; the spray nozzle is connected to the temperature control box through an air duct, and the blower is connected in series on the air duct; a heater and a temperature sensor are arranged in the temperature control box;

[0012] The nozzle and the spray port are arranged on the circumferential side of the cleaning roller.

[0013] Optionally, the mobile platform is of a wheeled structure and includes an equipment box and a chassis;

[0014] The driving mechanism is a hub motor, and the chassis is rotationally connected to the hub motor;

[0015] The equipment box is installed on the chassis;

[0016] A storage battery, a controller and a driver are arranged in the equipment box; the storage battery is respectively connected to the electrical equipment; the controller is connected to the driver and is externally connected to a control panel arranged on the equipment box; the driver is connected to the motor unit.

[0017] Optionally, the mobile platform is further provided with an auxiliary support device;

[0018] The auxiliary support device is a telescopic leg;

[0019] The fixed end of the telescopic leg is fixedly connected to the equipment box or the chassis, and the movable end is provided with a suction cup and contacts the working position plane in the unfolded state.

[0020] Optionally, the multi-axis motion mechanism includes a slewing mechanism, a lifting mechanism and a linear motion mechanism;

[0021] The fixed end of the slewing mechanism is fixedly connected to the mobile platform, and the movable end is connected to the fixed end of the lifting mechanism;

[0022] The movable end of the lifting mechanism is connected to the fixed end of the linear motion mechanism;

[0023] The working end of the cleaning device is installed at the movable end of the linear motion mechanism.

[0024] Optionally, the slewing mechanism is a turntable;

[0025] The turntable of the turntable is fixedly connected to the mobile platform, and the cleaning device and the lifting mechanism are installed on the turntable.

[0026] Optionally, the lifting mechanism is an electric telescopic rod;

[0027] A limiting structure is arranged on the electric telescopic rod.

[0028] Optionally, the linear motion mechanism is an electric slide rail;

[0029] The working end of the cleaning device is fixed on the slider of the electric slide rail.

[0030] Optionally, a pitching mechanism is further provided at the working end of the cleaning device;

[0031] The pitching mechanism is provided with a U-shaped frame and a return frame; the middle part of the U-shaped frame is rotationally connected to the return frame; the U-shaped frame is fixedly connected to the movable end of the linear motion mechanism;

[0032] A plurality of cleaning rollers are arranged in parallel in the middle of the return frame, and the nozzle and the spray port are arranged on the frame.

[0033] Optionally, the nozzle and the spray port are respectively arranged on two side frames parallel to the cleaning rollers on the return frame.

[0034] Optionally, a limiting structure is further arranged between the return frame and the U-shaped frame.

[0035] Compared with the prior art, the utility model has the following beneficial effects:

[0036] The utility model has a simple structure and low cost. The driving mechanism of the moving platform and the multi-axis motion mechanism realize the operation basis of automatic cleaning work, and can adapt to different cleaning scenarios; further, the water washing mechanism of the cleaning device is used to clean the surface of the photovoltaic panel, and the surface of the photovoltaic panel is blown and dried by the designed drying mechanism, so as to reduce water stains, improve the final cleaning effect, and maintain the working efficiency of the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0038] Figure 1 It is a side view of the present utility model;

[0039] Figure 2 It is a schematic diagram of the internal structure of the present utility model;

[0040] Figure 3 It is a three-dimensional structure schematic diagram of the limiting sleeve box lifting column of the present utility model;

[0041] Figure 4 It is a three-dimensional structure schematic diagram of the U-shaped frame and the return frame of the present utility model;

[0042] Figure 5This is the three-dimensional top view of the U-shaped frame and the loop-shaped frame of the present utility model;

[0043] Figure 6 This is the three-dimensional view of the limit block of the present utility model.

[0044] In the figure: 1. Equipment box; 2. Battery; 3. Control panel; 4. Chassis; 5. Rotating plate; 6. Power system; 601. Telescopic rod; 602. Suction cup; 603. Hub motor; 604. First motor; 605. Second motor; 606. Limit sleeve; 607. Lifting column; 7. Cleaning device; 701. Water tank; 702. Water pump; 703. Fan; 704. Temperature control box; 705. Extension handle; 706. U-shaped frame; 707. Third motor; 708. Loop-shaped frame; 709. Limit block. Detailed implementation manners

[0045] To make the purpose, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0046] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0047] In the description of the present utility model, it should be understood that the relative relationships indicated by terms such as "upper", "lower", etc. are based on the contact order with the material in the actual application rotation direction. For the convenience of describing the present utility model and simplifying the description, it does not indicate or imply that the device or element referred to must have a specific position, and thus cannot be construed as a limitation of the present utility model.

[0048] In the description of the present utility model, "a plurality of" means two or more unless otherwise specifically defined.

[0049] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0050] It should be noted that the methods used in the present utility model are all conventional methods unless otherwise specified; the raw materials and devices used are all conventional commercially available products unless otherwise specified, and their sources are not specifically limited.

[0051] As Figure 1 and Figure 2 shown, this embodiment provides a cleaning method for a photovoltaic cleaning robot and a photovoltaic cleaning system, including a mobile platform and a cleaning device.

[0052] Among them, the mobile platform is a wheeled structure, including an equipment box 1 and a chassis 4, and the equipment box 1 is installed on the chassis 4. The equipment box 1 is a box structure, and a storage battery 2, a controller, and a driver are fixedly installed inside. Among them, the storage battery 2 is respectively connected to the electrical equipment in the robot; the controller is connected to the driver, and a touch-type or button-type control panel 3 is installed on the outer surface of the box body, and the control panel 3 is connected to the controller.

[0053] In the power system 6, each motor unit is connected to the corresponding driver. Correspondingly, the chassis 4 adopts an electric drive wheeled chassis, and its driving mechanism is a hub motor 603, and the chassis 4 is rotationally connected to the hub motor 603; the hub motor 603 is a form of motor that directly installs the motor in the hub of the driving wheel and drives the driving wheel to rotate by converting electrical energy into mechanical energy. The working principle of the hub motor 603 is based on the principle of electromagnetic induction. When current passes through the hub motor 603, the motor generates a rotating magnetic field, and the rotating magnetic field interacts with the stator and rotor inside the motor to generate torque, and this torque is directly transmitted to the driving wheel, thereby pushing the overall movement of the device. Optionally, an auxiliary support device is also provided on the mobile platform. The auxiliary support device is a telescopic leg, and a suction cup 602 is provided at its movable end, and it contacts the working position plane in the unfolded state to assist the mobile platform for temporary fixation, and can adapt to different scenario requirements. Specifically, the auxiliary support device includes a telescopic rod 601 fixedly installed on the inner top wall of the chassis 4, and the bottom of the telescopic rod 601 is a suction cup 602.

[0054] In the above design, the storage battery 2 is the main power supply, which supplies power to electrical equipment such as the telescopic rod 601 and the hub motor 603, and then is controlled by the control panel 3. The control panel 3 is connected to the drivers of various components such as the telescopic rod 601 and the hub motor 603. The control panel 3 sends control instructions to each component through control signal lines. These signal lines can be analog signal lines such as 4mA - 20mA current signals, digital signal lines such as RS485 communication interfaces, or simple switch signal lines. The control signals sent by the control panel 3 are transmitted to the control units of each component through the signal lines. Through the buttons or touch screen interface on the control panel 3, the start and stop operations of each component can be realized. After the controller receives the start instruction, it will send corresponding control signals to each component to start them. When it receives the stop instruction, it will send a stop signal to make each component stop working. The working parameters of each component are set on the interface of the control panel 3. These parameter settings will be converted into corresponding control signals and sent to the control units of each component, so as to realize the precise adjustment of the working state of the components. The control panel 3 should have the function of monitoring the running state of each component and be able to display the working parameters and status information of each component in real time.

[0055] The multi-axis motion mechanism includes a rotary mechanism, a lifting mechanism, and a linear motion mechanism. The fixed end of the rotary mechanism is fixedly connected to the moving platform, and the movable end is connected to the fixed end of the lifting mechanism; the movable end of the lifting mechanism is connected to the fixed end of the linear motion mechanism; the working end of the cleaning device is installed at the movable end of the linear motion mechanism.

[0056] Optionally, the rotary mechanism is a rotary table; specifically, the turntable of the rotary table is fixedly connected to the moving platform, and the turntable adopts a flat plate-shaped turntable 5, and a cleaning device and a lifting mechanism are installed on the turntable 5. Among them, a first motor 604 is fixedly installed inside the equipment box 1 for driving the turntable 5 to rotate. Further, four ball bearings and annular grooves are provided on the top surface of the equipment box 1 and are in contact with the turntable 5. The purpose is to assist the first motor 604 in supporting the turntable 5 through the four ball bearings, and at the same time, when the first motor 604 drives the turntable 5 to rotate, it cooperates with the annular groove to reduce the friction force, avoiding that it is difficult for the first motor 604 to drive the turntable 5 to rotate because the devices on the turntable 5 are too heavy.

[0057] Optionally, the lifting mechanism is an electric telescopic rod. Specifically, as shown in Figure 2 and Figure 3 , a second motor 605 and a limit sleeve 606 are fixedly installed in the middle of the upper surface of the turntable 5. A lifting column 607 is movably connected inside the limit sleeve 606. The limit sleeve 606 is provided with a chute, and the lifting column 607 is correspondingly provided with a convex rib, and the convex rib is slidably matched with the chute; a threaded push rod is also installed and is matched with the lifting column 607. The second motor 605 drives the bevel gear and the threaded push rod to drive the lifting column 607 to move up and down.

[0058] Optionally, the linear motion mechanism is an electric slide rail. The electric slide rail is installed at the top of the lifting column 607, and the working end of the cleaning device 7 is fixed on the slider of the slide rail.

[0059] Optionally, as Figure 4 and Figure 5 shown, the working end of the cleaning device 7 is provided with a pitching mechanism to increase the range of motion and angle. It is provided with a U-shaped frame 706 and a loop-shaped frame 708. The U-shaped frame 706 is fixedly connected to the slider of the electric slide rail through an extension handle 705. The middle part of the U-shaped frame 706 is rotationally connected to the loop-shaped frame 708, and a third motor 707 is arranged to connect to the loop-shaped frame 708 to drive its rotation to achieve angle adjustment. A limiting structure is also provided between the loop-shaped frame 708 and the U-shaped frame 706. Specifically, a limiting block 709 as Figure 6 shown is also arranged at the rotating shaft of the third motor 707 to limit the rotation angle of the loop-shaped frame 708 and avoid damaging the cables or pipelines due to excessive pitching angles. Two cleaning rollers are arranged side by side in the middle of the loop-shaped frame 708 and are used to directly contact the photovoltaic panel for cleaning.

[0060] Optionally, both the second motor 605 and the third motor 707 are motors that can rotate forward and backward. A forward and backward motor refers to a motor that can achieve forward and reverse rotations. The working principle of a forward and backward motor is based on changing the phase sequence of the motor power supply to achieve a change in the rotation direction. In a three-phase asynchronous motor, by swapping any two phases, the rotation direction of the motor can be changed. This operation is called phase change, which allows the motor to run in different directions according to needs.

[0061] The cleaning device 7 installed on the rotating plate 5 further includes a water washing mechanism and a drying mechanism. Both mechanisms are provided with storage units, and a water washing mechanism is arranged in one of the units. It is provided with a water pump 702, a water tank 701, and a nozzle; a drying mechanism is arranged in the other unit. It is provided with a blower 703, a temperature control box 704, and a nozzle.

[0062] The water tank 701 is connected to the nozzle through a water pipe, and the water pump 702 provides fluid power. A heating rod and a temperature sensor are arranged in the temperature control box 704 to control the temperature of the jet air. The purpose of this design is to be able to control the temperature more precisely. Although it is slightly more complex than the structure of a heating wire paired with a blower, by controlling the temperature in a separate cavity, the actual effect is better, and it can avoid irreversible damage to the photovoltaic panel caused by the hot air exceeding the temperature for a short time due to system failures or emergencies (such as: blockage of the air inlet resulting in short-term fluctuations in the air intake volume). The nozzle is connected to the temperature control box 704 through an air pipe and is connected in series with the blower 703 to provide fluid power.

[0063] Both the nozzle and the nozzle are installed on the loop-shaped frame 708, as Figure 4 and Figure 5As shown in the figure, the aforementioned nozzles and nozzles are respectively provided on two side frames parallel to the cleaning roller on the loop-shaped frame 708.

[0064] Working principle;

[0065] 1) First, drive the device to move through the hub motor 603, and then use the telescopic rod 601 and the suction cup 602 to assist in fixing the device.

[0066] 2) Then drive the rotating plate 5 to rotate through the first motor 604, and then drive the lifting column 607 to move up and down through the second motor 605.

[0067] 3) Then drive the U-shaped frame 706 to move through the electric slide rail, and cooperate with the third motor 707 to drive the loop-shaped frame 708 to rotate.

[0068] 4) Finally, turn on the water pump 702 to pump out the clear water and send it into the nozzle for spraying, turn on the heating rod to heat, send it into the outlet nozzle through the blower 703 for spraying, and wipe it with the cleaning roller.

[0069] To sum up, for the cleaning method of the photovoltaic cleaning robot and the photovoltaic cleaning system, the device is powered by the storage battery 2, and then the device is driven to move through the hub motor 603. After moving to the cleaning position, turn on the telescopic rod 601 to drive the suction cup 602 to descend and fit with the ground, thereby assisting in increasing the stability of the device. Then turn on the first motor 604 and cooperate with the ball to drive the rotating plate 5 and the devices on it to rotate. After rotating to the appropriate orientation, turn on the second motor 605 to drive the lifting column 607 to move up and down, so as to reach the adjusted required position; then turn on the third motor 707 to drive the loop-shaped frame 708 to rotate through the rotating rod. After rotating to the appropriate angle, turn off the third motor 707, and then turn on the electric slide rail to drive the cleaning roller inside the loop-shaped frame 708 to fit the highest point of the outer surface of the photovoltaic panel. Then turn on the water pump 702 to pump out the clear water in the cleaning tank and send it into the spray water pipe for spraying to wash the photovoltaic panel. Then turn on the heating rod to generate hot air in the temperature control box 704 and send it to the outlet nozzle through the blower 703 for spraying. Then, while controlling the movement of the electric slide rail, control the lifting column 607 to descend, so as to clean the photovoltaic panel according to the path. Then wipe the surface of the photovoltaic panel with two cleaning rollers. Finally, dry the surface of the photovoltaic panel with the hot air ejected from the air outlet pipe, so as to achieve the purpose of facilitating the cleaning, drying and removing water stains on the surface of the photovoltaic panel.

[0070] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than a limitation on the protection scope of the present invention. Any simple modification or equivalent replacement of the technical solution of the present invention by those of ordinary skill in the art shall not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A photovoltaic cleaning robot, comprising a mobile platform and a cleaning device; the cleaning device is installed on the mobile platform; It is characterized in that: The mobile platform is provided with a driving mechanism and a multi-axis motion mechanism, and the working end of the cleaning device is installed at the movable end of the multi-axis motion mechanism; at least one cleaning roller is provided at the working end of the cleaning device; The cleaning device is further provided with a water washing mechanism and a drying mechanism; The water washing mechanism is provided with a nozzle, a water pump and a water tank; the nozzle is connected to the water tank through a water pipe, and the water pump is connected in series on the water pipe; The drying mechanism is provided with a spray port, a fan and a temperature control box; the spray port is connected to the temperature control box through an air duct, and the fan is connected in series on the air duct; a heater and a temperature sensor are provided in the temperature control box; The nozzle and the spray port are provided on the circumferential side of the cleaning roller.

2. The photovoltaic cleaning robot according to claim 1, wherein: The mobile platform is of a wheeled structure and includes an equipment box and a chassis; The driving mechanism is a hub motor, and the chassis is rotatably connected to the hub motor; The equipment box is installed on the chassis; A storage battery, a controller and a driver are provided in the equipment box; The storage battery is respectively connected to electrical equipment; the controller is connected to the driver and is externally connected to a control panel arranged on the equipment box; the driver is connected to a motor unit.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The mobile platform is further provided with an auxiliary support device; The auxiliary support device is a telescopic leg; The fixed end of the telescopic leg is fixedly connected to the equipment box or the chassis, and the movable end is provided with a suction cup and contacts the working position plane in the unfolded state.

4. The photovoltaic cleaning robot according to claim 1, wherein: The multi-axis motion mechanism includes a rotary mechanism, a lifting mechanism and a linear motion mechanism; The fixed end of the rotary mechanism is fixedly connected to the mobile platform, and the movable end is connected to the fixed end of the lifting mechanism; The movable end of the lifting mechanism is connected to the fixed end of the linear motion mechanism; The working end of the cleaning device is installed at the movable end of the linear motion mechanism.

5. The photovoltaic cleaning robot according to claim 4, wherein: The rotary mechanism is a rotary table; The turntable of the rotary table is fixedly connected to the mobile platform, and the cleaning device and the lifting mechanism are installed on the turntable.

6. The photovoltaic cleaning robot according to claim 4, characterized in that: The lifting mechanism is an electric telescopic rod; A limiting structure is provided on the electric telescopic rod.

7. The photovoltaic cleaning robot according to claim 4, wherein: The linear motion mechanism is an electric slide rail; The working end of the cleaning device is fixed on the slider of the electric slide rail.

8. The photovoltaic cleaning robot according to claim 4, wherein: The working end of the cleaning device is further provided with a pitching mechanism; The pitching mechanism is provided with a U-shaped frame and a loop-shaped frame; the middle part of the U-shaped frame is rotatably connected to the loop-shaped frame; the U-shaped frame is fixedly connected to the movable end of the linear motion mechanism; A plurality of the cleaning rollers are arranged in parallel in the middle of the loop-shaped frame, and the nozzle and the spray port are provided on the frame.

9. The photovoltaic cleaning robot according to claim 8, wherein: The nozzle and the spray port are respectively provided on two frames of the loop-shaped frame parallel to the cleaning roller.

10. The photovoltaic cleaning robot according to claim 8 or 9, characterized in that: A limiting structure is further provided between the loop-shaped frame and the U-shaped frame.

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