CN120185532A - A photovoltaic inspection robot with a cleaning manipulator - Google Patents
A photovoltaic inspection robot with a cleaning manipulator Download PDFInfo
- Publication number
- CN120185532A CN120185532A CN202510599487.8A CN202510599487A CN120185532A CN 120185532 A CN120185532 A CN 120185532A CN 202510599487 A CN202510599487 A CN 202510599487A CN 120185532 A CN120185532 A CN 120185532A
- Authority
- CN
- China
- Prior art keywords
- rotating
- shaft
- rotating shaft
- bevel gear
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
- B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Cleaning In General (AREA)
Abstract
The invention discloses a photovoltaic inspection robot with a cleaning manipulator, which comprises a vehicle body, wherein a lifting platform is arranged in the vehicle body, a rotating platform is arranged in the lifting platform, a rotating arm is arranged in the rotating platform, a sliding arm is arranged in the rotating arm in a sliding manner, a rotating shaft is arranged below the rotating arm in a rotating manner, an extending shaft is arranged in the rotating shaft in a sliding manner, one end of the extending shaft is rotatably connected to the tail end of the sliding arm, a plurality of brush strips are distributed around the rotating shaft and the extending shaft, one end of the rotating shaft, which is close to the vehicle body, is connected with a driving motor.
Description
Technical Field
The invention relates to the technical field of cleaning manipulators, in particular to a photovoltaic inspection robot with a cleaning manipulator.
Background
The efficiency of a photovoltaic power generation system is highly dependent on the light transmittance of the component surfaces. Research shows that when dust, bird droppings, snow and other pollutants cover the surface of the photovoltaic panel, the power generation efficiency can be reduced, and even local hot spot effect is caused when serious, so that the aging of the component is accelerated. In the frequent region of the sand storm, the cleaning requirement per month is up to 2-3 times, and the manual cleaning cost accounts for more than 40% of the total operation and maintenance cost. Therefore, development of automatic and intelligent inspection cleaning equipment has become a core requirement for cost reduction and efficiency enhancement of photovoltaic power stations.
There is fixed cleaning robot among the prior art, and it lays the guide rail at photovoltaic array edge, and robot is along guide rail reciprocating motion, through rotatory brush hair clean surface, but unable different specification photovoltaic board of adaptation, and can not independently stride across different photovoltaic boards, can not play the effect of inspection clearance.
In the prior art, a vehicle-mounted mechanical arm cleaning device is arranged at the tail end of a mechanical arm carried on a mobile vehicle, and a cleaning brush is arranged at the tail end of the mechanical arm, and the cleaning angle is adjusted through a joint with multiple degrees of freedom. But the arm relies on the vehicle chassis to support completely, and the arm extends and forms the cantilever beam structure during the cleanness, leads to moment of flexure to increase along with extension length exponential, is difficult to adapt to wider photovoltaic board, still easily causes photovoltaic board surface atress uneven, increases hidden crack risk, and the vibration when the vehicle removes directly transmits to the arm, aggravates structural shake, leads to clean orbit offset error.
Therefore, it is necessary to provide a photovoltaic inspection robot with a cleaning manipulator to solve the above-mentioned problems in the background art.
Disclosure of Invention
In order to achieve the aim, the invention provides the technical scheme that the photovoltaic inspection robot with the cleaning manipulator comprises a vehicle body, wherein a lifting platform is arranged in the vehicle body, a rotating platform is arranged in the lifting platform, a rotating arm is arranged in the rotating platform, and a sliding arm is arranged in the rotating arm in a sliding manner;
a rotating shaft is rotatably arranged below the rotating arm, an extending shaft is slidably arranged in the rotating shaft, and one end of the extending shaft is rotatably connected to the tail end of the sliding arm;
a plurality of brush strips are distributed around the rotating shaft and the extending shaft;
one end of the rotating shaft, which is close to the vehicle body, is connected with a driving motor.
Further, the two ends of the rotating shaft are fixed with turntables, the tail end of the extending shaft is also fixed with a turntable, and a plurality of sliding rods which are arranged in a sliding way along the radial direction are distributed on the circumference of each turntable.
Further, brush strips are arranged between two radial slide bars in the two turntables at the two ends of the rotating shaft;
A brush strip is also arranged between the rotary table at the tail end of the extension shaft and two radial slide bars in the rotary table, which are close to the extension shaft, of the rotary shaft, and the brush strip is in sliding connection with the slide bars of the rotary table, which are close to the extension shaft, of the rotary shaft.
Further, each sliding rod is hinged with a connecting rod, and each connecting rod corresponding to the same rotary table is hinged to the same sliding ring coaxial with the rotary table.
Further, one end of the rotating shaft, which is close to the vehicle body, is slidably provided with a pull ring, a plurality of pull rods parallel to the rotating shaft are fixed in the pull ring, and the pull rods slidably penetrate through each rotating disc and are fixedly connected with each sliding ring.
Further, a guide ring is coaxially arranged in the pull ring in a rotating mode, a telescopic cylinder is arranged in the rotating arm, and a piston rod of the telescopic cylinder is connected into the guide ring.
Further, the tail end of the sliding arm is fixedly provided with a support, a transverse pulley coaxial with the rotating shaft is rotatably arranged in the support, a vertical pulley perpendicular to the transverse pulley is further arranged on one side of the support, and the height of the vertical pulley is lower than that of the transverse pulley.
Further, a first bevel gear and a second bevel gear which are coaxial with the extension shaft are respectively arranged in the support in a rotating mode, a transmission bevel gear is arranged between the first bevel gear and the second bevel gear, the extension shaft rotates to penetrate through the transverse pulley and the second bevel gear, the first bevel gear is fixedly connected with the extension shaft, and the second bevel gear is fixedly connected with the transverse pulley.
Further, the transmission bevel gear is coaxially fixed with a first straight gear, a second straight gear is attached below the first straight gear, and the second straight gear is fixedly connected with the vertical pulley.
Further, a sliding groove is formed in the tail end of the sliding rod, the brush bar can be arranged in the sliding groove in a sliding manner along the radial direction, and a spring attached to the brush bar is arranged in the sliding groove.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, the driving motor drives the brush bar and the transverse pulley to reversely rotate through the bevel gear set, and the linear speed of the brush bar is overlapped with the transverse moving speed of the vehicle body, so that a sliding friction effect is formed, and the cleaning force on stubborn stains is remarkably improved. Radial expansion of the sliding rod is controlled through the expansion cylinder, elastic buffering of the spring is combined, the brush bar can automatically adjust the pressing force according to the adhesive strength of stains, the heavy-dirt area can be efficiently cleaned, and the hidden cracking of the component caused by overlarge pressure is avoided.
According to the invention, the cleaning mode is automatically switched by alternately contacting the vertical pulley and the horizontal pulley, the vehicle body can be in seamless connection between longitudinal positioning and transverse cleaning, a whole photovoltaic panel is covered by single operation, the weight of the rotating arm and the sliding arm is jointly borne by the vehicle body and the pulley during longitudinal positioning and transverse cleaning, stress concentration is dispersed, the damage of the photovoltaic panel caused by local compression is avoided, the bending moment of the rotating arm is avoided to be increased due to the extension of the sliding arm, and the stability is improved.
According to the invention, the brush bar is quickly inserted into the slide bar through the slide groove, single replacement is supported, the maintenance cost is reduced, the pretightening force adjusting function of the spring can compensate the abrasion of the brush hair, and the service life is prolonged. The single driving motor synchronously drives the cleaning and advancing functions through the bevel gear group and the spur gear group, so that the independent motor configuration is reduced, and the bending moment of the rotating arm is reduced.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a photovoltaic inspection robot with a cleaning manipulator;
FIG. 2 is a schematic diagram of the positions of the rotating arm and the sliding arm;
FIG. 3 is a schematic view of the front end of the spindle;
FIG. 4 is a schematic plan view of the front end of the spindle;
FIG. 5 is a schematic view of the structure of the bracket position;
FIG. 6 is a schematic view of a vertical pulley moving longitudinally on a photovoltaic panel;
FIG. 7 is a schematic view of a lateral pulley moving laterally across a photovoltaic panel;
The device comprises a vehicle body 1, a lifting platform 2, a rotating platform 3, a rotating arm 4, a rotating arm 5, a sliding arm 51, a bracket 52, a first bevel gear 53, a second bevel gear 54, a transmission bevel gear 55, a first straight gear 56, a second straight gear 6, a rotating shaft 61, an extension shaft 7, a brush bar 8, a driving motor 9, a turntable 91, a sliding rod 92, a connecting rod 93, a sliding ring 94, a pull ring 95, a pull rod 96, a guide ring 97, a sliding groove 98, a spring 10, a vertical pulley 11, a horizontal pulley 12 and a telescopic cylinder.
Detailed Description
Referring to fig. 1-7, in an embodiment of the present invention, a photovoltaic inspection robot with a cleaning manipulator includes a vehicle body 1, a lifting platform 2 is disposed in the vehicle body 1, a rotating platform 3 is disposed in the lifting platform 2, a rotating arm 4 is disposed in the rotating platform 3, and a sliding arm 5 is slidably disposed in the rotating arm 4;
a rotating shaft 6 is rotatably arranged below the rotating arm 4, an extending shaft 61 is slidably arranged in the rotating shaft 6, and one end of the extending shaft 61 is rotatably connected to the tail end of the sliding arm 5;
a plurality of brush strips 7 are distributed around the rotating shaft 6 and the extending shaft 61;
one end of the rotating shaft 6, which is close to the vehicle body 1, is connected with a driving motor 8.
The combined length of the rotating shaft 6 and the extending shaft 61 can be adjusted through the extension and retraction of the sliding arm 5, so that the brush strip 7 covers the transverse width of the photovoltaic panel, the brush strip 7 is driven to rotate circumferentially by the rotation of the rotating shaft 6, and when the vehicle body 1 moves longitudinally along the photovoltaic panel, the brush strip 7 cleans the surface of the photovoltaic panel.
In this embodiment, the extending shaft 61 is matched with the rotating shaft 6 through a key slot structure, so as to limit the circumferential rotation of the extending shaft 61.
In this embodiment, the two ends of the rotating shaft 6 are fixed with turntables 9, the end of the extending shaft 61 is also fixed with turntables 9, and a plurality of sliding rods 91 sliding along the radial direction are distributed on the circumference of each turntable 9.
In the embodiment, a brush bar 7 is arranged between two slide bars 91 in the same radial direction in two turntables 9 at two ends of a rotating shaft 6;
A brush bar 7 is also arranged between the rotary table 9 at the tail end of the extension shaft 61 and two slide bars 91 in the same radial direction in the rotary table 9 of the rotary shaft 6 near the extension shaft 61, and the brush bar 7 is in sliding connection with the slide bars 91 of the rotary table 9 of the rotary shaft 6 near the extension shaft 61.
That is, the brush bar 7 connected in the extension shaft 61 can change the length overlapped with other brush bars 7 with the sliding of the extension shaft 61, thereby changing the total length of the brush bar 7.
In this embodiment, each sliding rod 91 is hinged with a connecting rod 92, and each connecting rod 92 corresponding to the same turntable 9 is hinged with a sliding ring 93 coaxial with the turntable 9.
In this embodiment, a pull ring 94 is slidably disposed at one end of the rotating shaft 6 near the vehicle body 1, a plurality of pull rods 95 parallel to the rotating shaft 6 are fixed in the pull ring 94, and the pull rods 95 slidably penetrate through each turntable 9 and are fixedly connected with each slip ring 93.
In this embodiment, a guide ring 96 is coaxially rotatably disposed in the pull ring 94, a telescopic cylinder 12 is disposed in the rotating arm 4, and a piston rod of the telescopic cylinder 12 is connected to the guide ring 96.
That is, driving the guide ring 96 through the telescopic cylinder 12 can drive the pull ring 94 to slide, thereby changing the axial position of each slide ring 93, thereby changing the distance between each slide ring 93 and the corresponding turntable 9, and thus the connecting rod 92 pushes the slide rod 91 to slide in the radial direction, so as to change the expansion range of the brush bar 7.
In this embodiment, a bracket 51 is fixed at the end of the sliding arm 5, a transverse pulley 11 coaxial with the rotating shaft 6 is rotatably disposed in the bracket 51, a vertical pulley 10 perpendicular to the transverse pulley 11 is further disposed on one side of the bracket 51, and the height of the vertical pulley 10 is lower than that of the transverse pulley 11.
The vertical pulley 10 can drive the sliding arm 5 to stretch and retract through longitudinally moving on the photovoltaic panel, so that the sliding arm 5 extends to the uppermost part of the photovoltaic panel, when the sliding arm 5 passes over the uppermost part of the photovoltaic panel, the transverse pulley 11 is attached to the upper edge of the photovoltaic panel, and at the moment, the transverse pulley 11 and the vehicle body 1 jointly bear the rotating arm 4 and the sliding arm 5 and can transversely move on the photovoltaic panel to clean the photovoltaic panel;
And when the vertical pulley 10 moves longitudinally on the photovoltaic panel, the telescopic cylinder 12 drives the brush bar 7 to shrink so that the brush bar 7 does not contact the photovoltaic panel, and when the horizontal pulley 11 moves transversely on the photovoltaic panel, the brush bar 7 is driven to expand by the telescopic cylinder 12, and at the moment, the brush bar 7 is attached to the photovoltaic panel, so that the photovoltaic panel can be cleaned when the brush bar 7 rotates circumferentially.
In this embodiment, a first bevel gear 52 and a second bevel gear 53 that are coaxial with an extension shaft 61 are respectively rotatably disposed in the bracket 51, a transmission bevel gear 54 is disposed between the first bevel gear 52 and the second bevel gear 53, the extension shaft 61 rotates to penetrate through the transverse pulley 11 and the second bevel gear 53, the first bevel gear 52 is fixedly connected with the extension shaft 61, and the second bevel gear 53 is fixedly connected with the transverse pulley 11.
That is, when the extension shaft 61 rotates, the traverse pulley 11 is reversely rotated by the transmission bevel gear 54, so that the driving motor 8 can simultaneously drive the rotation shaft 6 and the traverse pulley 11 to reversely rotate, so that the rotation direction of the brush bar 7 is opposite to the traveling direction of the traverse pulley 11, and the brush bar 7 slides and rubs with the photovoltaic panel when the photovoltaic panel is rolled, thereby improving the cleaning efficiency.
In this embodiment, the transmission bevel gear 54 is coaxially fixed with a first spur gear 55, a second spur gear 56 is attached below the first spur gear 55, and the second spur gear 56 is fixedly connected with the vertical pulley 10.
That is, the driving motor 8 can also drive the vertical pulley 10 to rotate when the driving shaft 6 rotates, so as to drive the vertical pulley 10 to move longitudinally on the photovoltaic panel.
In this embodiment, a sliding groove 97 is provided at the end of the sliding rod 91, the brush bar 7 is slidably disposed in the sliding groove 97 along the radial direction, and a spring 98 attached to the brush bar 7 is disposed in the sliding groove 97.
That is, by adjusting the expansion range of the brush bar 7, the brush bar 7 can be made to contact the photovoltaic panel with different pressures by the spring 98, so that the brush bar 7 can adjust the pressure with the photovoltaic panel according to the degree of contamination of the photovoltaic panel.
In the specific implementation, the robot is placed at the initial position of the photovoltaic panel array, the height of the rotating arm 4 is adjusted through the lifting platform 2, the vertical pulley 10 is in contact with the surface of the photovoltaic panel, and the angle of the rotating arm 4 is adjusted through the rotating platform 3, so that the vertical pulley 10 is aligned with the longitudinal edge of the photovoltaic panel;
Starting the driving motor 8, transmitting power to the second spur gear 56 through the rotating shaft 6, driving the vertical pulley 10 to longitudinally roll along the photovoltaic panel, driving the pull ring 94 by the telescopic cylinder 12 to drive the slip ring 93 to be far away from the turntable 9, driving the sliding rod 91 to radially shrink by the connecting rod 92, and separating the brush bar 7 from the surface of the photovoltaic panel;
The vertical pulley 10 rolls to drive the sliding arm 5 to slide outwards, and the extension shaft 61 synchronously extends from the rotating shaft 6 until the vertical pulley 10 falls down beyond the upper edge of the photovoltaic panel, and the transverse pulley 11 contacts the upper edge of the photovoltaic panel;
The telescopic cylinder 12 pushes the slip ring 93 to be close to the turntable 9, the connecting rod 92 pushes the sliding rod 91 to radially expand, the brush bar 7 presses the surface of the photovoltaic panel under the action of the spring 98, when the dirt is serious, the expansion amplitude of the sliding rod 91 can be increased, and the compression amount of the spring 98 is increased to increase the pressure of the brush bar 7;
The vehicle body 1 transversely moves at a uniform speed along the photovoltaic panel, the driving motor 8 continues to drive the transverse pulley 11 to synchronously move with the vehicle body 1, the rotating shaft 6 and the extension shaft 61 drive the plurality of groups of brush strips 7 to circumferentially rotate, and the rotating direction of the brush strips 7 is opposite to the advancing direction of the transverse pulley 11 under the action of the transmission bevel gear 54, so that sliding friction is formed, and stubborn stains are efficiently removed;
when the vehicle body 1 moves to the edge of the other side of the photovoltaic panel, the vehicle body 1 moves away from the photovoltaic panel, the vertical pulley 10 is enabled to be in contact with the surface again, the telescopic cylinder 12 is retracted, the brush bar 7 is retracted to be separated from the photovoltaic panel, and the sliding arm 5 is retracted by driving the vertical pulley 10 to move towards the direction approaching to the vehicle body 1.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510599487.8A CN120185532A (en) | 2025-05-11 | 2025-05-11 | A photovoltaic inspection robot with a cleaning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510599487.8A CN120185532A (en) | 2025-05-11 | 2025-05-11 | A photovoltaic inspection robot with a cleaning manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN120185532A true CN120185532A (en) | 2025-06-20 |
Family
ID=96039338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202510599487.8A Pending CN120185532A (en) | 2025-05-11 | 2025-05-11 | A photovoltaic inspection robot with a cleaning manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN120185532A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202014105844U1 (en) * | 2014-12-04 | 2016-03-07 | Franz Ehleuter | Cleaning device and lift with such a cleaning device |
| CN114714366A (en) * | 2022-01-24 | 2022-07-08 | 浙江大学山东工业技术研究院 | Ground walking lifting cleaning robot |
| CN217857580U (en) * | 2022-08-31 | 2022-11-22 | 湖南鸿辉重科装备制造有限公司 | Clean cleaning cart of photovoltaic board at a high speed |
| CN116599455A (en) * | 2023-06-20 | 2023-08-15 | 厦门嘉泓裕新能源技术有限公司 | Solar panel self-adaptive telescopic cleaning equipment for photovoltaic power generation |
| CN116727308A (en) * | 2023-07-21 | 2023-09-12 | 伟通工业设备（江苏）有限公司 | A dust removal device for the inner surface of a penetrating car lamp cover |
| CN117595774A (en) * | 2023-12-06 | 2024-02-23 | 浙江大学湖州研究院 | An autonomous cleaning photovoltaic cleaning robot |
| CN119448913A (en) * | 2024-12-17 | 2025-02-14 | 威东思宇矿山机械(重庆)有限公司 | A rotary cleaning manipulator for desert photovoltaics |
-
2025
- 2025-05-11 CN CN202510599487.8A patent/CN120185532A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202014105844U1 (en) * | 2014-12-04 | 2016-03-07 | Franz Ehleuter | Cleaning device and lift with such a cleaning device |
| CN114714366A (en) * | 2022-01-24 | 2022-07-08 | 浙江大学山东工业技术研究院 | Ground walking lifting cleaning robot |
| CN217857580U (en) * | 2022-08-31 | 2022-11-22 | 湖南鸿辉重科装备制造有限公司 | Clean cleaning cart of photovoltaic board at a high speed |
| CN116599455A (en) * | 2023-06-20 | 2023-08-15 | 厦门嘉泓裕新能源技术有限公司 | Solar panel self-adaptive telescopic cleaning equipment for photovoltaic power generation |
| CN116727308A (en) * | 2023-07-21 | 2023-09-12 | 伟通工业设备（江苏）有限公司 | A dust removal device for the inner surface of a penetrating car lamp cover |
| CN117595774A (en) * | 2023-12-06 | 2024-02-23 | 浙江大学湖州研究院 | An autonomous cleaning photovoltaic cleaning robot |
| CN119448913A (en) * | 2024-12-17 | 2025-02-14 | 威东思宇矿山机械(重庆)有限公司 | A rotary cleaning manipulator for desert photovoltaics |
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