CN114130779A - Working robot and photovoltaic module cleaning method - Google Patents
Working robot and photovoltaic module cleaning method Download PDFInfo
- Publication number
- CN114130779A CN114130779A CN202111661869.7A CN202111661869A CN114130779A CN 114130779 A CN114130779 A CN 114130779A CN 202111661869 A CN202111661869 A CN 202111661869A CN 114130779 A CN114130779 A CN 114130779A
- Authority
- CN
- China
- Prior art keywords
- working
- rod
- arm group
- arm
- cleaned
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Landscapes
- Manipulator (AREA)
Abstract
本申请实施方式提供了一种作业机器人，包括：底盘；位于底盘上方的机械臂结构，所述机械臂结构包括至少两个臂组，每个臂组至少包括一个支架和一个伸缩杆；其中，最下方的所述臂组为第一臂组，所述第一臂组的长条形面的最下边横杆与所述底盘转动连接，所述第一臂组的所述伸缩杆下端转动连接于所述底盘；所述第一臂组的长条形面的最上边横杆与相邻的第二臂组的长条形面的横杆转动连接；后一臂组的所述伸缩杆底端转动连接于前一臂组的支架；工作杆，所述工作杆用于搭载工作组件；所述工作杆的底端转到连接于最上所述臂组的支架顶端；该工作伸缩杆的底端转动连接于最上臂组的支架。可适应不同场景中的作业要求。
Embodiments of the present application provide a work robot, including: a chassis; a mechanical arm structure located above the chassis, the mechanical arm structure includes at least two arm groups, each arm group including at least a bracket and a telescopic rod; wherein, The lowermost arm group is the first arm group, the lowermost crossbar of the elongated surface of the first arm group is rotatably connected with the chassis, and the lower end of the telescopic rod of the first arm group is rotatably connected on the chassis; the uppermost crossbar of the elongated surface of the first arm group is rotatably connected to the crossbar of the elongated surface of the adjacent second arm group; the bottom of the telescopic rod of the latter arm group The end is rotatably connected to the bracket of the previous arm group; the working rod is used to carry the working assembly; the bottom end of the working rod is rotated to the top end of the bracket connected to the uppermost arm group; the bottom end of the working telescopic rod is The end is rotatably connected to the bracket of the uppermost arm group. It can adapt to job requirements in different scenarios.
Description
Technical Field
The application relates to the field of mechanical equipment, in particular to a working robot and a photovoltaic module cleaning method.
Background
At present, some large-scene operations or high-altitude operations are difficult and high in cost. For example, large machinery (high-speed rail, dock) washing; large-scale spraying (farmland, snow removal and disinfection); fire fighting; high altitude inspection and the like.
For another example, in China, photovoltaic power stations are generally located in remote areas with severe natural environments, and the weather of sand and dust is relatively heavy. Particularly for large ground power stations in northwest China, most of the power stations are located in desert regions with few surrounding vegetation and high wind and sand weather frequency. The photovoltaic power station in the area is far away from a water source, precipitation is less, underground water is also very deficient, timely cleaning of photovoltaic modules is difficult to achieve through rainwater natural washing and fire fighting waterwheel, the installation scale of the photovoltaic power station is very large, the number of the cell panels is as high as ten thousand or even hundreds of thousands, even if sufficient water sources, equipment and manpower are available, one large-scale cleaning is required, and huge workload is difficult to imagine.
The cleaning of the photovoltaic module is a very important part of photovoltaic operation and maintenance, and the influence of the dirt on the surface of the module on the power generation efficiency is quite remarkable: on the one hand, contamination of the component surface affects the transmission of light and thus the amount of radiation received by the component surface. On the other hand, the dirt on the surface of the component is close to the cell, so that shadow can be formed, and hot spot effect is formed in the local area of the photovoltaic component, thereby reducing the power generation efficiency of the component and even burning the component. When the dirt on the surface of the component is local shelters such as leaves, soil, bird droppings and the like, the action principle of the component is more influenced by the hot spot effect.
At present, a considerable number of power stations still solve dust pollution by manual cleaning. The cleaning time of one time of manual cleaning is longer, generally, the cleaning is carried out for 12 times at most in one year, dust still accumulates in the neutral period between two times of cleaning, the manual cleaning cannot achieve the expected effect at all, in addition, the manual cleaning is required to be invested in each time of cleaning, and in the life cycle of a photovoltaic power station of 25 years, the cost is too high. The manual cleaning can not ensure the working quality, and has certain hidden danger on personal safety and component safety.
Therefore, an operation robot capable of conveniently performing large-scene operation or high-altitude operation is needed.
Disclosure of Invention
The application embodiment provides a cleaning method for a working robot and a photovoltaic module, and the cleaning method is suitable for different working scenes.
The embodiment of the application provides an operation robot, includes: a chassis; the mechanical arm structure is positioned above the chassis and comprises at least two arm groups, and each arm group at least comprises a support and a telescopic rod; the support at least comprises a long-strip-shaped surface, the long-strip-shaped surface consists of more than two parallel cross rods and two straight rods on the side edges, and the cross rods are used for being rotatably connected with the top ends of the telescopic rods of the arm groups; the lowermost arm group is a first arm group, a lowermost cross rod of the long-strip-shaped surface of the first arm group is rotatably connected with the chassis, and the lower end of the telescopic rod of the first arm group is rotatably connected with the chassis; the uppermost cross rod of the long-strip-shaped surface of the first arm group is rotatably connected with the cross rod of the long-strip-shaped surface of the adjacent second arm group; the bottom end of the telescopic rod of the rear arm group is rotatably connected with the bracket of the front arm group; the working rod is used for carrying a working assembly; the bottom end of the working rod is rotated to the top end of the bracket connected to the uppermost arm group, and a rotating connecting piece is further arranged above the bottom end of the working rod and used for being rotatably connected to the working telescopic rod; the bottom end of the working telescopic rod is rotatably connected with the support of the uppermost arm group.
In one embodiment, the elongated face is rectangular, or trapezoidal; wherein when the elongated profile is trapezoidal, the base is the longer side of the trapezoid and the top is the shorter side of the trapezoid.
In one embodiment, the support of each said armset is a pentahedral structure; wherein, the surface rotationally connected with the telescopic rod of the arm group is a long-strip-shaped surface; the bottom end face of the support is an equilateral triangle face, and the included angle between the equilateral triangle face and the strip-shaped face is greater than or equal to 60 degrees and less than or equal to 90 degrees.
In one embodiment, the other four planes of the pentahedral structure of each bracket except the bottom end face are provided with parallel transverse rods, and the parallel transverse rods on each plane are connected with the transverse rods corresponding to the adjacent planes to form a quadrangle; the top of the front telescopic rod is rotatably connected with the cross rod, and the bottom of the rear telescopic rod is rotated to be connected with the cross rod, wherein the cross rod is positioned in the same quadrangle.
In one embodiment, the robotic arm structure comprises three said arm sets; the cross rod at the top end of the second arm group support adjacent to the first arm group is rotatably connected to the middle part of the third arm group support; the top end of the telescopic rod of the third arm group is rotatably connected to the bottom of the third arm group.
In one embodiment, the length of the upper carriage in the robotic arm structure is less than or equal to the length of the lower carriage.
In one embodiment, the working assembly carried on the working rod comprises more than two spray heads.
In one embodiment, the working rod is provided with a slide rail, the slide rail is provided with a plurality of slide blocks, and the slide blocks are used for positioning the spray head.
In one embodiment, the spray heads are equally spaced from the work bar.
In one embodiment, the working assembly carried on the working rod includes at least one of: the high-altitude searchlight is arranged at the top end of the working rod; the camera is at least arranged at one of the following positions: the top end of the working rod, the middle part of the working rod, the bottom end of the working rod and two sides of the chassis.
In one embodiment, the working assembly carried on the working rod comprises at least one roller brush arranged obliquely with respect to the working rod; the rolling brush is used for cleaning a surface to be cleaned.
In one embodiment, the angle of inclination of the roller brush with respect to the working rod is fixed at 15 °; or the connecting piece between the rolling brush and the working rod is an angle adjusting device which is used for adjusting the inclination angle between the rolling brush and the working rod from time to time.
In one embodiment, the length of the working rod is greater than or equal to 1 meter and less than or equal to 20 meters.
In one embodiment, the working rod is 6 meters and the number of the rolling brushes is 6.
In one embodiment, the working assembly carried on the working rod further comprises at least two rangefinders; wherein the distance measuring instrument is used for measuring the distance between the distance measuring instrument and the surface to be cleaned.
In one embodiment, further comprises a cleaning distance control device; the cleaning distance control device is used for determining the position relation between the working rod and the surface to be cleaned at least based on the distance value acquired by each distance meter; and when the position relation between the working rod and the surface to be cleaned meets a preset condition, the working robot controls the cleaning device to clean the surface to be cleaned.
The embodiment of the application also provides a photovoltaic module cleaning method, which is applied to a photovoltaic module cleaning operation robot and comprises the following steps: receiving a distance value of a distance meter on a working rod of the working robot; the distance value is used for representing the distance between the position on the working rod, which is perpendicular to the working rod and is provided with the range finder, and the surface to be cleaned of the photovoltaic module; determining a second inclination angle of the surface to be cleaned relative to the ground based on the first inclination angle of the working lever relative to the ground and the distance value; determining an adjusting instruction based on the position relation between the surface to be cleaned and the working rod; the adjusting instruction is used for adjusting a mechanical arm structure and a chassis of the working robot until the working rod is matched with the photovoltaic assembly in position; the position matching of the working rod and the photovoltaic module at least comprises the following steps: the height matching represents that the bottom end of the working rod is matched with the bottom end of the surface to be cleaned of the photovoltaic module; the inclination angle matching represents that the first inclination angle is equal to the second inclination angle; and distance matching, wherein the distance matching represents that the distance between the surface to be cleaned of the photovoltaic module and the working rod is equal to a preset cleaning distance value.
In an embodiment of the present application, the working robot includes: chassis, mechanical arm structure and working beam can carry out position control through mechanical arm structure and chassis to the realization the working beam carries on different work subassemblies, is applicable to each application scene, and whole journey can remote control. For example, the cleaning device can be suitable for cleaning photovoltaic module surfaces at different angles.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic structural view of a working robot according to an embodiment of the present specification;
fig. 2 is a schematic structural view of another working robot according to an embodiment of the present specification;
fig. 3 is a schematic structural view of another working robot according to an embodiment of the present specification;
FIG. 4 is a schematic view of an elongated profile of a stent according to embodiments of the present disclosure;
FIG. 5 is a schematic view of a roll brush configuration according to embodiments of the present disclosure;
FIG. 6 is a schematic view of a cleaning process for an operating robot in accordance with an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a positional relationship between an operation robot and a surface to be cleaned before cleaning in an embodiment of the present specification;
fig. 8 is a schematic diagram of the positional relationship between two operation robots and a surface to be cleaned before cleaning in the embodiment of the present specification;
fig. 9 is a schematic structural view of another working robot according to an embodiment of the present specification;
fig. 10 is a schematic structural view of another working robot according to an embodiment of the present specification;
description of the drawings: 110. the device comprises a first support, 112, a first telescopic rod, 120, a second support, 122, a second telescopic rod, 130, a third support, 132, a third telescopic rod, 200, a rolling brush, 202, a working rod, 204, a working telescopic rod, 300, a counterweight, 400, a chassis, 210, a range finder, 220, a spray head, 230, a high-altitude searchlight, 240 and a camera.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Please refer to fig. 1. The present specification provides an operation robot, including: a chassis 400;
a robotic arm structure positioned above the chassis 400, the robotic arm structure comprising at least two arm sets, each arm set comprising at least one support and one telescoping rod; the support at least comprises a long-strip-shaped surface, the long-strip-shaped surface consists of more than two parallel cross rods and two straight rods on the side edges, and the cross rods are used for being rotatably connected with the top ends of the telescopic rods of the arm groups; the lowermost arm group is a first arm group, a lowermost cross bar of the long-strip-shaped surface of the first arm group is rotatably connected with the chassis 400, and the lower end of the telescopic rod of the first arm group is rotatably connected with the chassis 400; the uppermost cross rod of the long-strip-shaped surface of the first arm group is rotatably connected with the cross rod of the long-strip-shaped surface of the adjacent second arm group; the bottom end of the telescopic rod of the rear arm group is rotatably connected with the bracket of the front arm group;
the working rod 202, the working rod 202 is used for carrying working components; the bottom end of the working rod 202 is rotated to the top end of the bracket connected to the uppermost arm group, and a rotating connecting piece is further arranged above the bottom end of the working rod 202 and used for being rotatably connected to the working telescopic rod 204; the bottom end of the working telescoping rod 204 is pivotally connected to the bracket of the uppermost arm set.
For convenience of description in this specification, a portion close to the photovoltaic module is defined as a front end, and a portion far from the photovoltaic module is defined as a rear end.
In this embodiment, the chassis 400 may be moved by a device mounted thereon. Specifically, for example, the equipment mounted thereon is advanced, turned, reversed, ascended, descended, and the like. The chassis 400 can be a bionic large disk, so that the direction is easier to control and the running is more stable. The movement of the chassis 400 may be controlled remotely or manually, and is not limited in this respect. The chassis 400 can be provided with a damping system, can move on a complex road surface, and can effectively ensure that the vehicle body moves stably through the damping system.
In the present embodiment, the robot arm structure is a member composed of two or more arm groups, and the height of the work bar 202 connected thereto can be adjusted by extending and contracting the robot arm structure, and the tilt angle of the work bar 202 can be adjusted by combining the work telescopic bar 204. In this embodiment, the arm set at least includes one bracket and one telescopic rod, and two ends of the bracket are rotatably connected to other components; the corresponding telescopic rod realizes the position of the support, the stretching of the mechanical arm structure and the like by controlling the length and the angle. In this embodiment, the telescopic rod may be controlled by an oil cylinder or a motor, and is not limited in this respect.
For convenience of description, the arm group connected to the chassis 400 is defined as a first arm group, a support of the arm group is a first support 110, and a telescopic rod of the arm group is a first telescopic rod 112; the adjacent arm group above the first arm group is a second arm group, the bracket of the second arm group is a second bracket 120, and the telescopic rod of the second arm group is a second telescopic rod 122; and so on. The longest length of the bracket can be used as the length of the bracket and also can be used as the length of the arm group. Preferably, the mechanical arm structure is composed of three arm sets, the length of the first support 110 is greater than that of the second support 120, and the length of the second support 120 is greater than that of the third support 130. Therefore, the whole mechanical arm structure can be more stable, and coarse adjustment, fine adjustment and the like of the position can also be realized. For example, when adjusting the position of the operating rod 202, the first support 110 is adjusted to achieve coarse adjustment, the second support 120 is adjusted to achieve further adjustment, and the third support 130 is adjusted to achieve final fine adjustment.
In this embodiment, the stent may be an elongated stent. For example, referring to fig. 2, the bracket is rectangular, and a plurality of parallel cross bars are arranged in the middle of the bracket for fixing. The stent herein may also be trapezoidal in shape, i.e., the stent may have unequal top widths. And is not particularly limited herein. The support at least comprises four sides, namely a bottom cross rod, a top cross rod and two straight rods on the side edges. Preferably, the support is a frame structure comprising elongate faces. Preferably, the scaffold is of a pentahedral structure. Specifically, please refer to fig. 1. The bracket of each arm group is of a pentahedral structure; wherein, the surface rotationally connected with the telescopic rod of the arm group is a long-strip-shaped surface; the bottom end face of the support is an equilateral triangle face, and the included angle between the equilateral triangle face and the strip-shaped face is greater than or equal to 60 degrees and less than or equal to 90 degrees. The pentahedral structure of each support is provided with parallel cross bars on the other four planes except the bottom end face, and the parallel cross bars on each plane are connected with the cross bars corresponding to the adjacent planes to form a quadrangle; the top of the front telescopic rod is rotatably connected with the cross rod, and the bottom of the rear telescopic rod is rotated to be connected with the cross rod, wherein the cross rod is positioned in the same quadrangle. Therefore, the stress is more scientific, and the operation robot is more stable.
In this embodiment, the support takes a fulcrum as a rotation center, and the telescopic rod provides rotation power to rotate around the fulcrum. Specifically, for example, the rotation center of the first support 110 is the bottom cross bar of the support, the rotation centers of the rest supports are the top cross bar positions of the previous support, and the rotation power is provided by the telescopic rod of each arm set. Similarly, the rotation center of the working rod is the cross rod at the top of the support of the uppermost support, and the rotation power of the working rod is provided by the working telescopic rod 204.
In the present embodiment, the work lever 202 is used for mounting a work module. Specifically, the work component may be a specific work component required for corresponding to different work scenes. The working components may be cleaning devices, cameras 240, overhead searchlights 230, rangefinders 210, etc. for large machine (high-speed rail, dock) washing; large-scale spraying (farmland, snow removal and disinfection); fire fighting; and specific operation scenes such as high-altitude inspection and the like. In different work scenes, the work rod 202 with the corresponding model can be used for carrying work components required by the corresponding scene to perform work.
For example, when the working component is a cleaning device, the cleaning device can be used to clean a photovoltaic component. The cleaning device may be a spray head 220 for spraying water to clean the photovoltaic module; the cleaning device may also be a roller brush 200. Of course, the cleaning device may include both the spray head 220 and the rolling brush 200. Referring to fig. 3, the surface to be cleaned of the photovoltaic module is an inclined surface. The distance between the working rod 202 and the surface to be cleaned is controlled by the working robot through the mechanical arm structure, and the surface to be cleaned can be conveniently cleaned through the rolling brush 200 arranged on the working rod 202.
In this embodiment, the working rod 202 may be a straight rod with a certain width. The working rod 202 may be provided with a slide rail, the slide rail may be provided with a plurality of slide blocks, and the slide blocks may be used to position the spray head 220. The user can wash different positions of the photovoltaic module by controlling the position of the spray head 220 on the slide rail. The working rod 202 may be provided with a camera 240 to observe the surrounding working conditions. Specifically, for example, when a certain position of the photovoltaic module is observed not to be cleaned, the cleaning device can be remotely controlled to clean the position again. Please refer to fig. 3. Preferably, the working rod 202 is 6 meters, and the number of the rolling brushes 200 is 6. This kind of structure can be applicable to most of the clean of photovoltaic module.
In one embodiment, the elongated face is rectangular, or trapezoidal; wherein when the elongated profile is trapezoidal, the base is the longer side of the trapezoid and the top is the shorter side of the trapezoid. Referring to fig. 4, fig. 4 is a schematic view showing the shapes of two types of supports. The support structure is simple.
In one embodiment, the support of each said armset is a pentahedral structure; wherein, the surface rotationally connected with the telescopic rod of the arm group is a long-strip-shaped surface; the bottom end face of the support is an equilateral triangle face, and the included angle between the equilateral triangle face and the strip-shaped face is greater than or equal to 60 degrees and less than or equal to 90 degrees.
Please refer to fig. 1. In this embodiment, the support is a pentahedral structure, wherein one face is a long-strip face, the remaining 4 faces are triangular faces, and among the 4 triangular faces, the bottom is an equilateral triangle, and the remaining 3 triangular faces and the long-strip face jointly form 4 side faces. The telescopic rod corresponding to the bracket is connected with the long-strip-shaped surface.
With the support of the frame structure of the above embodiment, the structure is more stable. Through this kind of structure, it is also more convenient when setting up the rotation tie point.
In one embodiment, the other four planes of the pentahedral structure of each bracket except the bottom end face are provided with parallel transverse rods, and the parallel transverse rods on each plane are connected with the transverse rods corresponding to the adjacent planes to form a quadrangle; the top of the front telescopic rod is rotatably connected with the cross rod, and the bottom of the rear telescopic rod is rotated to be connected with the cross rod, wherein the cross rod is positioned in the same quadrangle.
Through above-mentioned embodiment, increase parallel horizontal pole and can make bearing structure is more stable, also can conveniently set up more and rotate the connecting piece. The rotary connecting points are arranged on different cross rods, so that the length of the force arm can be adjusted.
In one embodiment, the robotic arm structure comprises three said arm sets; the cross rod at the top end of the second arm group support adjacent to the first arm group is rotatably connected to the middle part of the third arm group support; the top end of the telescopic rod of the third arm group is rotatably connected to the bottom of the third arm group.
In this embodiment, when the third telescopic rod 132 is extended, the third support 130 rotates around a pivot, that is, rotates around a cross bar at the top end of the second arm set support and is connected to the middle position of the third arm set support, so as to control the position of the bottom end of the working rod 202. Preferably, the mechanical arm structure is composed of three arm sets, the length of the first support 110 is greater than that of the second support 120, and the length of the second support 120 is greater than that of the third support 130. Therefore, the whole mechanical arm structure can be more stable, and coarse adjustment, fine adjustment and the like of the position can also be realized.
In one embodiment, the length of the upper carriage in the robotic arm structure is less than or equal to the length of the lower carriage.
Different support lengths can achieve different adjustment effects when adjusting the position of the work bar 202. The lower bracket has a low gravity center and a long length, and the working rod 202 can be adjusted in a large range. The upper bracket has a high gravity center and a short length, so that the fine adjustment of the working rod 202 can be realized.
In a preferred embodiment, the working assembly carried on the work bar 202 includes more than two spray heads 220.
In the present embodiment, the spray head 220 may be fixed to the fixed position of the operating rod 202, or the spray head 220 may be movable. Specifically, for example, a slide rail is disposed on the operating rod 202, and a plurality of sliding blocks are disposed on the slide rail and used for positioning the spray head 220. The nozzle 220 may spray water for cleaning, fire extinguishing, etc., or may spray disinfectant for disinfection, etc. And is not particularly limited herein.
In a preferred embodiment, the operating rod 202 is provided with a slide rail, and the slide rail is provided with a plurality of slide blocks, and the slide blocks are used for positioning the spray head 220. Through the above embodiment, the sliding of the slider can be controlled by remote control to precisely position the nozzle 220.
In a preferred embodiment, the spray heads 220 are equally spaced from the work bar 202.
In a preferred embodiment, the working assembly carried on the working rod 202 includes at least one of: a camera 240 and a high-altitude searchlight 230, wherein the high-altitude searchlight 230 is arranged at the top end of the working rod 202; the camera 240 is disposed at least at one of the following positions: the top end of the working rod 202, the middle of the working rod 202, the bottom end of the working rod 202 and two sides of the chassis 400. Fig. 9 is a schematic structural diagram of the work bar 202 carrying the spray head 220 and the overhead searchlight 230.
In the present embodiment, the overhead searchlight 230 at the tip of the working rod 202 can perform an overhead patrol or the like. Through set up in the staff 202 top, or staff 202 middle part, or staff 202 bottom, or chassis 400 both sides camera 240 can acquire operational environment information to safer remote operation work robot.
Referring to fig. 10, several exemplary positions of the camera 240 are shown.
In a preferred embodiment, the working assembly carried on the working rod 202 comprises at least one rolling brush 200, the rolling brush 200 is arranged obliquely relative to the working rod 202; the roll brush 200 is used to clean a surface to be cleaned.
In the present embodiment, the roll brush 200 may be rotated to clean the photovoltaic module. In the present embodiment, the arrangement of the rolling brushes 200 in an inclined manner with respect to the operating rod 202 means that the rotation center line of each rolling brush 200 is at an angle with respect to the operating rod 202. The center lines of the plurality of roll brushes 200 are located on the same plane, which is parallel to the work bar 202.
In a preferred embodiment, the roller brush 200 is fixed at an inclination angle of 15 ° with respect to the working rod 202; or, a direct connecting piece between the rolling brush 200 and the working rod 202 is an angle adjusting device, and is used for adjusting the inclination angle between the rolling brush 200 and the working rod 202 at any time.
In one embodiment, the length of the working rod 202 is greater than or equal to 1 meter and less than or equal to 20 meters. Different lengths of work bars 202 may be used to carry different kinds or sizes of work components. Of course, if the working rod 202 is too long, the stability of the working robot is also affected.
In a preferred embodiment, the working rod 202 is 6 meters, and the number of the rolling brushes 200 is 6. This kind of structure can be applicable to most of the clean of photovoltaic module.
Referring to fig. 5, a schematic diagram of the rolling brush 200 disposed obliquely with respect to the working rod 202 is shown. When the roller brush 200 is disposed to be inclined with respect to the work bar 202, the cleaned dust is easily dropped.
In a preferred embodiment, the working assembly carried on the working rod 202 further comprises at least two distance meters 210; wherein the range finder 210 is used for measuring the distance to the surface to be cleaned.
In a preferred embodiment, further comprises a cleaning distance control means; the cleaning distance control device is used for determining the position relation between the working rod 202 and the surface to be cleaned at least based on the distance value acquired by each distance meter 210; when the position relation between the working rod 202 and the surface to be cleaned meets a preset condition, the working robot controls the cleaning device to clean the surface to be cleaned.
In one embodiment, further comprises a cleaning distance control device; the cleaning distance control device is used for determining the position relation between the working rod 202 and the surface to be cleaned of the photovoltaic module based on the distance value acquired by each distance meter 210; when the position relation between the working rod 202 and the surface to be cleaned of the photovoltaic module meets a preset condition, the working robot controls the cleaning device to clean the photovoltaic module.
In this embodiment, at least two distance measuring devices 210 may be disposed on the working rod 202 at different positions of the working rod 202 for measuring the distance from the photovoltaic module. The measuring direction of the distance meter 210 is perpendicular to the working rod 202. The working robot is preset with a cleaning safety distance range. Executing a cleaning command when the distance measured at each position falls within the cleaning safety distance.
It should be noted that, when cleaning the photovoltaic module, the surface to be cleaned of the photovoltaic module is not necessarily equal to the surface of the photovoltaic module. The surface to be cleaned of the photovoltaic module refers to the surface of the photovoltaic module which is not cleaned yet. For example, when the surface of the photovoltaic module is large, the surface to be cleaned of the photovoltaic module is different from the surface of the photovoltaic module when the cleaning needs to be performed at different heights for multiple times.
In this embodiment, the position relationship between the working rod 202 and the surface to be cleaned of the photovoltaic module may include a height position relationship, and the height position relationship represents a height relationship between the bottom end of the working rod 202 and the bottom end of the surface to be cleaned of the photovoltaic module; an inclination angle relationship, which represents a relationship between a first inclination angle of the working rod 202 relative to the ground and a second inclination angle of the photovoltaic module to-be-cleaned surface relative to the opposite surface; a distance relationship characterizing a distance between a surface to be cleaned of the photovoltaic module and the working rod 202.
Please refer to fig. 6. The position relation between the working rod 202 and the surface to be cleaned of the photovoltaic module meets the cleaning condition. Please refer to fig. 7 and 8. The position relationship between the working rod 202 and the surface to be cleaned of the photovoltaic module does not accord with the cleaning condition, and the cleaning command can be executed after the adjustment.
The embodiment of the specification also discloses a photovoltaic module cleaning method, which is applied to a photovoltaic module cleaning operation robot and comprises the following steps:
receiving a distance value of a distance meter 210 on said work robot work bar 202; the distance value is used for representing the distance from the position, which is perpendicular to the working rod 202 and is on the working rod 202, of the distance meter 210 to the surface to be cleaned of the photovoltaic module;
determining a second inclination angle of the surface to be cleaned relative to the floor based on the first inclination angle of the work bar 202 relative to the floor and the distance value;
determining an adjusting instruction based on the position relation between the surface to be cleaned and the working rod 202; the adjustment instructions are used to adjust the robot arm structure and the chassis 400 of the working robot until the position of the working rod 202 matches the position of the photovoltaic module; the position matching of the working rod 202 and the photovoltaic module at least comprises the following steps:
the height matching represents that the bottom end of the working rod 202 is matched with the bottom end of the surface to be cleaned of the photovoltaic module;
the inclination angle matching represents that the first inclination angle is equal to the second inclination angle;
and distance matching, wherein the distance matching represents that the distance between the surface to be cleaned of the photovoltaic module and the working rod 202 is equal to a preset cleaning distance value.
In this embodiment, the first inclination angle of the work bar 202 with respect to the ground may be directly obtained by a sensor on the work bar 202, or may be indirectly calculated by the length and angle of each bracket, which is not specifically limited herein.
In this embodiment, the position relationship between the surface to be cleaned of the photovoltaic module and the working rod 202 may include a height position relationship, where the height position relationship represents a height relationship between the bottom end of the working rod 202 and the bottom end of the surface to be cleaned of the photovoltaic module; an inclination angle relationship, which represents a relationship between a first inclination angle of the working rod 202 relative to the ground and a second inclination angle of the photovoltaic module to-be-cleaned surface relative to the opposite surface; a distance relationship characterizing a distance between a surface to be cleaned of the photovoltaic module and the working rod 202.
In this embodiment, the matching between the bottom end of the working rod 202 and the bottom end of the surface to be cleaned of the photovoltaic module may mean that the bottom end of the working rod 202 is slightly smaller than the bottom end of the surface to be cleaned of the photovoltaic module, so that the working rod 202 can clean the surface to be cleaned of the photovoltaic module completely.
In this embodiment, the adjusting instruction is determined based on the position relationship between the surface to be cleaned of the photovoltaic module and the working rod 202, which may be the height relationship between the bottom end of the working rod 202 and the bottom end of the surface to be cleaned of the photovoltaic module at that time. The bottom end of the working rod 202 is matched with the bottom end of the surface to be cleaned of the photovoltaic module by cooperating with each nose ancestor in the mechanical arm structure. Adjusting the uppermost bracket and the working support rod according to the first inclination angle and the second inclination angle, so that the first inclination angle is equal to the second inclination angle. And controlling the chassis 400 according to the distance between the surface to be cleaned of the photovoltaic module and the working rod 202 until the distance between the surface to be cleaned of the photovoltaic module and the working rod 202 is equal to a preset cleaning distance value.
Through above-mentioned embodiment, can realize the operation robot with photovoltaic module's position matches, more convenient carry out remote control in order to wash photovoltaic module treats the clean face.
It should be noted that, in the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is intended or should be construed to indicate or imply relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego the subject matter and should not be construed as an admission that the applicant does not consider such subject matter to be part of the disclosed subject matter.
Claims (17)
1. A working robot, characterized by comprising:
a chassis;
the mechanical arm structure is positioned above the chassis and comprises at least two arm groups, and each arm group at least comprises a support and a telescopic rod; the support at least comprises a long-strip-shaped surface, the long-strip-shaped surface consists of more than two parallel cross rods and two straight rods on the side edges, and the cross rods are used for being rotatably connected with the top ends of the telescopic rods of the arm groups; the lowermost arm group is a first arm group, a lowermost cross rod of the long-strip-shaped surface of the first arm group is rotatably connected with the chassis, and the lower end of the telescopic rod of the first arm group is rotatably connected with the chassis; the uppermost cross rod of the long-strip-shaped surface of the first arm group is rotatably connected with the cross rod of the long-strip-shaped surface of the adjacent second arm group; the bottom end of the telescopic rod of the rear arm group is rotatably connected with the bracket of the front arm group;
the working rod is used for carrying a working assembly; the bottom end of the working rod is rotated to the top end of the bracket connected to the uppermost arm group, and a rotating connecting piece is further arranged above the bottom end of the working rod and used for being rotatably connected to the working telescopic rod; the bottom end of the working telescopic rod is rotatably connected with the support of the uppermost arm group.
2. A working robot according to claim 1, characterized in that the elongated surface is rectangular, or trapezoidal; wherein when the elongated profile is trapezoidal, the base is the longer side of the trapezoid and the top is the shorter side of the trapezoid.
3. A working robot according to claim 1, characterized in that the holder of each of the armsets is of a pentahedral structure; wherein, the surface rotationally connected with the telescopic rod of the arm group is a long-strip-shaped surface; the bottom end face of the support is an equilateral triangle face, and the included angle between the equilateral triangle face and the strip-shaped face is greater than or equal to 60 degrees and less than or equal to 90 degrees.
4. A working robot according to claim 1 characterized in that the pentahedral structure of each of the supports is provided with parallel transverse bars in all four planes except the bottom end face, and the parallel transverse bars in each plane are connected with the corresponding transverse bars in the adjacent plane to form a quadrangle; the top of the front telescopic rod is rotatably connected with the cross rod, and the bottom of the rear telescopic rod is rotated to be connected with the cross rod, wherein the cross rod is positioned in the same quadrangle.
5. A working robot according to claim 1, characterized in that the robot arm structure comprises three said arm groups; the cross rod at the top end of the second arm group support adjacent to the first arm group is rotatably connected to the middle part of the third arm group support; the top end of the telescopic rod of the third arm group is rotatably connected to the bottom of the third arm group.
6. A working robot according to claim 1, characterized in that the length of the upper carriage in the robot arm structure is equal to or less than the length of the lower carriage.
7. A working robot according to claim 1, characterized in that the working component carried on the working rod comprises more than two spray heads.
8. A working robot according to claim 7, characterized in that the working rod is provided with a slide rail, on which a number of slides are provided, which slides are used for positioning the spray head.
9. A working robot according to claim 7, characterized in that the spray heads are equally distributed over the working beam.
10. A working robot according to claim 1, characterized in that the working components carried on the working bar comprise at least one of the following: the high-altitude searchlight is arranged at the top end of the working rod; the camera is at least arranged at one of the following positions: the top end of the working rod, the middle part of the working rod, the bottom end of the working rod and two sides of the chassis.
11. A working robot according to claim 1, characterized in that the working components carried on the working rod comprise at least one roller brush, which is arranged obliquely with respect to the working rod; the rolling brush is used for cleaning a surface to be cleaned.
12. A working robot according to claim 11, characterized in that the angle of inclination of the brush with respect to the working rod is fixed at 15 °;
or the connecting piece between the rolling brush and the working rod is an angle adjusting device which is used for adjusting the inclination angle between the rolling brush and the working rod from time to time.
13. A working robot according to claim 11, characterized in that the length of the working rod is 1 m or more and 20 m or less.
14. A working robot according to claim 13, characterized in that the working rod is 6 meters and the roll brushes are 6.
15. A working robot according to claim 11, characterized in that the working assembly carried on the working bar further comprises at least two distance meters; wherein the distance measuring instrument is used for measuring the distance between the distance measuring instrument and the surface to be cleaned.
16. A working robot according to claim 15, characterized by further comprising cleaning distance control means; the cleaning distance control device is used for determining the position relation between the working rod and the surface to be cleaned at least based on the distance value acquired by each distance meter; and when the position relation between the working rod and the surface to be cleaned meets a preset condition, the working robot controls the cleaning device to clean the surface to be cleaned.
17. A photovoltaic module cleaning method applied to the working robot according to claim 15, comprising:
receiving a distance value of a distance meter on a working rod of the working robot; the distance value is used for representing the distance between the position on the working rod, which is perpendicular to the working rod and is provided with the range finder, and the surface to be cleaned of the photovoltaic module;
determining a second inclination angle of the surface to be cleaned relative to the ground based on the first inclination angle of the working lever relative to the ground and the distance value;
determining an adjusting instruction based on the position relation between the surface to be cleaned and the working rod; the adjusting instruction is used for adjusting a mechanical arm structure and a chassis of the working robot until the working rod is matched with the photovoltaic assembly in position; the position matching of the working rod and the photovoltaic module at least comprises the following steps:
the height matching represents that the bottom end of the working rod is matched with the bottom end of the surface to be cleaned of the photovoltaic module;
the inclination angle matching represents that the first inclination angle is equal to the second inclination angle;
and distance matching, wherein the distance matching represents that the distance between the surface to be cleaned of the photovoltaic module and the working rod is equal to a preset cleaning distance value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111661869.7A CN114130779A (en) | 2021-12-31 | 2021-12-31 | Working robot and photovoltaic module cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111661869.7A CN114130779A (en) | 2021-12-31 | 2021-12-31 | Working robot and photovoltaic module cleaning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114130779A true CN114130779A (en) | 2022-03-04 |
Family
ID=80383974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111661869.7A Pending CN114130779A (en) | 2021-12-31 | 2021-12-31 | Working robot and photovoltaic module cleaning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114130779A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203540966U (en) * | 2013-10-25 | 2014-04-16 | 湖南科比特新能源电气技术有限公司 | Photovoltaic module cleaning car |
| CN103736685A (en) * | 2013-12-30 | 2014-04-23 | 内蒙古科盛太阳能科技有限责任公司 | Movable type solar assembly washing equipment |
| WO2018167340A1 (en) * | 2017-03-16 | 2018-09-20 | Abengoa Solar New Tecnologies, S.A. | System, vehicle and method for cleaning parabolic troughs, heliostats and photovoltaic panels |
| CN109261577A (en) * | 2018-11-09 | 2019-01-25 | 苏州瑞得恩光能科技有限公司 | Solar panel cleaning equipment |
| CN110238093A (en) * | 2019-06-20 | 2019-09-17 | 内蒙古大学 | Cleaning device for solar panels and method of use thereof |
| CN111069100A (en) * | 2019-11-14 | 2020-04-28 | 大唐灌云光伏发电有限公司 | Photovoltaic power generation station mechanical arm type component cleaning intelligent device |
| CN112337852A (en) * | 2020-11-09 | 2021-02-09 | 深圳市凯之成智能装备有限公司 | Photovoltaic cleaning vehicle adopting waterless cleaning mode to clean photovoltaic panel |
| CN216631966U (en) * | 2021-12-31 | 2022-05-31 | 上海陆地智源机器人科技有限公司 | Working robot |
-
2021
- 2021-12-31 CN CN202111661869.7A patent/CN114130779A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203540966U (en) * | 2013-10-25 | 2014-04-16 | 湖南科比特新能源电气技术有限公司 | Photovoltaic module cleaning car |
| CN103736685A (en) * | 2013-12-30 | 2014-04-23 | 内蒙古科盛太阳能科技有限责任公司 | Movable type solar assembly washing equipment |
| WO2018167340A1 (en) * | 2017-03-16 | 2018-09-20 | Abengoa Solar New Tecnologies, S.A. | System, vehicle and method for cleaning parabolic troughs, heliostats and photovoltaic panels |
| CN109261577A (en) * | 2018-11-09 | 2019-01-25 | 苏州瑞得恩光能科技有限公司 | Solar panel cleaning equipment |
| CN110238093A (en) * | 2019-06-20 | 2019-09-17 | 内蒙古大学 | Cleaning device for solar panels and method of use thereof |
| CN111069100A (en) * | 2019-11-14 | 2020-04-28 | 大唐灌云光伏发电有限公司 | Photovoltaic power generation station mechanical arm type component cleaning intelligent device |
| CN112337852A (en) * | 2020-11-09 | 2021-02-09 | 深圳市凯之成智能装备有限公司 | Photovoltaic cleaning vehicle adopting waterless cleaning mode to clean photovoltaic panel |
| CN216631966U (en) * | 2021-12-31 | 2022-05-31 | 上海陆地智源机器人科技有限公司 | Working robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Patil et al. | A review on cleaning mechanism of solar photovoltaic panel | |
| JP2022502776A (en) | Cleaning system and cleaning method | |
| CN103658116B (en) | Contactless solar cell panel cleaning equipment | |
| ES2435445T3 (en) | Service device for cleaning and maintaining an arrangement of solar panels | |
| EP2153914B1 (en) | Method for cleaning parabolic section mirrors of a thermosolar plant and apparatus for carrying out said method | |
| CN206242036U (en) | A kind of Substation Insulator string cleaning robot | |
| JP7183408B2 (en) | How to control the cleaning system | |
| CN216631966U (en) | Working robot | |
| CN105149253A (en) | Solar cell panel cleaning device and system | |
| CN110238093A (en) | Cleaning device for solar panels and method of use thereof | |
| CN111701894A (en) | A photovoltaic power station panel cleaning device based on an unmanned vehicle platform | |
| CN114130779A (en) | Working robot and photovoltaic module cleaning method | |
| WO2018223332A1 (en) | Gantry-crawler cleaning vehicle for cleaning a mirror surface of a solar thermal power station | |
| US10727783B2 (en) | Heliostat cleaning tool and method | |
| CN209139273U (en) | A kind of full-automatic multiple degrees of freedom street lamp cleaning device | |
| CN203725440U (en) | Non-contact cleaning equipment for solar cell panel | |
| CN110185243A (en) | A kind of automatic tracking floor ceramic tile Mei Feng robot | |
| CN105598052A (en) | General photovoltaic robot | |
| JP3244586U (en) | cleaning tools | |
| CN205518692U (en) | General photovoltaic robot | |
| CN113232030B (en) | Automatic cleaning robot for expressway toll gate equipment | |
| CN105577099A (en) | Photovoltaic power generation system with running tracks for electric devices | |
| CN205453579U (en) | Take photovoltaic power generation system of electric actuator orbit | |
| CN115890742A (en) | Dynamic performance testing device for transformer substation inspection robot | |
| CN207554277U (en) | For the spraying equipment of creeping of wind power generating set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221104 Address after: Room 418, building 9, 509 Caobao Road, Xuhui District, Shanghai 200233 Applicant after: GUANYAN (SHANGHAI) PATENT TECHNOLOGY CO.,LTD. Address before: 200336 room 463, floor 1, building 2, No. 350, Xianxia Road, Changning District, Shanghai Applicant before: Shanghai land Zhiyuan Robot Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20220304 |
|
| WD01 | Invention patent application deemed withdrawn after publication |