负压吸附式无轨光伏板清洁机器人结构设计

Structural Design of Negative Pressure Adsorption Trackless Photovoltaic Panel Cleaning Robot

针对西北荒漠地区大倾角发电光伏板的晶面积尘清洁问题,设计了一种基于负压吸附原理的斜滑面无轨干式便携清洁机器人。该机器人搭载STM32单片机及多类型传感器,8台涵道风扇的自适应负压吸附力外加漏斗型导流除保障机器人在斜滑面的平衡稳定外,与4组双刷构成“三合一”无死角清洁;同时,4组双刷在步进电机驱动和传感器向导、单片机指挥下,带动机器人在清洁的同时作为辊轮在斜滑晶面上安全移动。工作过程中无需人工干预,能够自主定位初始位置、自动寻边、纠偏、加减速、跨板。该机器人能解决风沙地带有轨机器人存在的加装轨道、运行可靠性低、成本高以及用水困难的问题,具有自动化程度高、清洁效果好和维护成本低等优势。

Aiming at the cleaning problems of photovoltaic panels with large inclination angles built in the northwest desert area, a trackless dry-cleaning robot is designed based on the negative pressure adsorption principle. The robot is equipped with STM32 single-chip microcomputer and multiple sensors. The negative pressure adsorption force of 8 bypass fans and funnel-type deflector cover not only ensure the balance and stability of the robot on the smooth incline, but also form a "three-in-one" efficient cleaning without dead angle with the four groups of double brushes. At the same time, under the drive of stepper motor, the guidance of sensors and the command of single-chip microcomputer, four groups of double brushes drive the robot to move on the incline safely. Without any manual intervention, it can automatically locate the initial position, automatically find the edge, correct the deviation, accelerate and decelerate, and cross the plate. It solves the problems of rail addition, low reliability, high cost and difficulty in using the water in sandy areas,and has the advantages of high automation, good cleaning effect and low maintenance cost.