Research On The Walking Mechanism Of Cleaning Robot For Solar Photovoltaic Power Station

In recent years,the photovoltaic power generation industry has developed rapidly,and the application of small-scale photovoltaic power generation systems has become more and more extensive.In the process of photovoltaic power generation,dust in the airwill continue to accumulate on the surface of the photovoltaic module,affecting the power generation efficiency of the photovoltaic module,and even causing damage to the photovoltaic module.Therefore,the cleaning of photovoltaic module surface has become an urgent problem for all power generation units.The solar photovoltaic power station cleaning robot designed in this paper mainly cleans the dust on the surface of photovoltaic modules in the small photovoltaic power generation system to improve the power generation efficiency.The main research contents of this paper are as follows.(1)A new driving wheel layout mode of the photovoltaic cleaning robot.According to the working environment of the robot and the functions that the robot needs to realize,puting forward the design requirements of the robot,and analyzed the wheel selection and wheel layout of the robot according to the design requirements.At the same time,analyzed the correlation between the system speed and the driving wheel speed of the robot.are analyzed.(2)Robot mechanical system design and implementation method.Based on the robot function,divided the robot to three modules,they are moving chassis,cleaning and Control System modules,that is,designed the mechanical structure of each module,drawn the mechanical structure of the whole robot,and processed into a real object according to the mechanical drawing.(3)Robot control system formation and function realization.Analyzed Several control methods of the robot,introduced the selection of the main controller,the motor driver and sensors in the robot and the communication methods between them.At the same time,explained the main software design ideas in the cleaning robot.(4)Adhesion characteristics on the working surface.Since the working environment of the cleaning robot is a tilted solar photovoltaic panel,the robot may slip and slide on the slope.Aiming at this problem,established the inclined experiment system of the robot,analyzed the attachment characteristics and given the stable attachment angle of the cleaning robot on the inclined plane,theoretically solved the sliding problem of the robot on the inclined plane.(5)Working surface adhesion characteristics.Since the working environment of the cleaning robot is a tilted solar photovoltaic panel,the robot may slip and slide on the slope.Aiming at this problem,the inclined experiment system of the robot is established.The attachment characteristics of the cleaning robot on the inclined plane are analyzed.The stable attachment angle of the robot on the inclined plane is given,and the sliding problem of the robot on the inclined plane is theoretically solved.(6)Drive mechanism drive control.The traveling mechanism adopts three-wheel independent driving mode,and adopts torque/speed double closed-loop control,which effectively improves the stability of the vehicle body and optimizes the working energy consumption during the moving process of the cleaning robot.The robot walking mechanism adopts three-wheel independent driving,which makes the robot have certain adhesion ability on the inclined surface.At the same time,the driving mechanism of the traveling mechanism adopts the speed and torque double closed-loop control,which effectively improves the stability and energy utilization efficiency of the robot during the movement.It provides a theoretical basis for stable motion control of a similar moving chassis mechanism on a slope.