针对光伏组件灵活、安全清扫问题,设计一种全向移动式光伏清扫机器人构型,采用四轮差速建模法、轮组电磁制动分析,确定机器人构型的合理性。针对现有移动式清扫方式的局限性,研究新型滚刷除尘、管道吸尘同步清扫方法。通过CFD仿真方法,建立机器人吸尘管道、清扫机构流场仿真模型,完成结构模型的清扫特性分析与结构优化仿真,以及实际清扫效果对比评价试验。试验结果表明：设计的清扫机器人能实现86.5%清扫效率,同时改善了运动制动能力。
Abstract
Aiming at the flexible and safe cleaning of photovoltaic modules, an omnidirectional mobile photovoltaic cleaning robot configuration is designed. The rationality of the robot configuration is determined by using the four-wheel differential modeling method and the wheel set electromagnetic braking analysis. In view of the limitations of the existing mobile cleaning methods, a new synchronous cleaning method of roller brush dedusting and pipeline dust suction is studied. Through the CFD simulation method, the flow field simulation model of the robot suction pipe and cleaning mechanism is established, and the cleaning characteristics analysis and structural optimization simulation of the structural model are completed, as well as the comparison and evaluation test of the actual cleaning effect. The test results show that the designed cleaning robot can achieve 86.5% cleaning efficiency and improve the motion braking capability.
关键词
光伏组件 /
清扫机器人 /
结构优化 /
流场仿真 /
清扫试验
Key words
PV modules /
cleaning robot /
structural optimization /
flow field simulation /
cleaning test
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基金
先进制造智能化技术教育部重点实验室开放课题（KFKT202209）; 光伏科学与技术国家重点实验室开放基金（202100070101）; 安徽省经信委“制造业重点领域产学研项目”（JB22031）; 安徽未来技术研究院企业合作项目（2023qyhz35）
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