针对光伏电站中运维使用的清扫机器人轻量化设计问题,提出一种盘刷式光伏清扫机器人结构并设计驱动系统。首先,在现有轮式机器人基础上,将盘刷与机器人驱动轮集成为一体,设计紧凑型机器人结构,在机器人运动过程中同步实现组件表面清扫,并对电机支架进行优化设计。其次,采用四轮驱动方式,设计盘刷式光伏清扫机器人驱动系统软硬件。在屋顶光伏组件表面开展实验,实验结果表明所设计的盘刷式光伏清扫机器人结构与驱动系统满足清扫需求,在夏季晴天天气清扫一块面积为2.44 m2的光伏组件,对比清扫前后光伏组件标准化的电气特性,清扫后修正至标准测试条件（STC）下的最大功率提升约16.1%。
Abstract
Aiming at the lightweight design of the cleaning robot for the maintenance of solar photovoltaic （PV） power station, the structure and drive system of the disc-brush PV cleaning robot are proposed and designed. At first, based on the present wheel driven robot, the disc-brush is integrated with the drive wheel of robot, and a compact robot structure is designed. The cleaning of PV module surface and movement of robot can be realized simultaneously. The dimension of motor support is also optimized. Then, using the four-wheel drive mode, the hardware and software of drive system of the disc-brush PV cleaning robot are designed. The experiments on the surface of PV module on the rooftop are implemented. Experimental results show that the designed structure and drive system of disc-brush PV cleaning robot satisfy the cleaning requirements. On a sunny day in summer, a PV module with 2.44 m2 area is cleaned. Comparing the normalized current-voltage （I-V） characteristic of PV module before and after cleaning, the maximum power of PV module corrected to standard test condition （STC） is enhanced approximate 16.1% after cleaning.
关键词
机器人 /
光伏 /
太阳能发电 /
光伏清扫机器人 /
驱动系统
Key words
robotics /
photovoltaics /
solar power generation /
photovoltaic cleaning robot /
drive system
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基金
常州市科技计划（CJ20230043）; 中央高校基本科研业务费专项资金（B230201004）
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