The Effect Of Ash On Photovoltaic Modules And Cleaning Equipment Robotic Arm Research

With the continuous development of the economy and society,people's demand for energy is increasing,and the problem of energy shortage is also coming.Therefore,it is urgent to find new energy sources to replace traditional fossil energy.As a new type of energy,solar energy is being applied in many fields,among which solar power generation is the most widely used.However,the accumulation of ash on the surface of photovoltaic modules seriously affects the efficiency of photovoltaic power generation.A major problem we are facing with is to improve the utilization rate of solar energy in photovoltaic power generation.This paper firstly analyzes the existing theory of photovoltaic power generation,and studies the cause of surface area ash of photovoltaic modules,the effects of ash on photovoltaic modules from three aspects: occlusion effect,temperature effect and corrosion effect.On-site measurement was carried out for the effect of ash deposition on photovoltaic power generation.It is found that In the autumn without rain,the amount of ash accumulated in 15 days can reduce the output current of photovoltaic modules by about 22.6%,and the average daily drop is 1.51%.It can be seen that reducing the dust accumulation on the surface of the photovoltaic module and maintaining the surface cleanliness of the photovoltaic module are of great significance for improving the power generation efficiency of the photovoltaic module.Secondly,the study combines with Lanzhou Science and Technology Development Project of Gansu Province Solar photovoltaic panels dry cleaning robot research and development and industrialization(No.2015-3-118)and Gansu Province provincial-level scientific and technological innovation development special fund support project(2018ZX-13),and improves the original photovoltaic power plant cleaning equipment robot arm.The structure of the manipulator is analyzed by the finite element analysis software ABAQUS.Obtain the stress-strain diagram and deformation diagram of the manipulator in the worst position of the force to verify virtual assembly results of the cleaning equipment,the D-H model of the robot arm of the cleaning equipment was established.Combined with the joint parameters of the mechanical arm,the forward and backward kinematics of the robot arm and the Jacobian matrix were analyzed.The kinematics model of the robot arm was established.The simulation software ADAMS is used to simulate the motion characteristics and motion law of the manipulator.The results show that the joints of the cleaning equipment are stable during the simulation process.The simulation results under complex conditions show that the cleaning equipment robot arm can be used for cleaning tasks in harsh environments and can ensure the quality of cleaning operations.Finally,the prototype of the cleaning equipment was made according to the simulation optimization results.The reasonable motion parameters of the joints of the robot arm of the cleaning equipment were obtained through a large number of experiments.The experimental results show that the robot arm is stable.At the same time,the dust removal experiment was carried out on the prototype of the cleaning equipment.The results showed that the cleaning effect of the cleaning equipment was significant under the condition of no water,which was of great significance for improving the power generation efficiency of photovoltaic modules and reducing the operation and maintenance cost of photovoltaic power plants.