| Photovoltaic(PV)power generation has become one of the most important new energy industries,and its application is conducive to alleviating the pressure of energy supply and reducing carbon emissions.China has become the country with the largest annual installed capacity of PV power generation in the world.Covering the surface of solar PV panels with dust or other pollutants can cause additional losses in energy production and become a major obstacle to the efficient conversion of solar energy.Periodic cleaning of solar panels is an important means to improve the efficiency of power generation,and the use of automated mechanical cleaning methods is currently the most effective means of gradually forming a consensus.Aiming at this design requirement,this paper puts forward the design goals of cleaning robots of solar PV panels suitable for small and medium-sized PV power plants.And we took the automatic water cleaning of the robot with as the main design direction.This article completed the following design and experimental verification work:(1)Completed the overall design and control system design of the solar panel cleaning robot,including the overall plan,sensors selection,motors selection,etc.(2)The virtual mechanical structure of the cleaning robot is designed by Solid Works software,and the mechanical transmission and cleaning scheme are determined.The static and dynamic characteristics of the cleaning shaft are analyzed by ABAQUS finite element software,and the bending static stiffness is calculated.(3)Kinematics and dynamics modeling and analysis of cleaning robot are carried out,using simulation software ADAMS to establish a 3D virtual prototype,through its dynamic analysis of the cleaning robot that had completed the virtual design,combined with MATLAB for simulation to verify the rationality of its mechanical structure and the stability of motion.(4)The experimental prototype was completely assembled,the experimental verification system was established,and an ideal cleaning scheme was designed.(5)An image recognition system based on MATLAB was established,and the cleaning quality of the panel through different operating conditions such as cleaning with or without water was compared,which further verified the good working efficiency of the experimental prototype.The expected design goals were reached;and the robot could be completed the cleaning tasks independently in accordance with the established conditions.The results show that combined using the software of virtual design,finite element,and dynamic analysis can effectively realize the analysis and verification of the robot’s structural function,and improve the design efficiency of unknown mechanical structures.The development method proposed in this paper also has certain reference significance for general mechanical design. |
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