Structural Optimization Design And Motion Characteristics Analysis Of Photovoltaic Cleaning Robot

With the rapid economic development and the depletion of fossil fuels,the use of renewable energy such as solar energy is conducive to easing the pressure on energy supply and carbon emissions.However,photovoltaic power stations are mostly located in open areas with dry climate,high temperature and little rain.The problem of ash accumulation on the surface of photovoltaic modules is serious,which leads to the decrease of power generation efficiency.Therefore,this paper aims at the cleaning of the surface area of photovoltaic modules.According to the shortcomings of the frame mobile cleaning equipment,the robot design requirements are put forward,then the whole machine design scheme is completed,and the structural optimization design of the walking mechanism support frame is carried out.Then,the theoretical mechanical model of the robot under multiple working conditions is established to provide theoretical guidance for the optimization of the dynamic performance of the robot.Finally,the performance of the physical prototype is tested to verify the rationality of the mechanical structure and the effectiveness of the control system.The main work of this article is as follows:(1)A design scheme of semi-frame photovoltaic cleaning robot is proposed.Based on the analysis of the research status of mechanical dust removal technology at home and abroad,this paper improves the shortcomings of frame mobile cleaning robots,proposes a design scheme of semi-frame photovoltaic cleaning robots,and gives the design parameters of robot walking mechanism,cleaning mechanism and control system.(2)A design method combining topology optimization and response surface optimization is proposed.The finite element analysis software was used to analyze the key components of the photovoltaic cleaning robot.Taking the robot walking mechanism support frame as the research object,the topological optimization is used to improve the support frame structure.And then the size of the support frame is optimized by the response surface to ensure that the support frame parts can reduce the weight of the whole machine under the requirements of strength and rigidity.(3)The theoretical mechanical model of the robot under multiple working conditions is established and verified.Considering the complex operating environment of the robot,in order to verify the reliability of the robot under complex working conditions and improve the dynamic performance of the robot after structural optimization,the theoretical mechanical model of the robot under multiple working conditions is established.The virtual simulation software is used to simulate the motion of the robot under multiple working conditions,and the simulation results are compared with the theoretical analysis values to verify the effectiveness of the theoretical analysis,and the theoretical mechanical model can provide guidance for the optimization of the dynamic performance of the robot.(4)Robot performance testing.the robot prototype is fabricated and the experimental test platform is set up to conduct performance tests of the robot,including motion tests under different working conditions such as obstacle crossing and climbing and dust removal rate experiments.The experimental results show that the robot runs smoothly and without slipping,the maximum obstacle crossing height of the robot is 18 mm,and the maximum slope climbing angle is 15°.The dust removal rate of the robot is related to the walking speed and the rotating speed of the roller brush.When the rotating speed of the roller brush is 120 rpm,the dust removal effect of the robot is good.When the rotating speed of the roller brush is constant,reducing its walking speed can help improve its dust removal rate.Figure [56] table [19] reference [73]...