CN106330081A - Solar cell panel maintenance system and maintenance equipment thereof - Google Patents
Solar cell panel maintenance system and maintenance equipment thereof Download PDFInfo
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- CN106330081A CN106330081A CN201610820748.5A CN201610820748A CN106330081A CN 106330081 A CN106330081 A CN 106330081A CN 201610820748 A CN201610820748 A CN 201610820748A CN 106330081 A CN106330081 A CN 106330081A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 97
- 238000004140 cleaning Methods 0.000 claims description 24
- 238000010276 construction Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 13
- 208000012661 Dyskinesia Diseases 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 238000005096 rolling process Methods 0.000 description 14
- 230000008859 change Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000007726 management method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
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- 239000000446 fuel Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention provides a solar cell panel maintenance system and maintenance equipment thereof. The maintenance equipment comprises a walking device and a maintenance device. The walking device comprises a first walking unit and a second walking unit, which are connected by at least a connecting unit, and the connecting unit is connected with the first walking unit and the second walking unit by movable assemblies. The walking device is disposed on one or a plurality of solar cell panel/s in a bridged manner, and is used to drive the solar cell panel maintenance equipment to move on the solar cell panel or the plurality of solar cell panels. The maintenance device is connected with the walking device, and is used for the maintenance of the surface of the solar cell panel during the moving process of the maintenance equipment. The maintenance equipment has a simple structure, and is used to realize the maintenance of the solar cell panel.
Description
Technical field
The present invention relates to the technical field that solar panel is safeguarded, be specifically related to a kind of solar panel and safeguard system
System and the equipment of maintenance thereof.
Background technology
Solar energy is the energy that a kind of cleaning, the amount of containing are huge, and the recent years utilizing solar energy development is fast
Suddenly, utilize form to be through solar panel the one that solar energy is main at present to generate electricity.
It is known that solar panel is a kind of dependence Surface absorption sunlight, then solar radiant energy is passed through light
Electrical effect or Photochemical effects are converted directly or indirectly into the device of electric energy.But when solar panel surface by dust,
When foreign material etc. block, solar panel can be substantially reduced and receive the efficiency of sunlight, according to photovoltaic plant solaode
The data statistics of plate power generation situation, if be not cleaned solar panel surface for a long time, the light of solar panel
Transformation efficiency can reduce by more than 35%, and so generating efficiency to solar panel can produce and have a strong impact on.Therefore, the most right
Solar panel surface is cleaned becoming extremely important.
Photovoltaic plant mostly uses the solar panel of same specification to carry out large-area laying, wherein, in advance
The solar panel of determined number can be laid on the cell plate group big together as, and photovoltaic plant can be in large area
Sequentially lay multiple cell plate group, thus realize solar electrical energy generation.In the application, each cell plate group can be respectively by independent
Support support, and the interval of certain distance is set between adjacent cell plate group.Maintenance equipment of the prior art can be complete
Become the walking in single cell plate group and cleaning, but, this prior art needs in each cell plate group
Arranging a maintenance equipment and separately clean the cell plate group of correspondence, it is relatively costly, and also easily causes resource
Waste.
Also the technology having part company is adjacent cell plate or cell plate group to be linked together by track, and maintenance sets
For being moved in another cell plate group by track, and then realize the continuous cleaning to adjacent cell plate, improve dimension
Protect the utilization ratio of equipment.But existing this connect in adjacent cell plate or cell plate group technology by track, due to
The structure of maintenance equipment limits, and maintenance equipment can only be by safeguard that the centrage in equipment moving direction projects weight in the horizontal plane
Track between the adjacent cell plate group closed.Therefore, this prior art compares for the requirement of the exhaust position of cell plate group
Height, if solar panels exist, arrangement is irregular, dislocation and the situation of difference in height, and maintenance equipment of the prior art then cannot be from
One piece of (group) solar panels moves to another block (group) solar panels, and the utilization rate causing maintenance equipment is the highest.
Specifically, seeing also Fig. 1 and Fig. 2, wherein, Fig. 1 is to safeguard the battery that equipment can pass through in prior art
The top view of the attachment structure of track between plate (group), Fig. 2 is to safeguard the cell panel (group) that equipment cannot pass through in prior art
Between the attachment structure top view of track.Cell panel that in figure, label 1,2 is respectively disposed adjacent or cell plate group, label 3
Being expressed as the connection track between cell panel (group), the label 10 and 20 in figure is expressed as adjacent cell plate (group) (1,2)
Projecting in the horizontal plane at the centrage safeguarding equipment moving direction, maintenance equipment 4 of the prior art can only be by institute in Fig. 1
Show that relative position arranges the track connected between relation solar panel (group), i.e. adjacent cell plate (group) (1,2) and safeguarding
The centrage in equipment moving direction projects the situation of coincidence in the horizontal plane；And cannot be arranged by position relatively shown in Fig. 2
The track connected between relation solar panel (group), i.e. equipment moving direction safeguarded by adjacent cell plate (group) (1,2)
Centrage projects misaligned situation in the horizontal plane.Certainly, the adjacent solar battery plate (group) in Fig. 1 and Fig. 2 is vertically
Rational height on direction is also possible to difference, then the attending device of prior art also cannot be the adjacent solar energy so arranged
Cell panel (group) provides cleaning.
Summary of the invention
The embodiment of the present invention provides a kind of solar panel to safeguard system and the equipment of maintenance thereof, to solve in prior art
Solar panel safeguards that equipment arranging irregular or cannot exist the skill of motion between dislocation and difference in height cell plate group
Art problem.
For solving the problems referred to above, embodiments provide the maintenance equipment of a kind of solar panel, described maintenance
Equipment includes: running gear and attending device；Described running gear includes the first walking unit and the second walking unit, described the
Connect unit by least one set between one walking unit and described second walking unit to connect, described connection unit and described the
Connected by moving component between one walking unit and described second walking unit；Described running gear is located at one or more
On solar panel, and equipment is transported on one or more solar panel to be used for driving described solar panel to safeguard
Dynamic；
Described attending device is connected with described running gear, for safeguarding during equipment moving solar-electricity described
Pond plate is safeguarded.
According to one preferred embodiment of the present invention, described first walking unit includes the first driving arm, at least one runner
And driving motor, described runner is rotationally connected with described first driving arm, drives motor to be fixedly arranged on described first driving
Frame, drives runner described in driven by motor to rotate, and then equipment is at one or more solar energy to make described solar panel safeguard
Move on cell panel.
According to one preferred embodiment of the present invention, described maintenance equipment also includes that shell, described casing cover are located at described walking
Device and the top of described attending device, and be connected with described first walking unit and/or described second walking unit rotational.
According to one preferred embodiment of the present invention, described maintenance equipment farther include control device, described control device with
The driving motor electrical connection of described running gear and/or described attending device, is used for controlling described running gear and/or described dimension
Protection unit operating condition.
According to one preferred embodiment of the present invention, described maintenance equipment also includes that electric supply installation, described electric supply installation are used for being
Described running gear, described attending device and described control device are powered.
According to one preferred embodiment of the present invention, described electric supply installation is battery and/or the sun being located at described case surface
Energy cell panel, described battery can be charged by described solar panel.
According to one preferred embodiment of the present invention, by two groups between described first walking unit and described second walking unit
Connect unit to connect, between two groups of connection unit and described first walking unit and described second walking unit, use moving component
Connect.
According to one preferred embodiment of the present invention, described attending device is cleaning device.
According to one preferred embodiment of the present invention, described cleaning device uses segmental structure, and the medium position of cleaning device sets
Least one set supporting construction frame, described supporting construction frame is had to be used for supporting cleaning device.
According to one preferred embodiment of the present invention, described cleaning device two ends are single with described first walking by flexible drive parts
First and described second walking unit connects.
According to one preferred embodiment of the present invention, described cleaning device includes central shaft and around being located at central shaft periphery
Cleaning brush.
According to one preferred embodiment of the present invention, described maintenance equipment also includes limit switch, described limit switch and control
Device electrically connects, for detecting the dyskinesia of described maintenance equipment.
According to one preferred embodiment of the present invention, described maintenance equipment also includes communication module, described communication module and control
Device electrically connects, for safeguarding the communication connection between equipment and external equipment described in solar panel.
According to one preferred embodiment of the present invention, described external equipment include but not limited to remote controller, mobile phone, panel computer,
One or more in the Handling device of remote server and the equipment of maintenance.
For solving above-mentioned technical problem, the present invention also provides for the maintenance system of a kind of solar panel, described maintenance system
System include according to any one of track and above-described embodiment safeguard equipment, described track construction company be connected to solar panel or
Between person's solar panel group, described maintenance equipment completes one piece of solar panel or a solaode in maintenance
After plate group, by described track from current solar panel or solar panel group move to current solaode
On another solar panel that plate or solar panel group connect or solar panel group, to realize passing through rail
Solar panel that road construction company is connected together or the maintenance work of solar panel group.
Relative to prior art, the solar panel that the embodiment of the present invention provides safeguards system and the equipment of maintenance thereof, can
Realize the maintenance work to solar panel.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is to safeguard the vertical view of the attachment structure of track between the cell panel (group) that equipment can pass through in prior art
Figure；
Fig. 2 is to safeguard the attachment structure top view of track between the cell panel (group) that equipment cannot pass through in prior art；
Fig. 3 is the structure end face axis side view that solar panel of the present invention safeguards equipment one preferred embodiment；
Fig. 4 is the structure floor axis side view that in Fig. 3 embodiment, solar panel safeguards equipment；
Fig. 5 is the end face axis side view of running gear in Fig. 3 embodiment；
Fig. 6 is the bottom surface axis side view of running gear in Fig. 3 embodiment；
Fig. 7 is the end view of running gear in Fig. 3 embodiment；
Fig. 8 is the top view of running gear in Fig. 3 embodiment；
Fig. 9 is the top view of " four-bar linkage structure " the first change of shape state in running gear walking process；
Figure 10 is the top view of " four-bar linkage structure " the second change of shape state in running gear walking process；
Figure 11 is that in Fig. 3 embodiment, running gear first is walked the partial enlarged drawing of unit；
Figure 12 is the view at another visual angle of partial enlarged drawing in Figure 11；
Figure 13 is that in Fig. 3 embodiment, running gear second is walked the partial enlarged drawing of unit one end；
Figure 14 is the fragmentary bottom enlarged drawing of the first walking unit one end safeguarding equipment in Fig. 3 embodiment；
Figure 15 is the internal structure top view safeguarding equipment in Fig. 3 embodiment；
Figure 16 is the partial enlarged drawing in Figure 15 at A；
Figure 17 is to safeguard in maintenance system of the present invention that equipment is by being erected at track between adjacent solar battery plate group
Structural representation；
Figure 18 is each control unit of attending device control module one preferred embodiment and drives the connection between motor to close
It it is block diagram；And
Figure 19 is the structural representation of another embodiment of running gear.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the present invention is described in further detail.Implement it is emphasized that following
Example is merely to illustrate the present invention, but is not defined the scope of the present invention.Same, following example are only the portion of the present invention
Point embodiment and not all embodiments, the institute that those of ordinary skill in the art are obtained under not making creative work premise
There is other embodiments, broadly fall into the scope of protection of the invention.
Seeing also Fig. 3 and Fig. 4, Fig. 3 is the structure that solar panel of the present invention safeguards equipment one preferred embodiment
End face axis side view, Fig. 4 is the structure floor axis side view that in Fig. 3 embodiment, solar panel safeguards equipment, such as Fig. 3-4 institute
Showing, this maintenance equipment includes but not limited to running gear 100 and attending device 200.
Specifically, see also the end face axis side view that Fig. 5 and Fig. 6, Fig. 5 are running gears in Fig. 3 embodiment, figure
6 is the bottom surface axis side view of running gear in Fig. 3 embodiment.Running gear 100 is located at one or more solar panel
On, and equipment on one or more solar panel surface or is erected at solar energy to be used for driving solar panel to safeguard
Move on track on cell panel.Wherein, solar panel is also known as photovoltaic module, photovoltaic battery panel, solar panels etc..
This running gear 100 includes the first walking unit 110 and the second walking unit 120；This first walking unit 110 and second walking
Connecting unit by least one set between unit 120 to connect, in this embodiment, the first walking unit 110 and the second walking are single
Connect unit 102 by two groups between unit 120 to connect.Certainly, in other embodiments, the first walking unit 110 and the second row
Walk and can also connect unit connection by one group, three groups or many groups between unit 120, exist about the quantity that arranges connecting unit
In the range of the understanding of those skilled in the art, the most no longer describe in detail.Preferably, in the present embodiment, connecting unit 102 can be
Beam rail.
Further, referring to Fig. 7, Fig. 7 is the end view of running gear in Fig. 3 embodiment.Connect unit 102 and the
Connected by moving component 130 between one walking unit 110 and the second walking unit 120.
Between the first walking unit 110 and the second walking unit 120 in this embodiment, two groups by being parallel to each other connect
Order unit 102 connects, and two groups connect employing activity group between unit 102 and the first walking unit 110 and the second walking unit 120
Part 130 connects；Wherein, first, second walking unit and two groups connect four-bar linkage structure shape that unit constitutes can be according to the
One, the second walking change of unit track route and be adjusted to " four-bar linkage structure " shape of rectangle or parallelogram.
Seeing also Fig. 8-Figure 10, Fig. 8 is the top view of running gear in Fig. 3 embodiment, Fig. 9 and Figure 10 is respectively row
The top view of " four-bar linkage structure " change of shape state in walking apparatus walking process, wherein, first, second walking unit in Fig. 8
And two groups of " four-bar linkage structures " connecting unit composition are shaped as rectangular shape it can be understood as the normal of the equipment of maintenance works
State or the situation of structure is set by Fig. 1 example middle orbit, and when maintenance equipment is walked by the rail arranging structure in Fig. 2
During road, " four-bar linkage structure " then can deform upon, and becomes two kinds of parallelogram sturcutres in Fig. 9 or Figure 10.
Wherein, moving component 130 is used for connecting between unit 102 with walking unit and being flexibly connected.It should be noted that this
Assembly described in inventive embodiments can be structure as a whole, it is also possible to is the structure including multiple unit construction together, example
Such as the moving component in literary composition, connecting shaft assembly etc..
This moving component 130 can include bearing 131 and fixing seat 132.The side connecting unit 102 and bearing 131 is joined
Conjunction portion (not indicating in figure) is fixing to be connected, and is walked unit or the with first by fixing seat 132 in the opposite side auxiliary section of bearing 131
Two walking unit connect, and specifically, the side of bearing 131 can be connected with the driving arm of the first or second walking unit
(referring to the detailed description of aft section about the first walking unit and the second concrete structure walking unit).
Coordinate between the auxiliary section, both sides of bearing 131 and be rotationally connected, wherein, between the auxiliary section, both sides of bearing 131 at least
There is the rotational freedom in being perpendicular to bearing 131 axial plane.That is between the auxiliary section, both sides of bearing 131 at least
Planar can realize rotating at " four-bar linkage structure " so that " four-bar linkage structure " can rectangle and parallelogram it
Between occur change of shape.
And the kind of bearing 131 can include sliding bearing and rolling bearing, such as: self-aligning roller bearing, taper roller
Bearing, biserial deep groove ball bearing, deep groove ball bearing, angular contact ball bearing, cylinder roller bearing, needle bearing, axle sleeve etc..
Due to, during the solar panel (group) that photovoltaic power plant is arranged, inevitably there is solar energy
(between the plane of the sun) uneven situation is there is, although the most this uneven difference between cell panel (group)
Not smaller, but in order to solve this technical problem, it is preferable that the auxiliary section, both sides of the bearing 131 in the present embodiment with
Connect the link position between unit 102 and walking unit (driving arm) and be additionally provided with connection installation elastic allowance, so that axle
The auxiliary section, both sides holding 131 can respectively and occur low-angle between the connection unit 102 that is attached thereto or walking unit
Elastic connection deformation, so that this moving component 130 has at " four-bar linkage structure " out-of-plane degree of freedom, i.e. this moving component
130 can produce certain deformation with in the vertical direction.
For solving above-mentioned technical problem, it is further preferred that this bearing 131 can be ball bearing, ball bearing can have
The rotational freedom of three planes, it is more with the connection degree of freedom being connected unit between 102 to make walking unit, and then can make dimension
The equipment that protects adapts to the more complicated walking track of shape or run trace.Certainly, for satisfied connection unit 102 and walking unit
Be rotationally connected, those skilled in the art can also design the moving component structure choosing other structures, the most one by one
Enumerate.
Seeing also Figure 11 and Figure 12, Figure 11 is that in Fig. 3 embodiment, running gear first is walked the partial enlargement of unit
Figure, Figure 12 is the view at another visual angle of partial enlarged drawing in Figure 11.Preferably, in the present embodiment, the first walking unit 110 includes
First driving arm 111, two groups runner (112,113) and driving motor 114.Wherein, two groups of runners (112,113) respectively with
First driving arm 111 is rotationally connected, and drives motor 114 to be fixedly arranged on the first driving arm 111, drives motor 114 to drive and turns
Wheel rotates, and then equipment moves on one or more solar panel to make solar panel safeguard.
Preferably, in the present embodiment, one group (label 112 in figure) in two groups of runners along the first plane rolling, another
Group (label 113 in figure) is along the second plane rolling；The first plane in the present embodiment can be solar panel end face, by
Polylith cell panel splices the plane formed or the plane being parallel to solaode plate top surface, and the second plane can be too
Sun can the side of cell panel or be parallel to the plane of solar panel side, two groups of runners are respectively along solar panel
End face edge and side roll.
Preferably, the present embodiment is often organized runner and all includes two runners, drive motor 114 (figure not to be marked by gear
Show) and chain 1141 drive mechanism drive along two runner synchronous axial system of the first plane rolling, and along the second plane rolling
Two runners are as driven runner.Certainly, along the second plane rolling two runners can also by connect drive structure or
Multiple driving motors and as actively runner, which runner those skilled in the art can choose as required is entered as power wheel
Row design.As long as ensureing to drive motor at least to drive one group of runner along a plane rolling to rotate.It addition, it is real at other
Executing in example, often group runner can also include one or more runner, and as each runner in the runner group of actively runner
All can drive by individually driving motor, same, other versions can be designed those skilled in the art
Drive the connected mode of motor and actively runner.
Further, each walking unit in the present embodiment is provided with along solaode plate top surface (the first plane)
With the runner rolled in solar panel side (second or the 3rd plane)；In other embodiments, it is also possible to further
The runner of the bottom surface rolling along solar panel is set, or only arranges along turning that solaode plate top surface and bottom surface roll
Wheel, and it is not provided with the runner rolled along solar panel side.From the point of view of in other words, those skilled in the art are in design roller position
When putting with structure, unilateral walking unit (the first walking unit or the second walking unit) can arbitrarily one, two or
Three solar panel surfaces of person (end face, certain one side or bottom surface) arrange roller, about this technical characteristic, the most not
Describe in detail again.
Referring to Figure 13, Figure 13 is that in Fig. 3 embodiment, running gear second is walked the partial enlarged drawing of unit one end, at this
In embodiment, the second walking unit 120 includes the second driving arm 121 and two groups of runners (122,123), and these two groups of runners divide
Be not rotationally connected with the second driving arm 121, one group (label 122 in figure) in these two groups of runners along the first plane rolling, separately
One group (label 123 in figure) are along the 3rd plane rolling.The 3rd plane in the present embodiment can be the side of solar panel,
I.e. second plane is respectively two sides that solar panel is relative with the 3rd plane.
Preferably, the second walking unit 120 and the first walking unit 110 use symmetrical structure, this second walking unit
The often group runner group of 120 the most all includes two runners.Same, in other embodiments, the often group of the second walking unit 120 turns
Wheel can also be the structure including one or more runner.
Further, this second walking unit 120 arranges two runners and the of runner group 122 along the first plane rolling
One walking unit 110 is arranged along the first plane rolling and is connected by connecting shaft assembly 140 respectively between two runners of runner group 112
Connect, so that the driving motor 114 in the first walking unit 110 drives edge in the first walking unit 110 and the second walking unit 120
Runner group (112 and the 122) synchronous axial system that first plane rolling is arranged.
Except using in addition to said structure, this second walking unit 120 again may be by arranging independent driving motor and
Drive mechanism (not showing in diagram embodiment) drives actively runner group to rotate and (arranges along the first plane rolling in the present embodiment
Runner group 122 is as active runner group).Runner group 123 is same as driven runner group in the present embodiment, certainly, according to setting
Meter needs, and runner group 123 can also be as active runner group, and when it is as active runner group, its concrete driving structure is special
Levy in the range of the understanding of those skilled in the art, the most no longer describe in detail.
Seeing also Figure 11 and Figure 13, this connecting shaft assembly 140 includes connecting shaft 141, flexible drive parts 142 and stretches
Axle 143.
Specifically, the two ends of connecting shaft 141 are by flexible drive parts 142 and the active runner of the first walking unit 110
It is in transmission connection with the active runner of the second walking unit 120.Wherein, this flexible drive parts 142 can be driving universal joint etc..
Telescopic shaft 143 concatenates with connecting shaft 141, and the centre distance of two runners for connecting at connecting shaft assembly 140 occurs
The integrally-built length of connecting shaft assembly 140 is regulated, to adapt to the centre distance of two runners during change.It should be noted that conduct
The variant embodiment of the present embodiment, it is also possible to the connecting shaft assembly 140 between runner is used as connecting unit 102, i.e. connecting shaft
Assembly 140 1 aspect being in transmission connection between runner, on the other hand can also substitute connection unit 102 and two walking unit
Collectively form " four-bar linkage structure ", and then connection unit 102 can be set, it is also possible to realize original function.
Referring to Fig. 4, attending device 200 is located between the first walking unit 110 and the second walking unit 120, is used for
Solar panel surface is cleaned by running gear 100 motor process.
Specifically see also the fragmentary bottom enlarged drawing that Figure 14, Figure 14 are first walking unit one end of maintenance equipment,
This attending device 200 can be cleaning device, and it includes central shaft 210 and around the cleaning brush being located at central shaft 210 periphery
220；Wherein, central shaft 210 and cleaning brush 220 can also be structure as a whole.
The two ends of central shaft 210 are by flexible drive parts 230 and the first walking unit 110 and the second walking unit 120 (figure
In 14, the second walking unit side is not shown) connect.In the duty of the equipment of maintenance, the outside of cleaning brush 220 and solar-electricity
Pond plate contact.
Preferably, in the present embodiment, central shaft 210 drives clear under the driving that the first walking unit 110 drives motor 114
Clean brush 220 rotates, i.e. attending device 200 drives with the first shared same driving motor of walking unit (or perhaps running gear)
Dynamic；The solar panel surface that the cleaning brush 220 rotated is pointed to below is cleaned.Certainly, in other embodiments,
Attending device 200 can also be separately provided driving motor and drive.The most no longer describe in detail.
It is further preferred that please continue to refer to Fig. 3, this maintenance equipment also includes shell 300, this shell 300 is covered on row
Walking apparatus 100 and the top of attending device 200, specifically, shell 300 can be by support beam 301 and the first walking unit 110
It is rotationally connected with the second walking unit 120, the two ends of support beam 301 and the first walking unit 110 and the second walking unit 120
Driving arm top is rotationally connected, the most in the lump Fig. 5 and Fig. 7.Wherein, the two ends of support beam 301 are driven with first, second walking unit
The rotation connection structure 302 at dynamic support (111,121) top can be designed to the version similar with moving component 130, tool
Body refers to be previously with regard to the structure of moving component 130 and describes, and here is omitted.
Shell 300 can fixing with the top of support beam 301 be connected, and shell 300 also can rotate even with the top of support beam 301
Connect.It is further preferred that refer to Figure 15, Figure 15 is the internal structure top view of maintenance equipment, shell 300 and support beam 301
Between connected by multiple connection trailing arms 303.Certainly, shell 300 is not limited to this enforcement with the connected mode of running gear 100
Being attached by support beam 301 in example, it is also possible to realize connecting with the movable of running gear 100 by other supporting structure
Connect, even shell 300 can directly be connected unit 102 and be flexibly connected, about the connection shape of shell 300 with running gear 100
Formula the present embodiment will not enumerate.
Seeing also Figure 16, Figure 16 is partial enlarged drawing at A in Figure 15, due to connecting shaft assembly 140 and attending device
The overall structure of 200 is longer, and therefore in the present embodiment, preferably medium position in each connecting shaft 141 and central shaft 210 sets
Being equipped with one or more supporting construction frame 1410, supporting construction frame 1410 is provided with axis hole 1411, central shaft 210 and connecting shaft
141 are each passed through the most corresponding supporting construction frame 1410 upper shaft hole, and by movable of axis hole 1411 and supporting construction frame 1410
Support connects, and is supported by interpolation at middle part, is possible to prevent owing to axle is long and occur bending and deformation.
Preferably, connecting shaft 141 is can be multi-segment structure, similarly, and the central shaft 210 of attending device 200 and clear
Clean brush 220 can also be multi-segment structure；Wherein, the supporting construction frame 1410 of connecting shaft 141 connects with being connected trailing arm 303, and in
The supporting construction frame 1410 of mandrel 210 then can be directly anchored in support beam 301.
Two ends at the link position of supporting construction frame 1410 and connecting shaft 141 and central shaft 210 are additionally provided with Flexible Transmission
Part (does not indicates in figure), to adapt to connecting shaft 141 and the flexural deformation of central shaft 210.
Refer to the structural representation that Figure 19, Figure 19 are another embodiments of running gear, the connecting shaft 141 in this embodiment
Being all the structure of a whole piece with attending device 200, centre does not has segmentation, is not provided with supporting construction frame yet, in this embodiment
In the process of walking, the deformation of its four-bar linkage structure can realize two kinds of illustrated case in Fig. 9 and Figure 10 to running gear.
Preferably, please continue to refer to Fig. 3, this maintenance equipment farther includes to control device 400 and electric supply installation 500.
In the present embodiment, control device 400 is fixing with shell 300 is connected, and is fixedly arranged on the top of shell 300.Control device 400 and walking
The driving motor electrical connection of device 100 and attending device 200, is used for controlling running gear 100 and attending device 200 operates shape
State.
Wherein, this control device 400 includes the attending device control module for being controlled attending device 200.Please
Close refering to the connection between each control unit that Figure 18, Figure 18 are attending device control module one preferred embodiment and driving motor
It it is block diagram.In this embodiment, this attending device control module can include Power Management Unit 411, motion controller 412 with
And motor driver 413 etc..
Motion controller 412 can be motion control card or programmable logic controller (PLC) PLC (Programmable Logic
Controller, programmable logic controller (PLC)) etc. other control circuits (hereinafter referred to as " controller "), mainly complete attending device
Motion planning；Motor driver 413 can be Inverter Drive System, servo drive system or stepper drive with driving motor
Systems etc. (hereinafter referred to as " drive system "), for performing fortune control instruction driving mechanical parts (this enforcement that controller 412 sends
Axle 210 and cleaning brush 220 centered by example) action；Controller 412 and drive system (driving motor and motor driver 413)
Between by the communication protocol such as Ether CAT, CANOpen, MODBUS, or can transmit by the way of digital quantity with analog quantity
Fortune control instruction and feedback status information.Certainly, in other implementations driving motor to be controlled, it is also possible to be not provided with
Motor driver 413, also can realize the control to electrode and driving by other simple control circuits, people in the art
Member it will be appreciated that within the scope of, will not enumerate herein.
Motion control card is preferably used in this embodiment and carries out planning fortune control instruction as controller 412, and by numeral
Amount and Analog control motor driver 413；Motor driver 413 is according to fortune control order-driven motor rotation, and then band motivation
Tool component actuation.
The present invention can use opened loop control or closed loop control.Use close-loop control mode, on the one hand can improve control system
Robustness (transliteration of Robust, the most healthy and the strongest and strong meaning.It is system survival under exception and dangerous situation
Crucial), on the other hand it is maintained device 200 motor process information by closed loop feedback signal, for the expanded function of the present invention
(hot spot such as solar panel detects function etc.) provides technical foundation.Wherein, the solid line in Figure 18 represents opened loop control
Signal connecting line, and dotted portion is expressed as optional closed loop command signal connecting line.
Electric supply installation 500 is for powering for running gear 100, attending device 200 and control device 400.Wherein, power supply
Device 500 can include accumulator (not shown) and solar panel 510, the most preferably, for Denso
Putting 500 solar panel 510 and the accumulator including being located at shell 300 upper surface, this solar panel 510 is for sending out
Electricity and can also charge the battery, battery can be then lead battery, fuel cell, lithium battery etc..Power Management Unit
411 are connected with electric supply installation 500 electric control, for realizing the functions such as the electric power detection to electric supply installation 500 and temperature detection.When
So, the present embodiment is be divided in control device 400 as a control circuit part using Power Management Unit 411
Line description, it will be understood by those skilled in the art that the actual control circuit for electric supply installation 500 of Power Management Unit 411,
Therefore, the definition of Power Management Unit 411 and divide that substantially can't to have influence on electric supply installation 500 in the embodiment of the present application right
The functional requirement of maintenance equipment bulk supply.
Please continue to refer to Fig. 3, Figure 14 and Figure 15, what this maintenance equipment also included being based in outside shell 300 spacing opens
Close 600 and communication module (not indicating in figure), limit switch 600 be located at maintenance equipment both sides and with control device 400 electricity
Signal connects.During safeguarding equipment moving, when limit switch 600 is triggered, represents and run into during safeguarding equipment moving
Obstacle or move to defined position, triggering signal is sent to control device 400 by limit switch 600, in order to control device 400
Running gear 100 is sent corresponding control instruction.
And communication module is connected with control device 400 signal of telecommunication, safeguard equipment and external equipment for solar panel
Between communication connection, described external equipment includes but not limited to remote controller, mobile phone, panel computer (such as ipad), remote service
Device and one or more of Handling device etc. of the equipment of maintenance.And communication module and control device are at the circuit structure of physics
Can be same module from the point of view of on or be structure as a whole.Communication module is for providing the wired or nothing between external equipment
Line communication connection function.And about the concrete technical characteristic of communication module, in the range of the understanding of those skilled in the art, herein
Repeat no more.
The solar panel that the embodiment of the present invention provides safeguards equipment, and its running gear is by arranging connection unit and the
Rotation connection structure between one walking unit and the second walking unit, equipment can be by more to make solar panel safeguard
Complexity arranges the track structure of form, in order to solar panel safeguards that equipment is adapted to more solar cell panel structure
Form is set, and then improves the utilization ratio of solar panel maintenance equipment.
Further, the embodiment of the present invention also provides for the maintenance system of a kind of solar panel, refers to Figure 17, Figure 17
It is that maintenance system of the present invention being safeguarded, equipment is by being erected at the structural representation of track between adjacent solar battery plate group.Should
Maintenance system includes maintenance equipment 1000 and track 2000.Wherein, track 2000 construction company is connected to solar panel group
Between 3000.It should be noted that the equipment of safeguarding in the present embodiment is preferably at the dual-side of solar panel group 3000
Along walking.Certainly, in other embodiments, it is also possible to independent erection bracket or track in solar panel group 3000,
I.e. solar panel track, makes maintenance equipment walk on the support individually set up or track.Solar panel track
Can be solar panel group 3000 end face lay structure, specifically can be laid on solar panel group 3000 and push up
The side in face or the position at edge, it is also possible to be layed in the adjacent place of solar panel.And about at solaode
Independent erection bracket or the technical characteristic of track in plate group 3000, in the range of the understanding of those skilled in the art, the most not
Describe in detail again.When individually setting up solar panel track, track 2000 can with construction company be connected to solar panel track it
Between, it is also possible to it is integrated mechanism with solar panel track.And about the technical characteristic at solar panel track, at this
In the range of the understanding of skilled person, the most no longer describe in detail, illustrate the most in the drawings.
Solar panel can be to be configured using several pieces of solar panels as overall one group, track 2000 then frame
If between adjacent solar battery plate group 3000, being specifically arranged on the solaode at maintenance equipment 1000 walking position place
Between plate group 3000 respective side.Certainly, if solar panel is independent one piece of structure arranged, track 2000 the most also may be used
Between the dual-side corresponding to be arranged on adjacent solar battery plate.
Maintenance equipment 1000, after maintenance completes one piece of solar panel or a solar panel group, passes through rail
Road 2000 from current solar panel or solar panel track move to current solar panel or the sun
On another solar panel of energy cell panel track connection or solar panel track, to realize by track 2000
Solar panel that construction company is connected together or the maintenance work of solar panel group.
Architectural feature about maintenance equipment 1000 refers to detailed description above, is not repeated herein.And track
2000 can be two, be connected to side corresponding to maintenance equipment 1000 walking position of adjacent cell plate group 3000 it
Between.
The maintenance system of this solar panel, connects adjacent solar battery plate group by arranging track, and maintenance sets
For being moved between the solar panel group being interconnected by track, and then realize being connected on one to by track construction company
The solar panel risen or the maintenance work of solar panel group.
In the present invention, maintenance to solar panel includes but not limited to the cleaning to solar panel, detects, supervises
Control, maintenance etc..
The foregoing is only the section Example of the present invention, not thereby limit the scope of the invention, every utilization
Equivalent device or equivalence flow process that description of the invention and accompanying drawing content are made convert, or it is relevant to be directly or indirectly used in other
Technical field, be the most in like manner included in the scope of patent protection of the present invention.
Claims (15)
1. the maintenance equipment of a solar panel, it is characterised in that described maintenance equipment includes:
Running gear, described running gear includes the first walking unit and the second walking unit, described first walking unit and institute
State and connect unit connection, described connection unit and described first walking unit and institute by least one set between the second walking unit
State and connected by moving component between the second walking unit；Described running gear is located at one or more solar panel
On, and equipment moves on one or more solar panel to be used for driving described solar panel to safeguard；
Attending device, described attending device is connected with described running gear, for safeguarding during equipment moving too described
Sun can be safeguarded by cell panel.
Maintenance equipment the most according to claim 1, it is characterised in that
Described first walking unit includes the first driving arm, at least one runner and drives motor, and described runner is with described
First driving arm is rotationally connected, and drives motor to be fixedly arranged on described first driving arm, drives runner described in driven by motor to rotate,
And then equipment moves on one or more solar panel to make described solar panel safeguard.
Maintenance equipment the most according to claim 1, it is characterised in that described maintenance equipment also includes shell, described shell
It is covered on described running gear and the top of described attending device, and walks with described first walking unit and/or described second
Unit rotational connects.
Maintenance equipment the most according to claim 1, it is characterised in that described maintenance equipment farther includes to control device,
Described control device electrically connects with the driving motor of described running gear and/or described attending device, is used for controlling described walking
Device and/or described attending device.
Maintenance equipment the most according to claim 4, it is characterised in that described maintenance equipment also includes electric supply installation, described
Electric supply installation is for powering for described running gear, described attending device and described control device.
Maintenance equipment the most according to claim 5, it is characterised in that described electric supply installation is battery and/or is located at described
The solar panel of case surface, described battery can be charged by described solar panel.
Maintenance equipment the most according to claim 1, it is characterised in that described first walking unit and described second walking are single
Between unit by two groups connect unit connect, two groups connect unit with described first walking unit and described second walking unit it
Between use moving component connect.
Maintenance equipment the most according to claim 1, it is characterised in that described attending device is cleaning device.
Maintenance equipment the most according to claim 8, it is characterised in that described cleaning device uses segmental structure, sanitizer cartridge
The medium position put is provided with least one set supporting construction frame, and described supporting construction frame is used for supporting cleaning device.
Maintenance equipment the most according to claim 8, it is characterised in that flexible drive parts is passed through at described cleaning device two ends
It is connected with described first walking unit and described second walking unit.
11. maintenance equipment according to claim 8, it is characterised in that described cleaning device includes central shaft and cincture
It is located at the cleaning brush of central shaft periphery.
12. maintenance equipment according to claim 4, it is characterised in that described maintenance equipment also includes limit switch, described
Limit switch electrically connects with controlling device, for detecting the dyskinesia of described maintenance equipment.
13. maintenance equipment according to claim 4, it is characterised in that described maintenance equipment also includes communication module, described
Communication module electrically connects with controlling device, for safeguarding the communication link between equipment and external equipment described in solar panel
Connect.
14. maintenance equipment according to claim 13, it is characterised in that described external equipment includes but not limited to remote control
One or more in the Handling device of device, mobile phone, panel computer, remote server and the equipment of maintenance.
The maintenance system of 15. 1 kinds of solar panels, described maintenance system includes track and any one of claim 1-14
Described maintenance equipment, described track construction company is connected between solar panel or solar panel group, and described maintenance sets
Standby after maintenance completes one piece of solar panel or a solar panel group, by described track from current solar energy
Cell panel or solar panel group move to be connected with current solar panel or solar panel group another
On solar panel or solar panel group, to realize the solar panel being connected together by track construction company
Or the maintenance work of solar panel group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820748.5A CN106330081B (en) | 2016-09-12 | 2016-09-12 | Solar cell panel maintenance system and maintenance equipment thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820748.5A CN106330081B (en) | 2016-09-12 | 2016-09-12 | Solar cell panel maintenance system and maintenance equipment thereof |
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| CN108262281A (en) * | 2018-02-11 | 2018-07-10 | 山东豪沃电气有限公司 | A kind of multi-functional full-automatic intelligent solar solar panel purging system |
| CN109433662A (en) * | 2018-09-28 | 2019-03-08 | 北京天诚同创电气有限公司 | Walking supporting mechanism and sweeping robot |
| CN110252706A (en) * | 2019-07-23 | 2019-09-20 | 北京科瑞杰科技发展有限公司 | Solar energy photovoltaic panel automatic cleaning equipment and its running gear |
| CN111330930A (en) * | 2020-03-20 | 2020-06-26 | 广东众能光伏设备有限公司 | Solar panel self-cleaning device |
| WO2023181015A1 (en) * | 2022-03-20 | 2023-09-28 | Evermore United S.A. | Waterless solar panel cleaning robot with helix shaped microfiber elements |
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| CN106330081B (en) | 2020-03-27 |
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