CN106330081B

CN106330081B - Solar cell panel maintenance system and maintenance equipment thereof

Info

Publication number: CN106330081B
Application number: CN201610820748.5A
Authority: CN
Inventors: 陈超; 冷卫强
Original assignee: SHENZHEN INNOVPOWER TECHNOLOGY Co Ltd
Current assignee: SHENZHEN INNOVPOWER TECHNOLOGY Co Ltd
Priority date: 2016-09-12
Filing date: 2016-09-12
Publication date: 2020-03-27
Anticipated expiration: 2036-09-12
Also published as: CN106330081A

Abstract

The invention provides a solar cell panel maintenance system and a maintenance device thereof; wherein, this maintenance equipment includes: a traveling device and a maintenance device; the walking device comprises a first walking unit and a second walking unit, the first walking unit and the second walking unit are connected through at least one group of connecting units, and the connecting units are connected with the first walking unit and the second walking unit through movable components; the walking device is arranged on one or more solar panels in a spanning manner and used for driving the solar panel maintenance equipment to move on one or more solar panels; the maintenance device is connected with the walking device and used for maintaining the surface of the solar cell panel in the movement process of the maintenance equipment. The maintenance equipment is simple in structure and can realize maintenance of the battery panel.

Description

Solar cell panel maintenance system and maintenance equipment thereof

Technical Field

The invention relates to the technical field of solar cell panel maintenance, in particular to a solar cell panel maintenance system and a solar cell panel maintenance device.

Background

Solar energy is a clean energy with huge content, the technology for utilizing the solar energy is rapidly developed in recent years, and the main utilization form of the solar energy is to generate electricity through a solar cell panel at present.

As is well known, a solar panel is a device that relies on a surface to absorb sunlight and then directly or indirectly convert solar radiation energy into electrical energy through a photoelectric effect or a photochemical effect. However, when the surface of the solar panel is shielded by dust, sundries and the like, the efficiency of receiving sunlight by the solar panel can be greatly reduced, and according to the data statistics of the power generation condition of the solar panel of the photovoltaic power station, if the surface of the solar panel is not cleaned for a long time, the light conversion efficiency of the solar panel can be reduced by more than 35%, so that the power generation efficiency of the solar panel can be seriously influenced. Therefore, it becomes very important to clean the surface of the solar cell panel frequently.

The photovoltaic power station mostly adopts the solar cell panels with the same specification and size to lay in a large area, wherein the solar cell panels with the preset number can be laid together to serve as a large cell panel group, and the photovoltaic power station can lay a plurality of cell panel groups in sequence in a large area, so that solar power generation is realized. In application, each battery plate group can be supported by a separate bracket, and a certain distance is arranged between the adjacent battery plate groups. However, in the prior art, a maintenance device is required to be arranged on each battery plate group to independently clean the corresponding battery plate groups, which is relatively high in cost and easily causes resource waste.

The technology of some companies is that adjacent battery plates or battery plate groups are connected together through rails, and maintenance equipment can move to another battery plate group through the rails, so that continuous cleaning work on the adjacent battery plates is realized, and the utilization efficiency of the maintenance equipment is improved. However, in the prior art of connecting adjacent battery plates or battery plate groups through rails, due to structural limitations of the maintenance equipment, the maintenance equipment can only pass through the rails between the adjacent battery plate groups which are overlapped in a projection manner on a horizontal plane by using a central line of the movement direction of the maintenance equipment. Therefore, the requirement of the prior art on the arrangement position of the cell plate group is relatively high, and if the solar panels are arranged irregularly, misplaced and have different heights, the maintenance equipment in the prior art cannot move from one solar panel (group) to another solar panel (group), so that the utilization rate of the maintenance equipment is low.

Specifically, please refer to fig. 1 and fig. 2 together, wherein fig. 1 is a top view of a connection structure of tracks between battery plates (groups) that a maintenance device in the prior art can pass through, and fig. 2 is a top view of a connection structure of tracks between battery plates (groups) that a maintenance device in the prior art cannot pass through. In the figure, the reference numerals 1 and 2 are respectively adjacent battery plates or battery plate groups, the reference numeral 3 is a connecting track between the battery plates (groups), the

reference numerals

10 and 20 are respectively indicated that the central lines of the adjacent battery plates (groups) (1 and 2) in the movement direction of the maintenance equipment are projected on a horizontal plane, and the maintenance equipment 4 in the prior art can only pass through the tracks connected between the solar battery plates (groups) in the relative position arrangement relationship shown in the figure 1, namely the central lines of the adjacent battery plates (groups) (1 and 2) in the movement direction of the maintenance equipment are projected on the horizontal plane to be overlapped; however, the tracks connected between the solar panels (groups) cannot be arranged in a relative position as shown in fig. 2, namely, the projection of the central lines of the adjacent solar panels (groups) (1 and 2) in the moving direction of the maintenance equipment are not overlapped on the horizontal plane. Of course, the arrangement heights of the adjacent solar panels (groups) in the vertical direction in fig. 1 and 2 may be different, and the maintenance device in the prior art cannot provide cleaning for the adjacent solar panels (groups) arranged in the vertical direction.

Disclosure of Invention

The embodiment of the invention provides a solar cell panel maintenance system and a solar cell panel maintenance device, which are used for solving the technical problems that the solar cell panel maintenance device in the prior art cannot move among cell panel groups with irregular arrangement or dislocation and height difference.

In order to solve the above problem, an embodiment of the present invention provides a maintenance apparatus for a solar cell panel, where the maintenance apparatus includes: a traveling device and a maintenance device; the walking device comprises a first walking unit and a second walking unit, the first walking unit and the second walking unit are connected through at least one group of connecting units, and the connecting units are connected with the first walking unit and the second walking unit through movable components; the walking device is arranged on one or more solar panels in a spanning mode and used for driving the solar panel maintenance equipment to move on one or more solar panels;

the maintenance device is connected with the walking device and used for maintaining the solar cell panel in the movement process of the maintenance equipment.

According to a preferred embodiment of the present invention, the first traveling unit includes a first driving support, at least one rotating wheel, and a driving motor, the rotating wheel is rotatably connected to the first driving support, the driving motor is fixedly mounted on the first driving support, and the driving motor drives the rotating wheel to rotate, so that the solar panel maintenance equipment moves on one or more solar panels.

According to a preferred embodiment of the present invention, the maintenance device further includes a housing, and the housing is covered on the top of the traveling device and the maintenance device and is rotatably connected to the first traveling unit and/or the second traveling unit.

According to a preferred embodiment of the present invention, the maintenance apparatus further includes a control device electrically connected to the driving motor of the traveling device and/or the maintenance device, for controlling the operation state of the traveling device and/or the maintenance device.

According to a preferred embodiment of the present invention, the maintenance device further includes a power supply device, and the power supply device is configured to supply power to the traveling device, the maintenance device, and the control device.

According to a preferred embodiment of the present invention, the power supply device is a battery and/or a solar panel disposed on a surface of the housing, and the solar panel can charge the battery.

According to a preferred embodiment of the present invention, the first walking unit and the second walking unit are connected by two sets of connection units, and the two sets of connection units are connected with the first walking unit and the second walking unit by using movable components.

According to a preferred embodiment of the invention, the maintenance device is a cleaning device.

According to a preferred embodiment of the invention, the cleaning device is of a segmented structure, and at least one group of support structure frames are arranged in the middle of the cleaning device and used for supporting the cleaning device.

According to a preferred embodiment of the invention, the cleaning device is connected at both ends to the first and second travelling units by flexible transmission members.

According to a preferred embodiment of the present invention, the cleaning device includes a central shaft and a cleaning brush circumferentially disposed on an outer periphery of the central shaft.

According to a preferred embodiment of the present invention, the maintenance device further includes a limit switch electrically connected to the control device, for detecting a movement disorder of the maintenance device.

According to a preferred embodiment of the present invention, the maintenance device further includes a communication module, and the communication module is electrically connected to the control device and is used for communication connection between the solar panel and the external device.

According to a preferred embodiment of the present invention, the external device includes, but is not limited to, one or more of a remote controller, a mobile phone, a tablet computer, a remote server, and a carrying device of a maintenance device.

In order to solve the above technical problem, the present invention further provides a maintenance system for a solar cell panel, where the maintenance system includes a rail and the maintenance device described in any one of the above embodiments, the rail is connected between solar cell panels or solar cell panel groups, and after a solar cell panel or a solar cell panel group is maintained, the maintenance device moves from a current solar cell panel or solar cell panel group to another solar cell panel or solar cell panel group connected to the current solar cell panel or solar cell panel group through the rail, so as to implement maintenance work on the solar cell panels or solar cell panel groups connected together through the rail.

Compared with the prior art, the solar cell panel maintenance system and the solar cell panel maintenance equipment provided by the embodiment of the invention can realize maintenance work on the solar cell panel.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Figure 1 is a top view of a prior art connection structure of tracks between panels (groups) through which maintenance equipment can pass;

fig. 2 is a top view of a connection structure of tracks between panels (groups) that a maintenance device cannot pass through in the prior art;

FIG. 3 is a top isometric view of a preferred embodiment of the solar panel maintenance apparatus of the present invention;

FIG. 4 is a bottom isometric view of the structure of the solar panel maintenance device of the embodiment of FIG. 3;

FIG. 5 is a top isometric view of the running gear of the embodiment of FIG. 3;

FIG. 6 is a bottom isometric view of the walking device of the embodiment of FIG. 3;

FIG. 7 is an end view of the walking device of the embodiment of FIG. 3;

FIG. 8 is a top view of the embodiment of FIG. 3 showing the running gear;

FIG. 9 is a top view of a first shape change state of a "four-bar linkage" during walking of the walking device;

FIG. 10 is a top view of a second state of shape change of the "four-bar linkage" during walking of the walking device;

FIG. 11 is a partially enlarged view of a first traveling unit of the traveling device in the embodiment of FIG. 3;

FIG. 12 is a partially enlarged view from another perspective of FIG. 11;

FIG. 13 is a partially enlarged view of one end of the second traveling unit of the traveling apparatus in the embodiment of FIG. 3;

FIG. 14 is an enlarged, partial bottom view of one end of the first travel unit of the maintenance device of the embodiment of FIG. 3;

FIG. 15 is a top view of the internal structure of the maintenance apparatus in the embodiment of FIG. 3;

FIG. 16 is an enlarged view of a portion of FIG. 15 at A;

fig. 17 is a schematic view of the structure of the maintenance apparatus of the maintenance system of the present invention by rails installed between adjacent solar cell panel groups;

FIG. 18 is a block diagram of the connection between the control units and the drive motor of a preferred embodiment of the maintenance device control module; and

fig. 19 is a schematic structural view of another embodiment of the walking device.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Likewise, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive step are within the scope of the present invention.

Referring to fig. 3 and 4 together, fig. 3 is a top side view of a structure of a preferred embodiment of the solar panel maintenance apparatus of the present invention, and fig. 4 is a bottom side view of the structure of the solar panel maintenance apparatus of the embodiment of fig. 3, as shown in fig. 3-4, the maintenance apparatus includes, but is not limited to, a walking device 100 and a maintenance device 200.

Specifically, referring to fig. 5 and 6 together, fig. 5 is a top side axial view of the walking device in the embodiment of fig. 3, and fig. 6 is a bottom side axial view of the walking device in the embodiment of fig. 3. The walking device 100 is arranged across one or more solar panels and is used for driving the solar panel maintenance equipment to move on the surface of one or more solar panels or a track erected on the solar panels. Among them, the solar cell panel is also called as a photovoltaic module, a photovoltaic cell panel, a solar panel, etc. The walking device 100 includes a first walking unit 110 and a second walking unit 120; the first walking unit 110 and the second walking unit 120 are connected by at least one set of connecting units, and in this embodiment, the first walking unit 110 and the second walking unit 120 are connected by two sets of connecting units 102. Of course, in other embodiments, the first walking unit 110 and the second walking unit 120 may be connected by one, three or more sets of connection units, and the number of the connection units is within the understanding range of those skilled in the art and will not be described in detail herein. Preferably, in the present embodiment, the connection unit 102 may be a beam rod.

Further, referring to fig. 7, fig. 7 is an end view of the walking device in the embodiment of fig. 3. The connection unit 102 is connected with the first walking unit 110 and the second walking unit 120 through a movable assembly 130.

The first walking unit 110 and the second walking unit 120 in this embodiment are connected by two sets of connecting units 102 parallel to each other, and the two sets of connecting units 102 are connected with the first walking unit 110 and the second walking unit 120 by using movable components 130; the shape of the four-bar linkage structure formed by the first walking unit, the second walking unit and the two groups of connecting units can be adjusted to be a rectangular or parallelogram four-bar linkage structure shape according to the change of the walking routes of the first walking unit and the second walking unit.

Referring to fig. 8-10 together, fig. 8 is a top view of the walking device in the embodiment of fig. 3, and fig. 9 and 10 are top views of a shape change state of a "four-bar linkage structure" in a walking process of the walking device, respectively, wherein the shape of the "four-bar linkage structure" formed by the first and second walking units and the two sets of connecting units in fig. 8 is a rectangular state, which can be understood as a normal working state of the maintenance equipment or a situation of passing through the track arrangement structure in the example of fig. 1, and when the maintenance equipment walks through the track of the arrangement structure in fig. 2, the "four-bar linkage structure" is deformed to become two parallelogram structures in fig. 9 or fig. 10.

Wherein, the movable component 130 is used for movably connecting the connecting unit 102 and the walking unit. It should be noted that the components described in the embodiments of the present invention may be an integral structure, or may be a structure including a plurality of components combined together, such as a movable component, a coupling component, and the like.

The movable assembly 130 may include a bearing 131 and a fixed seat 132. The connecting unit 102 is fixedly connected to a mating portion (not shown) on one side of the bearing 131, and the mating portion on the other side of the bearing 131 is connected to the first walking unit or the second walking unit through the fixing base 132, specifically, one side of the bearing 131 may be connected to a driving bracket of the first walking unit or the second walking unit (for a specific structure of the first walking unit and the second walking unit, please refer to the detailed description of the following sections).

The two side matching parts of the bearing 131 are matched and rotationally connected, wherein the two side matching parts of the bearing 131 at least have rotational freedom in a plane perpendicular to the axis of the bearing 131. That is, the two side engaging portions of the bearing 131 can rotate at least in the plane of the "four-bar linkage" so that the "four-bar linkage" can change its shape between a rectangle and a parallelogram.

And the kind of the bearing 131 may include a sliding bearing and a rolling bearing, such as: self-aligning roller bearings, tapered roller bearings, double row deep groove ball bearings, angular contact ball bearings, cylindrical roller bearings, needle roller bearings, shaft sleeves, and the like.

Since, during the process of arranging the solar panels (groups) in the photovoltaic power plant, there inevitably exists a situation that the solar panels (groups) are not parallel (between planes facing the sun), although generally, the non-parallel difference is relatively small, in order to solve the technical problem, it is preferable that the connection positions between the two side matching portions of the bearing 131 and the connection unit 102 and the walking unit (driving bracket) in the embodiment further have connection installation elastic margins, so that the two side matching portions of the bearing 131 can respectively generate small-angle elastic connection deformation with the connection unit 102 or the walking unit connected thereto, so that the movable assembly 130 has a degree of freedom outside the plane of the "four-bar structure", that is, the movable assembly 130 can generate a certain deformation in the vertical direction.

To solve the above technical problem, it is further preferable that the bearing 131 is a ball bearing, and the ball bearing may have three planes of rotational freedom, so that the degree of freedom of connection between the traveling unit and the connection unit 102 is increased, and the maintenance equipment can be adapted to a traveling track or a traveling track with a more complicated shape. Of course, in order to satisfy the rotating connection between the connection unit 102 and the walking unit, those skilled in the art can also design and select other movable assembly structures, which are not listed here.

Referring to fig. 11 and 12 together, fig. 11 is a partially enlarged view of a first traveling unit of the traveling device in the embodiment of fig. 3, and fig. 12 is a view from another perspective of the partially enlarged view in fig. 11. Preferably, the first traveling unit 110 in this embodiment includes a first driving bracket 111, two sets of wheels (112, 113), and a driving motor 114. The two groups of rotating wheels (112, 113) are respectively connected with the first driving support 111 in a rotating manner, the driving motor 114 is fixedly arranged on the first driving support 111, and the driving motor 114 drives the rotating wheels to rotate, so that the solar panel maintenance equipment moves on one or more solar panels.

Preferably, in this embodiment, one of the two sets of wheels (indicated by reference numeral 112 in the figure) rolls along a first plane, and the other set (indicated by reference numeral 113 in the figure) rolls along a second plane; the first plane in this embodiment can be the top surface of solar cell panel, the plane that constitutes by the concatenation of polylith panel or the plane that is on a parallel with solar cell panel top surface, and the second plane can be the side of solar cell panel or the plane that is on a parallel with the solar cell panel side, and two sets of runners roll along solar cell panel's top surface border and side respectively.

Preferably, each set of wheels includes two wheels, the driving motor 114 drives the two wheels rolling along the first plane to rotate synchronously through a gear (not shown) and a chain 1141 transmission structure, and the two wheels rolling along the second plane serve as driven wheels. Of course, the two rotating wheels rolling along the second plane can also be used as driving rotating wheels by connecting a driving structure or a plurality of driving motors, and those skilled in the art can select which rotating wheels are used as power wheels to design according to needs. It is only necessary to ensure that the driving motor at least drives a group of rotating wheels rolling along a plane to rotate. In addition, in other embodiments, each set of wheels may also include one or more wheels, and each wheel in the set of wheels as the driving wheel may be driven by a separate driving motor, and similarly, those skilled in the art may design other configurations of the driving motor and the driving wheel.

Further, each walking unit in this embodiment is provided with a rotating wheel which rolls along the top surface (first plane) of the solar panel and along the side surface (second or third plane) of the solar panel; in other embodiments, the rotating wheels rolling along the bottom surface of the solar cell panel may be further provided, or only the rotating wheels rolling along the top surface and the bottom surface of the solar cell panel may be provided, and the rotating wheels rolling along the side surfaces of the solar cell panel may not be provided. In other words, when designing the position and structure of the roller, a person skilled in the art may arbitrarily arrange the roller on one, two or three solar cell panel surfaces (top surface, one side surface or bottom surface) on a single-sided walking unit (first walking unit or second walking unit), and details regarding this technical feature will not be provided herein.

Referring to fig. 13, fig. 13 is a partial enlarged view of one end of the second walking unit of the walking device in the embodiment of fig. 3, in this embodiment, the second walking unit 120 includes a second driving bracket 121 and two sets of wheels (122, 123), the two sets of wheels are respectively rotatably connected to the second driving bracket 121, one set (indicated by reference numeral 122 in the figure) of the two sets of wheels rolls along a first plane, and the other set (indicated by reference numeral 123 in the figure) rolls along a third plane. The third plane in this embodiment may be a side surface of the solar cell panel, that is, the second plane and the third plane are two opposite side surfaces of the solar cell panel, respectively.

Preferably, the second traveling unit 120 and the first traveling unit 110 have a symmetrical structure, and each set of wheels of the second traveling unit 120 also includes two wheels. Also, in other embodiments, each set of wheels of the second walking unit 120 may also be a structure including one or more wheels.

Further, two wheels of the wheel set 122 rolling along the first plane in the second traveling unit 120 and two wheels of the wheel set 112 rolling along the first plane in the first traveling unit 110 are connected by a connecting shaft assembly 140, respectively, so that the driving motor 114 in the first traveling unit 110 drives the wheel sets (112 and 122) rolling along the first plane in the first traveling unit 110 and the second traveling unit 120 to rotate synchronously.

In addition to the above structure, the second traveling unit 120 may also be provided with an independent driving motor and a transmission mechanism (not shown in the illustrated embodiment) to drive the driving wheel set to rotate (in the embodiment, the wheel set 122 rolling along the first plane is used as the driving wheel set). In the present embodiment, the rotating wheel set 123 is also used as a driven rotating wheel set, and of course, the rotating wheel set 123 can also be used as a driving rotating wheel set according to design requirements, and when it is used as a driving rotating wheel set, the specific driving structure characteristics thereof are within the understanding range of those skilled in the art, and will not be described in detail herein.

Referring to fig. 11 and 13, the shaft assembly 140 includes a connecting shaft 141, a flexible transmission member 142, and a telescopic shaft 143.

Specifically, both ends of the connecting shaft 141 are in transmission connection with the driving pulley of the first traveling unit 110 and the driving pulley of the second traveling unit 120 through the flexible transmission 142. The flexible transmission member 142 may be a universal joint or the like.

The telescopic shaft 143 is connected in series with the connecting shaft 141, and is used for adjusting the length of the overall structure of the connecting shaft assembly 140 when the center distance of the two rotating wheels connected with the connecting shaft assembly 140 changes, so as to adapt to the center distance of the two rotating wheels. It should be noted that, as a modified embodiment of this embodiment, the connecting shaft assembly 140 between the wheels may also be used as the connecting unit 102, that is, the connecting shaft assembly 140 is used for transmission connection between the wheels, and on the other hand, may also replace the connecting unit 102 and the two walking units to form a "four-bar linkage structure", so that the connecting unit 102 is not needed, and the original function may also be implemented.

Referring to fig. 4, the maintenance device 200 is disposed between the first traveling unit 110 and the second traveling unit 120, and is used for cleaning the surface of the solar cell panel during the movement of the traveling device 100.

Referring to fig. 14, fig. 14 is a partially enlarged bottom view of one end of the first traveling unit of the maintenance apparatus, and the maintenance apparatus 200 may be a cleaning apparatus, which includes a central shaft 210 and a cleaning brush 220 disposed around the central shaft 210; the central shaft 210 and the cleaning brush 220 may be an integral structure.

Both ends of the central shaft 210 are connected to the first traveling unit 110 and the second traveling unit 120 (the second traveling unit end is not shown in fig. 14) by a flexible transmission 230. In the operating state of the maintenance apparatus, the outer side of the cleaning brush 220 is in contact with the solar cell panel.

Preferably, in the present embodiment, the central shaft 210 drives the cleaning brush 220 to rotate under the driving of the driving motor 114 of the first traveling unit 110, that is, the maintenance device 200 and the first traveling unit (or the traveling device) share the same driving motor for driving; the rotating cleaning brush 220 cleans the surface of the solar cell panel located therebelow. Of course, in other embodiments, the maintenance device 200 may be separately provided with a driving motor to drive. And will not be described in detail herein.

Further preferably, with continuing reference to fig. 3, the maintenance apparatus further includes a housing 300, the housing 300 is disposed on top of the traveling device 100 and the maintenance device 200, specifically, the housing 300 may be rotatably connected to the first traveling unit 110 and the second traveling unit 120 through a supporting beam 301, and two ends of the supporting beam 301 are rotatably connected to top of the driving brackets of the first traveling unit 110 and the second traveling unit 120, as shown in fig. 5 and 7. The two ends of the supporting beam 301 and the rotating connection structures 302 at the tops of the first and second walking unit driving brackets (111, 121) may be designed to have a similar structural form to the movable assembly 130, for which reference is made to the structural description of the movable assembly 130, and the description is omitted here.

Outer shell 300 may be fixedly attached to the top of support beam 301, and outer shell 300 may also be rotatably attached to the top of support beam 301. Preferably, referring to fig. 15, fig. 15 is a top view of the internal structure of the maintenance device, and the outer shell 300 is connected to the support beam 301 through a plurality of connecting trailing arms 303. Of course, the connection mode of the housing 300 and the walking device 100 is not limited to the connection through the supporting beam 301 in this embodiment, and the housing 300 may be directly and movably connected to the connection unit 102, and the connection mode of the housing 300 and the walking device 100 is not illustrated in this embodiment.

Referring to fig. 16, fig. 16 is a partial enlarged view of a portion a in fig. 15, because the integral structure of the coupling assembly 140 and the maintenance apparatus 200 is long, in this embodiment, one or more support structure frames 1410 are preferably disposed at the middle position of each of the connecting shaft 141 and the central shaft 210, a shaft hole 1411 is disposed on each support structure frame 1410, the central shaft 210 and the connecting shaft 141 respectively pass through the shaft holes of the corresponding support structure frames 1410 and are movably supported and connected with the support structure frames 1410 through the shaft holes 1411, and the bending deformation caused by the long shaft can be prevented by adding a support in the middle portion.

Preferably, the connecting shaft 141 may have a multi-stage structure, and similarly, the central shaft 210 and the cleaning brush 220 of the maintenance device 200 may also have a multi-stage structure; the support structure frame 1410 of the connecting shaft 141 is connected to the connecting trailing arm 303, and the support structure frame 1410 of the central shaft 210 can be directly fixed to the support beam 301.

The support structure frame 1410 is further provided with flexible transmission members (not shown) at two ends of the connection position of the connection shaft 141 and the central shaft 210 to accommodate the bending deformation of the connection shaft 141 and the central shaft 210.

Referring to fig. 19, fig. 19 is a schematic structural diagram of another embodiment of the walking device, in which the connecting shaft 141 and the maintenance device 200 are both of a whole structure, there is no segment in the middle, and there is no supporting structure frame, and during the walking process of the walking device in this embodiment, the four-bar structure of the walking device can be deformed to achieve the two cases shown in fig. 9 and 10.

Preferably, with continuing reference to fig. 3, the maintenance device further includes a control device 400 and a power supply device 500. In this embodiment, the control device 400 is fixedly connected to the housing 300 and is fixedly disposed on the top of the housing 300. The control device 400 is electrically connected to the driving motors of the traveling device 100 and the maintenance device 200, and is used for controlling the operation states of the traveling device 100 and the maintenance device 200.

The control device 400 includes a maintenance device control module for controlling the maintenance device 200. Referring to fig. 18, fig. 18 is a block diagram illustrating a connection relationship between each control unit and a driving motor of a preferred embodiment of a control module of a maintenance device. In this embodiment, the maintenance device control module may include a power management unit 411, a motion controller 412, a motor driver 413, and the like.

The motion controller 412 may be a motion control card or other control circuit (hereinafter referred to as "controller") such as a Programmable Logic Controller (PLC), and mainly completes the motion planning of the maintenance device; the motor driver 413 and the driving motor may be a frequency converter driving system, a servo driving system, or a step driving system (hereinafter referred to as a "driving system"), and are configured to execute an operation control command sent by the controller 412 to drive the mechanical components (in this embodiment, the central shaft 210 and the cleaning brush 220) to move; the controller 412 and the driving system (the driving motor and the motor driver 413) can transmit operation control instructions and feedback state information through communication protocols such as Ether CAT, CANOpen, MODBUS and the like, or through digital quantity and analog quantity modes. Of course, in other implementation manners for controlling the driving motor, the motor driver 413 may not be provided, and the control and driving of the electrodes may also be implemented by other simple control circuits, which are within the scope understood by those skilled in the art and are not listed here.

In this embodiment, it is preferable to use a motion control card as the controller 412 to perform a planning operation control command, and control the motor driver 413 by digital and analog quantities; the motor driver 413 drives the motor to operate according to the operation control command, and further drives the mechanical component to act.

The present invention may use open loop control or closed loop control. By using the closed-loop control mode, on one hand, the robustness of the control system (Robust's transliteration, that is, the meaning of robustness and robustness, which is the key for the survival of the system in abnormal and dangerous situations) can be improved, and on the other hand, the motion process information of the maintenance device 200 is obtained through the closed-loop feedback signal, so that a technical basis is provided for the extended functions (such as the hot spot detection function of the solar panel and the like) of the invention. Wherein the solid lines in fig. 18 represent the signal connection lines for open loop control and the dashed lines represent optional closed loop control signal connection lines.

The power supply device 500 is used to supply power to the traveling device 100, the maintenance device 200, and the control device 400. The power supply device 500 may include a storage battery (not shown) and a solar panel 510, and in this embodiment, it is preferable that the power supply device 500 includes the solar panel 510 and the storage battery, which are disposed on the upper surface of the housing 300, the solar panel 510 is used for generating power and also charging the battery, and the battery may be a lead storage battery, a fuel cell, a lithium battery, or the like. The power management unit 411 is electrically connected to the power supply device 500, and is used for implementing functions of detecting power and temperature of the power supply device 500. Of course, in the embodiment, the power management unit 411 is described as a control circuit part divided into the control device 400, and it can be understood by those skilled in the art that the power management unit 411 is actually a control circuit of the power supply device 500, and therefore, the definition and division of the power management unit 411 does not substantially affect the functional requirement of the power supply device 500 for supplying power to the whole maintenance equipment in the embodiment of the present application.

Referring to fig. 3, 14 and 15, the maintenance device further includes a limit switch 600 protruding from the outer side of the housing 300 and a communication module (not shown), wherein the limit switch 600 is disposed at two sides of the maintenance device and electrically connected to the control device 400. When the limit switch 600 is triggered during the movement of the maintenance equipment, which indicates that the maintenance equipment encounters an obstacle or moves to a limit position during the movement, the limit switch 600 sends a trigger signal to the control device 400, so that the control device 400 sends a corresponding control instruction to the running gear 100.

And the communication module is in electrical signal connection with the control device 400, and is used for communication connection between the solar panel maintenance equipment and external equipment, where the external equipment includes but is not limited to one or more of a remote controller, a mobile phone, a tablet computer (such as ipad), a remote server, and a carrying device of the maintenance equipment. The communication module and the control device may be the same module or an integrated structure in terms of physical circuit structure. The communication module is used for providing a wired or wireless communication connection function with an external device. The specific technical features of the communication module are within the understanding of those skilled in the art and are not described in detail herein.

According to the solar cell panel maintenance equipment provided by the embodiment of the invention, the walking device is provided with the rotating connection structure between the connection unit and the first walking unit and between the connection unit and the second walking unit, so that the solar cell panel maintenance equipment can pass through a track structure with a more complicated arrangement form, the solar cell panel maintenance equipment can adapt to more arrangement forms of the solar cell panel structure, and the utilization efficiency of the solar cell panel maintenance equipment is further improved.

Further, an embodiment of the present invention further provides a maintenance system for solar panels, please refer to fig. 17, and fig. 17 is a schematic structural diagram of a maintenance apparatus in the maintenance system of the present invention, which passes through a rail installed between adjacent solar panel sets. The maintenance system includes a maintenance device 1000 and a track 2000. The rail 2000 is connected between the solar cell panel sets 3000. It should be noted that the maintenance device in this embodiment preferably runs along both side edges of the solar cell panel group 3000. Of course, in other embodiments, a rack or a rail, i.e., a solar panel rail, may be separately installed on the solar panel group 3000, so that the maintenance device can travel on the separately installed rack or rail. The solar panel track may be a structure laid on the top surface of the solar panel group 3000, and specifically may be laid on the side edge or the edge of the top surface of the solar panel group 3000, or may be laid on the vicinity of the solar panel. The technical features of the individual mounting of the rack or rail on the solar cell panel group 3000 are within the understanding of those skilled in the art and will not be described in detail herein. When the solar panel rails are erected separately, the rails 2000 may be erected and connected between the solar panel rails, or may be integrated with the solar panel rails. The technical features of the tracks in the solar panels are not described in detail here, nor illustrated in the figures, within the scope of understanding of the person skilled in the art.

The solar cell panels may be arranged in a group of several solar cell panels as a whole, and the rail 2000 is erected between the adjacent solar cell panel groups 3000, specifically between the corresponding side edges of the solar cell panel group 3000 where the maintenance device 1000 is located. Of course, if the solar cell panels are configured as a single piece, the rail 2000 may be disposed between two corresponding sides of the adjacent solar cell panels.

After a solar panel or a solar panel group is maintained, the maintenance device 1000 moves from the current solar panel or the solar panel track to another solar panel or a solar panel track connected with the current solar panel or the solar panel track through the track 2000, so as to realize maintenance work of erecting the solar panel or the solar panel group connected together through the track 2000.

For the structural features of the maintenance device 1000, reference is made to the above detailed description, which is not repeated here. And the two rails 2000 may be respectively connected between the side edges of the adjacent cell plate groups 3000 corresponding to the traveling positions of the maintenance apparatus 1000.

This solar cell panel's maintenance system connects adjacent solar cell panel group through setting up the track, and the maintenance equipment can move between the solar cell panel group that communicates each other through the track, and then realizes the maintenance work to erecting the solar cell panel or the solar cell panel group that link together through the track.

The maintenance of the solar panel in the present invention includes, but is not limited to, cleaning, inspecting, monitoring, repairing, etc. of the solar panel.

The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A maintenance apparatus of a solar cell panel, characterized in that the maintenance apparatus comprises:

the walking device comprises a first walking unit, a second walking unit and at least one group of connecting units, the connecting units are connected between the first walking unit and the second walking unit in a supporting mode, and the connecting units are connected with the first walking unit and the second walking unit through movable assemblies so that the connecting units can rotate relative to the first walking unit and the second walking unit; the walking device is arranged on one or more solar panels in a spanning mode and used for driving the solar panel maintenance equipment to move on one or more solar panels; wherein the connecting unit is a beam rod;

the maintenance device is connected with the walking device and used for maintaining the solar cell panel in the movement process of the maintenance equipment; the movable assembly comprises a bearing and a fixed seat, the connecting unit is fixedly connected with a matching part on one side of the bearing, the matching part on the other side of the bearing is connected with the first walking unit or the second walking unit through the fixed seat, the matching parts on two sides of the bearing are rotatably connected, and at least one rotational degree of freedom in a plane perpendicular to the axis of the bearing is arranged between the matching parts on two sides of the bearing.

2. The maintenance device according to claim 1,

the first walking unit comprises a first driving support, at least one rotating wheel and a driving motor, the rotating wheel is rotatably connected with the first driving support, the driving motor is fixedly arranged on the first driving support, and the driving motor drives the rotating wheel to rotate, so that the solar panel maintenance equipment moves on one or more solar panels.

3. The maintenance device according to claim 1, further comprising a housing, wherein the housing is covered on top of the traveling unit and the maintenance unit and is rotatably connected to the first traveling unit and/or the second traveling unit.

4. The maintenance arrangement according to claim 3, characterized in that the maintenance arrangement further comprises a control device, which is electrically connected with the running gear and/or the drive motor of the maintenance device for controlling the running gear and/or the maintenance device.

5. The maintenance device according to claim 4, characterized in that the maintenance device further comprises a power supply means for supplying power to the walking means, the maintenance means, and the control means.

6. The maintenance equipment according to claim 5, characterized in that the power supply device is an accumulator and/or a solar panel arranged on the surface of the housing, and the accumulator can be charged by the solar panel.

7. The maintenance equipment according to claim 1, wherein the first walking unit and the second walking unit are connected through two sets of connecting units, and the two sets of connecting units are connected with the first walking unit and the second walking unit through movable assemblies.

8. The maintenance arrangement according to claim 1, characterized in that the maintenance device is a cleaning device.

9. The maintenance device according to claim 8, wherein the cleaning device is of a segmented structure, and at least one group of support structure frames are arranged in the middle of the cleaning device and are used for supporting the cleaning device.

10. The maintenance device according to claim 8, characterized in that the cleaning means are connected at both ends to the first and second travelling unit by means of flexible transmission.

11. The maintenance device according to claim 8, wherein the cleaning means comprises a central shaft and a cleaning brush circumferentially disposed around the central shaft.

12. The maintenance device according to claim 4, further comprising a limit switch electrically connected to the control means for detecting a movement disorder of the maintenance device.

13. The maintenance device according to claim 4, characterized in that it further comprises a communication module electrically connected to the control means for communication connection between the solar panel and an external device.

14. The maintenance device of claim 13, wherein the external device comprises one or more of a remote control, a cell phone, a tablet, a remote server, and a handling apparatus of the maintenance device.

15. A maintenance system for solar panels, the maintenance system comprising a rail and a maintenance device according to any one of claims 1 to 14, wherein the rail is connected between solar panels or solar panel groups, and the maintenance device is moved from a current solar panel or solar panel group to another solar panel or solar panel group connected to the current solar panel or solar panel group through the rail after a maintenance of one solar panel or solar panel group is completed, so as to perform a maintenance operation on the solar panels or solar panel groups connected together by the rail.