CN110350862B - Track, cleaning system and method for row-crossing cleaning of flat single-axis tracking system - Google Patents
Track, cleaning system and method for row-crossing cleaning of flat single-axis tracking system Download PDFInfo
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- CN110350862B CN110350862B CN201910762073.7A CN201910762073A CN110350862B CN 110350862 B CN110350862 B CN 110350862B CN 201910762073 A CN201910762073 A CN 201910762073A CN 110350862 B CN110350862 B CN 110350862B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims description 28
- 230000009471 action Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 abstract description 3
- 238000005452 bending Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000004891 communication Methods 0.000 description 1
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- 239000000428 dust Substances 0.000 description 1
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Classifications
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- 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
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- 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 discloses a track, a cleaning system and a method for cross-row cleaning of a flat single-axis tracking system, and relates to the technical field of photovoltaic module cleaning; the track system includes subassembly and pivot, hoisting system and arranges the track system more, the unit mount is in the pivot just the subassembly can rotate along with the pivot, arrange the track system more and install hoisting system is last, hoisting system's one end is fixed in flat single-axis tracking system's the pivot, hoisting system's other one end with it connects to arrange the track system more. The more-row track can be lifted and lowered continuously along with different angles of the assembly, so that the influence of track shadow shielding on assembly power generation can be effectively avoided; and the soft connection between the lifting motion unit and the rotating shaft of the tracking system can reduce the internal stress, realize that the robot directly stops on the track, and simultaneously can also enable the track system to unload wind power when facing strong wind, thereby reducing the influence on the flat single-shaft tracking system.
Description
Technical Field
The invention relates to the technical field of photovoltaic module cleaning, in particular to a track, a cleaning system and a method for cross-row cleaning of a flat single-axis tracking system.
Background
The dust on the surface of the photovoltaic module has great influence on the generated energy of the module, and in order to guarantee the benefit of the power station, owners of a plurality of photovoltaic power stations are exploring and installing module cleaning robots. The irradiation utilization efficiency of the photovoltaic power station of the flat single-axis tracking system is higher than that of a fixed support type photovoltaic power station, so that the lifting effect of the generated energy is more obvious. At present, aiming at cleaning of a photovoltaic power station of a flat single-shaft tracking system, cross-row cleaning is mainly completed by manpower or a method of connecting front and rear rows by adopting methods such as piling or hooping is adopted, and the two technologies have the defects of larger size and higher cost, so that mass production is not formed in the market, and only a few owners try on the spot at present.
Therefore, there is no mature, mass-producible, economical cross-row cleaning system and method in the prior art. The applicant discloses a patent (CN 108858127 a) for a track system and a method for photovoltaic power station row-crossing cleaning of a flat single-axis tracking system, in which a track system and a method for cleaning the track system by using a cleaning robot are provided, but in the system, the cleaning robot cannot be always on the track, and wharf tracks are required to be arranged at the head end and the tail end of the track for stopping the cleaning robot, and the track is tensioned to minimize the deformation of the track and bear the track internal force caused by the robot when the robot walks on the track. Therefore, it is necessary to design a rail system which can make the cleaning robot always be located on the rail and does not affect the service life of the rail.
Disclosure of Invention
It is an object of the present invention to provide a track system and method for cross-row cleaning of a flat single-axis tracking system that solves the aforementioned problems of the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a track system for row-crossing cleaning of a flat single-axis tracking system comprises the flat single-axis tracking system, a row-crossing track system and a lifting system; the flat single-axis tracking system comprises a component and a rotating shaft, the component is installed in the rotating shaft, the component can rotate along with the rotating shaft, the track system is installed on the lifting system more, one end of the lifting system is fixed in the rotating shaft of the flat single-axis tracking system, and the other end of the lifting system is connected with the track system more.
Preferably, the overranging rail system comprises an inter-ranging rail mounted on the lifting system and a transfer table mounted at an end of the inter-ranging rail, the transfer table corresponding to the assembly position;
the switching table is installed between two parallel-arranged rails of the inter-row rail to connect the two parallel rails.
Preferably, each assembly corresponds to two conversion stations, and the distance between the two conversion stations is the same as the width of the assembly.
Preferably, the lifting system comprises a lifting motion unit and a fixing unit, wherein the upper part of the lifting motion unit is fixed on a rotating shaft of the flat single-shaft tracking system, and the lower end of the lifting motion unit is connected to the fixing unit; the fixing unit is connected to the inter-row rail.
More preferably, the lifting system is divided into two devices arranged in parallel, the fixing units are respectively fixed on two parallel rails, the lifting moving units are respectively in flexible connection with the fixing units, and the upper ends of the lifting moving units are also arranged on the rotating shaft in parallel.
Preferably, the lifting system further comprises a guide limiting device, the guide limiting device is installed on the rotating shaft, and the installation position is located between the lifting motion unit and the component; the size of the guide limiting device is larger than the diameter of the rotating shaft so as to prevent the guide limiting device from colliding with components of the flat single-axis tracking system when the inter-row track shakes, and the common shapes are semicircular, rectangular and the like.
It is another object of the present invention to provide a washing system for flat single axis tracking system cross-row cleaning comprising a plurality of rail systems and a cleaning robot disposed on the rail systems and having wheels movable along cross-row rails.
Preferably, the width of the cleaning robot is consistent with the width of the components of the track system, and the moving wheels at the front end and the rear end of the cleaning robot are consistent with the distance between the switching tables of the track system.
A final object of the present invention is to provide a method for flat single axis tracking system cross row cleaning comprising the steps of:
s1, firstly, rotating the components of the flat single-axis system to a horizontal or slightly inclined state, and enabling the cross-row track system to reach a designated position under the action of a lifting system;
s2, the cleaning robot judges whether the flat single-axis tracking system is in a robot cleaning mode, if so, judges whether the lifting system is self-locked, if so, the cleaning robot is started, otherwise, the cleaning robot is restarted after the conditions are met;
s3, the started cleaning robot runs to a conversion table at the tail end of the current row of components along the inter-row track;
s4, the cleaning robot climbs onto the component corresponding to the conversion table along the conversion table and starts to clean the component; after the cleaning robot cleans the current row of components, the cleaning robot moves back to the conversion table and returns to the inter-row track;
s5, the cleaning robot walks to the conversion table of the next row of components along the inter-row track;
and S6, repeating the processes from S3 to S5 to complete the cleaning of the whole flat single-axis tracking system.
Preferably, the positions specified in step S1 are: the assembly and the inter-row track are in a position state when being parallel to the same horizontal plane.
Preferably, in step S2, it is determined whether the status is cleanable, and the specific determination method is as follows:
and judging whether the component is in a horizontal position, and if the component is in the horizontal position, determining that the component is in a cleanable state.
The invention has the beneficial effects that:
the invention discloses a track, a cleaning system and a method for cross-row cleaning of a flat single-axis tracking system, wherein the cross-row track of the system can be continuously lifted along with different angles of components, so that the influence of track shadow shielding on component power generation can be effectively avoided; in addition, under the state of no cleaning, the track is connected with the rotating shaft of the tracking system through the lifting motion unit, the connection belongs to soft connection (chain transmission, belt transmission and the like can be adopted instead of rod connection), only force can be transmitted, and bending moment cannot be transmitted, so that additional bending moment cannot be generated on the rotating shaft of the tracking system, the influence on the flat single-shaft tracking system is reduced, and the soft connection has no internal force in the track when the robot does not clean;
in addition, if the system is under severe working conditions (strong wind), the connection mode of the track system can reduce the acting force generated by the additional structure through the shaking of the tracks which are arranged more than once, effectively unload the force generated by wind load, and reduce the influence on the flat single-axis tracking system as much as possible; the flexible connection has high fault-tolerant rate, can greatly contain the installation error of the track, and is convenient and quick to install on site.
Drawings
Fig. 1 is a front structural view of a rail system in embodiment 1;
fig. 2 is a top view of the rail system in embodiment 1;
FIG. 3 is a schematic structural view of the track system in embodiment 1 during the morning hours;
FIG. 4 is a schematic structural view of the track system in embodiment 1 at noon;
FIG. 5 is a schematic view of the track system in embodiment 1 in the afternoon period;
fig. 6 is a schematic structural view of the track system in embodiment 1 during the evening hours;
FIG. 7 is a schematic view showing a flow of cleaning the rail system in example 1;
FIG. 8 is a view showing a state in which the rail system of embodiment 2 is cleaned in FIG. 1;
FIG. 9 is a view showing a state in which the rail system of embodiment 2 is cleaned;
1. an assembly; 2. a guiding and limiting device; 3. an inter-row track; 4. a converting table; 5. a fixing unit; 6. a lifting motion unit; 7. a rotating shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The embodiment provides a track system for cross-row cleaning of a flat single-axis tracking system, a schematic diagram of a part of structural units of which is shown in fig. 1, and the track system comprises the flat single-axis tracking system, a cross-row track system and a lifting system; flat single-axis tracking system includes subassembly and pivot, the unit mount is in the pivot just the subassembly can rotate along with the pivot, the track system of arranging more includes between the row track and conversion platform, the conversion platform is installed orbital end between the row, just the conversion platform with the subassembly position is corresponding.
In this embodiment, the lifting system includes two lifting motion units, a fixing unit and an independent guiding and limiting device, which are arranged in parallel, wherein the upper part of the lifting motion unit is fixed on a rotating shaft of the flat single-axis tracking system, and the lower end of the lifting motion unit is connected to the fixing unit; the fixed units are respectively connected to two parallel tracks of the inter-row track, the guide limiting device is installed on the rotating shaft, and the installation position of the guide limiting device is located between the lifting motion unit and the component; the size of the guide limiting device is larger than the diameter of the rotating shaft so as to prevent the guide limiting device from colliding with components of the flat single-axis tracking system when the inter-row track shakes, and the common shapes are semicircular, rectangular and the like.
Each assembly corresponds to two conversion tables, and the distance between the two conversion tables is the same as the width of the assembly.
The lifting system in this embodiment is similar to a winding drum in principle, and since the assembly rotates with time, the rotating shaft is driven to rotate, and at this time, the motion lifting unit (equivalent to a drum) disposed on the rotating shaft passively moves up and down, so as to drive the lifting motion unit to drive the track system to change its position, as shown in fig. 3-6.
In order to realize the cleaning function, a cleaning robot is placed in the track system, the cleaning robot can move along the row-crossing track, and can also change the moving direction through the conversion table, and the cleaning robot moves to the component of the flat single-axis tracking system to implement the cleaning action.
Example 2
This embodiment provides a method for cleaning a track system according to embodiment 1, which is schematically shown in fig. 7, and includes the following steps:
s1, firstly, rotating the components of the flat single-axis system to a horizontal or slightly inclined state, and enabling the cross-row track system to reach a designated position under the action of a lifting system;
s2, the cleaning robot judges whether the flat single-axis tracking system is in a robot cleaning mode, if so, judges whether the lifting system is self-locked, if so, the cleaning robot is started, otherwise, the cleaning robot is restarted after the conditions are met;
s3, the started cleaning robot runs to a conversion table at the tail end of the current row of components along the inter-row track;
s4, the cleaning robot climbs onto the component corresponding to the conversion table along the conversion table and starts to clean the component; after the cleaning robot cleans the current row of components, the cleaning robot moves back to the conversion table and returns to the inter-row track;
s5, the cleaning robot walks to the conversion table of the next row of components along the inter-row track;
and S6, repeating the processes from S3 to S5 to complete the cleaning of the whole flat single-axis tracking system.
Note that fig. 8 and 9 are position state diagrams of the cleaning robot at the respective steps, and the positions designated in step S1 are: the assembly and the inter-row track are in a position state when being parallel to the same horizontal plane.
In step S2, it is determined whether the status is cleanable, specifically, the determining method is as follows:
and judging whether the component is in a horizontal position, and if the component is in the horizontal position, determining that the component is in a cleanable state.
In actual operation, when the track system is in cleanable mode, the subassembly is in the horizontality, perhaps when night, flat single-axis tracking system can put the subassembly flat automatically, and flat single-axis tracking system can shut down the auto-lock this moment, locks this state promptly, then cleans the robot and makes the robot that cleans begin to clean the mode through information interaction with flat single-axis tracking system.
It should be noted that, in the present application, the existing communication schemes are adopted for the technical scheme of information interaction between the cleaning robot and the flat shafting system, and the technical scheme does not belong to the technical point of improvement in the present invention.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the invention discloses a track, a cleaning system and a method for cross-row cleaning of a flat single-axis tracking system, wherein the cross-row track of the system can be continuously lifted along with different angles of components, so that the influence of track shadow shielding on component power generation can be effectively avoided; in addition, under the state of no cleaning, the track is connected with the rotating shaft of the tracking system through the lifting motion unit, the connection belongs to soft connection (chain transmission, belt transmission and the like can be adopted instead of rod connection), only force can be transmitted, and bending moment cannot be transmitted, so that additional bending moment cannot be generated on the rotating shaft of the tracking system, and the influence on the tracking system is reduced;
in addition, if the system is under severe working conditions (strong wind), the connection mode of the track system can reduce the acting force generated by the additional structure through the shaking of the tracks which are arranged more than once, effectively unload the force generated by wind load, and reduce the influence on the flat single-axis tracking system as much as possible; the flexible connection has high fault-tolerant rate, can greatly contain the installation error of the track, and is convenient and quick to install on site.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (8)
1. A track system for cross-row cleaning of a flat single-axis tracking system is characterized by comprising the flat single-axis tracking system, a row-crossing track system and a lifting system; the flat single-axis tracking system comprises an assembly and a rotating shaft, the assembly is mounted on the rotating shaft and can rotate along with the rotating shaft, the track crossing system is mounted on the lifting system, one end of the lifting system is fixed on the rotating shaft of the flat single-axis tracking system, and the other end of the lifting system is connected with the track crossing system;
the row crossing track system comprises an inter-row track and a conversion table, wherein the inter-row track is installed on the lifting system, the conversion table is installed at the tail end of the inter-row track, and the conversion table corresponds to the position of the component;
the lifting system comprises a lifting motion unit and a fixing unit, wherein the upper part of the lifting motion unit is fixed on a rotating shaft of the flat single-shaft tracking system through flexible connection, and the lower end of the lifting motion unit is flexibly connected on the fixing unit; the fixing unit is connected to the inter-row rail.
2. The track system for flat single-axis tracking system row-crossing cleaning according to claim 1, wherein there are two said conversion stations per module, and the spacing between the two said conversion stations is the same as the width of the module.
3. The track system for flat single-axis tracking system row-spanning cleaning of claim 1, wherein the lifting system further comprises a guide and stop device mounted on the shaft at a location between the lifting motion unit and the assembly.
4. A washing system for cross-row cleaning of a flat single-axis tracking system, comprising a plurality of track systems according to any of claims 1 to 3 and a cleaning robot arranged on the track systems and having wheels movable along the cross-row tracks.
5. The washing system for flat single-axis tracking system row-by-row cleaning of claim 4, wherein the width of the cleaning robot is consistent with the width of the components of the rail system, and the moving wheels at the front and rear ends of the cleaning robot are consistent with the distance between the transfer tables of the rail system.
6. A method for flat single axis tracking system cross row cleaning, characterized in that the cleaning system for flat single axis tracking system cross row cleaning of claim 5 is used, comprising the following steps:
s1, firstly, rotating the components of the flat single-axis system to a horizontal or slightly inclined state, and enabling the cross-row track system to reach a designated position under the action of a lifting system;
s2, the cleaning robot judges whether the flat single-axis tracking system is in a robot cleaning mode, if so, judges whether the lifting system is self-locked, if so, the cleaning robot is started, otherwise, the cleaning robot is restarted after the conditions are met;
s3, the started cleaning robot runs to a conversion table at the tail end of the current row of components along the inter-row track;
s4, the cleaning robot climbs onto the component corresponding to the conversion table along the conversion table and starts to clean the component; after the cleaning robot cleans the current row of components, the cleaning robot moves back to the conversion table and returns to the inter-row track;
s5, the cleaning robot walks to the conversion table of the next row of components along the inter-row track;
and S6, repeating the processes from S3 to S5 to complete the cleaning of the whole flat single-axis tracking system.
7. The method for flat single axis tracking system row-crossing cleaning of claim 6, wherein the locations specified in step S1 are: the assembly and the inter-row track are in a position state when being parallel to the same horizontal plane.
8. The method for flat single-axis tracking system cross-row cleaning according to claim 6, wherein the determination of step S2 is whether it is cleanable or not, and the specific determination method is as follows:
and judging whether the component is in a horizontal position, and if the component is in the horizontal position, determining that the component is in a cleanable state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910762073.7A CN110350862B (en) | 2019-08-19 | 2019-08-19 | Track, cleaning system and method for row-crossing cleaning of flat single-axis tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910762073.7A CN110350862B (en) | 2019-08-19 | 2019-08-19 | Track, cleaning system and method for row-crossing cleaning of flat single-axis tracking system |
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| Publication Number | Publication Date |
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| CN110350862A CN110350862A (en) | 2019-10-18 |
| CN110350862B true CN110350862B (en) | 2021-08-31 |
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| CN201910762073.7A Active CN110350862B (en) | 2019-08-19 | 2019-08-19 | Track, cleaning system and method for row-crossing cleaning of flat single-axis tracking system |
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Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL222558A (en) * | 2012-10-18 | 2013-12-31 | Moshe Saraf | Solar panel cleaning system |
| ES2548790B1 (en) * | 2014-03-20 | 2016-09-20 | Jose Maria GARCIA GALLARDO | CLEANER OF SOLAR PANELS IN ROW SITUATED IN PHOTOVOLTAIC CENTERS, SOLAR ORUMS AND FACILITIES IN DECKS OF MORE THAN THOUSAND SQUARE METERS |
| CN206253428U (en) * | 2016-11-25 | 2017-06-16 | 杭州品联科技有限公司 | The cleaning robot system of rotating terminal |
| CN108858127B (en) * | 2018-06-15 | 2019-06-18 | 中民新科（北京）能源技术研究院有限公司 | For flat single-shaft tracking system photovoltaic plant across the clean rail system of row and method |
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