CN111452814A - Photovoltaic module cleans trouble rescue tractor of robot - Google Patents

Photovoltaic module cleans trouble rescue tractor of robot Download PDF

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Publication number
CN111452814A
CN111452814A CN202010397409.7A CN202010397409A CN111452814A CN 111452814 A CN111452814 A CN 111452814A CN 202010397409 A CN202010397409 A CN 202010397409A CN 111452814 A CN111452814 A CN 111452814A
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CN
China
Prior art keywords
tractor
traction
rescue
locking
chassis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010397409.7A
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Chinese (zh)
Inventor
瞿畅
谷玉之
张啸天
张小萍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nantong University
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Nantong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nantong University filed Critical Nantong University
Priority to CN202010397409.7A priority Critical patent/CN111452814A/en
Publication of CN111452814A publication Critical patent/CN111452814A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B10/00—Integration of renewable energy sources in buildings
    • Y02B10/10—Photovoltaic [PV]
    • 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
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The invention discloses a fault rescue tractor of a photovoltaic module cleaning robot, a tractor chassis is positioned at the lower end of the tractor, the tractor chassis is formed by building two chassis longitudinal supports and two chassis transverse supports and forms a rectangular frame structure, a tractor walking device is arranged on the lower surface of the tractor chassis, the tractor walking device is arranged at two ends of the lower surface of the tractor chassis, a tractor control box, a tractor battery, a rescue vehicle supporting frame, a tractor traction device, a tractor locking device, an RFID sensor and a tractor proximity switch are respectively arranged on the upper surface of the tractor chassis, the tractor has a reasonable structure, and can be used for dragging a cleaning robot with a fault to the edge of a photovoltaic module from a fault position, so that operation and maintenance personnel can conveniently perform maintenance work, the problems of difficulty in field maintenance and construction and high risk of a fault place are solved, and the maintenance efficiency of the fault robot is effectively improved.

Description

Photovoltaic module cleans trouble rescue tractor of robot
Technical Field
The invention relates to the technical field of photovoltaic module operation and maintenance robots, in particular to a fault rescue tractor of a photovoltaic module cleaning robot.
Background
For photovoltaic power stations built in special fields such as fishponds and mudflats, once a photovoltaic module cleaning robot for daily cleaning and maintenance of the power stations breaks down, operation and maintenance management personnel need to wade through tools such as boats and long ladders to go to the fault site for field maintenance. Because the fault cleaning robot is usually located at a certain height above the water surface and forms a certain inclination angle with the water surface, the maintenance mode has high working difficulty, low efficiency and certain danger, and therefore an improved technology is urgently needed to solve the problem in the prior art.
Disclosure of Invention
The invention aims to provide a fault rescue tractor of a photovoltaic module cleaning robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a fault rescue tractor of a photovoltaic module cleaning robot is characterized in that a tractor is movably arranged on a line changing track, a rescue vehicle is movably arranged on the tractor, the line changing track is laid at the edge position of one side of each row of photovoltaic modules, the tractor carries the rescue vehicle to travel along the line changing track, the photovoltaic module is provided with the cleaning robot, one end of the line changing track is provided with a stop position, the tractor comprises a tractor chassis, a tractor walking device, a tractor traction device, a tractor locking device and a rescue vehicle supporting frame, the tractor chassis is positioned at the lower end of the tractor, the tractor chassis is built by two chassis longitudinal supports and two chassis transverse supports to form a rectangular frame structure, the lower surface of the tractor chassis is provided with the tractor walking device, and the tractor walking devices are arranged at two ends of the lower surface of the tractor chassis, tractor control box, tractor battery, rescue car carriage, tractor draw gear, tractor locking means, RFID sensor and tractor proximity switch are equipped with respectively to the tractor chassis upper surface, be provided with rescue car proximity switch baffle on the rescue car carriage, tractor draw gear installs in tractor chassis intermediate position, tractor locking means respectively installs a set ofly along the track both sides vertical direction of trading.
Preferably, tractor running gear includes walking wheel part and driver part, the walking wheel part includes driven walking wheel, initiative walking wheel, walking wheel axle and driven pulleys, initiative walking wheel and driven pulleys are flange type structure, and its flange face laminating is in the track inboard of trading a line, driver part is including walking motor, walking motor reducer and driving pulley, driving pulley install on walking motor reducer output shaft and pass through the hold-in range with the driven pulleys who installs in walking wheel axle intermediate position and link to each other.
Preferably, tractor draw gear includes traction wheel dish, traction clutch and traction motor, traction wheel dish is installed in traction wheel dish support and is fixed in tractor chassis upper surface, around there being the haulage rope on the traction wheel dish, traction clutch one end links to each other with traction wheel dish, traction clutch other end fixed mounting has the driven sprocket of pulling, traction motor becomes parallel mount with traction wheel dish, traction motor's output termination has the reduction of drag ware, the drive sprocket of pulling install in traction motor's output and with pull between the driven sprocket and link to each other through the drive chain.
Preferably, tractor locking means includes locking electric cylinder, locking bolt and locking orifice plate, the locking orifice plate is fixed in the track outside of trading and every row of photovoltaic module corresponding position, it has annular through-hole to open on the locking orifice plate, the locking bolt links to each other with the locking electric cylinder and realizes concertina movement through the locking electric cylinder, the locking bolt cooperatees with the locking orifice plate.
Preferably, an RFID position label and a tractor proximity switch baffle are arranged on the line changing track, the RFID position label is matched with the RFID sensor, and the tractor proximity switch baffle is matched with the tractor proximity switch.
Preferably, the working method comprises the following steps:
the method comprises the following steps: the method comprises the steps that when a cleaning robot breaks down and cannot move, position information of a photovoltaic module where the cleaning robot is located is sent to a tractor;
step two: after the tractor receives the position information of the fault cleaning robot, carrying a rescue vehicle to go to the row of photovoltaic modules from a stop position at one end of the line changing track along the line changing track;
step three: in the travelling process of the tractor, the RFID position tags arranged on the edges of each row of photovoltaic modules are identified through the RFID sensors, and whether the row of modules are the modules where the fault cleaning robot is located is judged;
step four: if the row of assemblies are not the assemblies where the fault cleaning robot is located, the tractor continues to go to the lower row of assemblies, if the row of assemblies are the assemblies where the fault cleaning robot is located, the tractor slows down the traveling speed, and when the tractor proximity switch senses the tractor proximity switch baffle, the tractor stops and is aligned with the row of assemblies;
step five: the tractor locking device acts, and a locking bolt is pushed by a locking electric cylinder to be inserted into a through hole of a locking hole plate so as to fix the tractor and the line-changing track;
step six: the tractor pulls the clutch to disconnect, the rescue car starts to operate, and the photovoltaic module is lifted up from the tractor;
step seven: the rescue vehicle walks along the central line of the assembly, goes to the position of the fault cleaning robot and is connected with the fault cleaning robot;
step eight: the rescue vehicle is started and operated reversely, the traction clutch of the tractor is closed, the traction motor is started, the tractor winds the traction rope through the winding wheel disc, and the fault cleaning robot is pulled to the edge of the row of photovoltaic modules;
step nine: the rescue vehicle is disconnected with the fault cleaning robot, returns to the tractor and stops running;
step ten: stopping the traction motor of the tractor, and disconnecting the traction clutch;
step eleven: the tractor locking device acts, the locking bolt is withdrawn from the locking hole plate through hole, and the tractor and the line-changing track are not fixed;
step twelve: the tractor starts to operate, carries the rescue vehicle and returns to the line-changing track stop position;
step thirteen: and the operation and maintenance manager takes the fault cleaning robot away from the photovoltaic module to perform related maintenance work.
Compared with the prior art, the invention has the beneficial effects that:
through this tractor, can pull the cleaning robot who breaks down to the photovoltaic module edge from the trouble position, make things convenient for fortune dimension personnel to maintain work, solved the on-the-spot maintenance construction difficulty in trouble place, dangerous high difficult problem, effectively improve the maintenance efficiency of trouble robot.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a schematic structural diagram of a chassis of the tractor.
In the figure: 1-a photovoltaic module; 2-cleaning robot; 3-a rescue vehicle; 4-stop position; 5-a tractor; 6-line feed track; 7-tractor running gear; 8-a tractor chassis; 9-tractor control box; 10-a tractor battery; 11-a rescue vehicle supporting frame; 12-a rescue vehicle proximity switch baffle; 13-tractor traction means; 14-tractor locking; 15-an RFID location tag; 16-an RFID sensor; 17-tractor proximity switch barrier; 18-tractor proximity switch; 19-driven travelling wheels; 20-locking an electric cylinder; 21-locking bolt; 22-a locking orifice plate; 23-a traction motor; 24-a traction reducer; 25-a traction drive sprocket; 26-walking motor reducer; 27-a walking motor; 28-transverse chassis support; 29-a running wheel axle; 30-a driven pulley; 31-a synchronous belt; 32-a driving pulley; 33-a traction chain; 34-driving travelling wheels; 35-longitudinal support of the chassis; 36-a traction driven sprocket; 37-a traction clutch; 38-a traction sheave; 39-a hauling cable; 40-traction sheave support.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a failure rescue tractor of a photovoltaic module cleaning robot is disclosed, a tractor 5 is movably arranged on a line changing track 6, a rescue vehicle 3 is movably arranged on the tractor 5, the line changing track 6 is laid at the edge position of one side of each row of photovoltaic modules 1, the tractor 5 carries the rescue vehicle 3 to move along the line changing track 6 and is used for carrying the rescue vehicle 3 to the photovoltaic module where the failure cleaning robot is located, after the rescue vehicle 3 is connected with the failure cleaning robot 2, the failure cleaning robot 2 is pulled to the edge of the row of photovoltaic modules, the photovoltaic module 1 is provided with the cleaning robot 2, one end of the line changing track 6 is provided with a parking space 4, the tractor 5 comprises a tractor chassis 8, a tractor walking device 7, a tractor dragging device 13, a tractor locking device 14 and a rescue vehicle supporting frame 11, the tractor chassis is positioned at the lower end of the tractor, the tractor chassis 8 is formed by two chassis longitudinal supports 35 and two chassis transverse supports 28 and is built to form a rectangular frame structure, tractor running gear 7 is equipped with to 8 lower surfaces of tractor chassis, tractor running gear 7 is installed in 8 lower surface both ends of tractor chassis, tractor control box 9 is equipped with respectively to 8 upper surfaces of tractor chassis, tractor battery 10, rescue car carriage 11, tractor draw gear 13, tractor locking means 14, RFID sensor 16 and tractor proximity switch 18, be provided with rescue car proximity switch baffle 12 on the rescue car carriage 11, tractor draw gear 13 is installed in 8 intermediate position on tractor chassis, a set of respectively is installed along 6 both sides vertical direction of trading line to tractor locking means 14, be provided with RFID position label 15 and tractor proximity switch baffle 17 on the trading line 6, RFID position label 15 cooperatees with RFID sensor 16, tractor proximity switch baffle 17 cooperatees with tractor proximity switch 18.
As shown in fig. 2, the tractor traveling device 7 includes a traveling wheel component and a driving component, the traveling wheel component includes a driven traveling wheel 19, a driving traveling wheel 34, a traveling wheel shaft 29 and a driven pulley 30, the driving traveling wheel 34 and the driven traveling wheel 19 are flange-type structures, flange surfaces thereof are attached to the inner side of the lane changing track 6, the driving component includes a traveling motor 27, a traveling motor reducer 26 and a driving pulley 32, the driving pulley 32 is installed on an output shaft of the traveling motor reducer 26 and connected with the driven pulley 30 installed at the middle position of the traveling wheel shaft 29 through a synchronous belt 31, so as to drive the tractor 5; the tractor traction device 13 comprises a traction wheel disc 38, a traction clutch 37 and a traction motor 23, wherein the traction wheel disc 38 is arranged in a traction wheel disc support 40 and fixed on the upper surface of a tractor chassis 8, a traction rope 39 is wound on the traction wheel disc 38, one end of the traction clutch 37 is connected with the traction wheel disc 38, the other end of the traction clutch 37 is fixedly provided with a traction driven sprocket 36, the traction motor 23 and the traction wheel disc 38 are arranged in parallel, the output end of the traction motor 23 is connected with a traction reducer 24, the traction driving sprocket 25 is arranged at the output end of the traction motor 23 and is connected with the traction driven sprocket 36 through a traction chain 33, and power is improved for the traction wheel disc 38 through the traction clutch 37; tractor locking means 14 includes locking electric cylinder 20, locking bolt 21 and locking orifice plate 22, and locking orifice plate 22 is fixed in the track 6 outside of trading and every row of photovoltaic module corresponding position, and it has the annular through-hole to open on the locking orifice plate 22, and locking bolt 21 links to each other with locking electric cylinder 20 and realizes concertina movement through locking electric cylinder 20, and locking bolt 21 cooperatees with locking orifice plate 22 and realizes tractor 5 and the track 6 of trading fixed.
A fault rescue tractor of a photovoltaic module cleaning robot comprises the following working method:
the method comprises the following steps: when the cleaning robot 2 fails and cannot move, the position information of the photovoltaic module is sent to the tractor 5;
step two: after receiving the position information of the fault cleaning robot 2, the tractor 5 carries the rescue vehicle 3 and starts from the stop position 4 at one end of the line-changing track along the line-changing track 6 to go to the row of photovoltaic modules;
step three: during the traveling process of the tractor 5, the RFID position tags 15 arranged on the edges of each row of photovoltaic modules are identified through the RFID sensors 16, and whether the row of modules are the modules where the fault cleaning robot is located is judged;
step four: if the row of assemblies is not the assembly where the fault cleaning robot is located, the tractor 5 continues to go to the lower row of assemblies, if the row of assemblies is the assembly where the fault cleaning robot is located, the tractor 5 slows down the traveling speed, and when the tractor proximity switch 18 senses the tractor proximity switch baffle 17, the tractor 5 stops and is aligned with the row of assemblies;
step five: the tractor locking device 14 acts, and a locking bolt 21 is pushed by a locking electric cylinder 20 to be inserted into a through hole of a locking hole plate 22, so that the tractor 5 and the line feed track 6 are fixed;
step six: the tractor traction clutch 37 is disconnected, the rescue vehicle 3 is started to run, and the photovoltaic module is climbed from the tractor 5;
step seven: the rescue vehicle 3 walks along the central line of the assembly, goes to the position of the fault cleaning robot and is connected with the fault cleaning robot;
step eight: the rescue vehicle 3 is started and operated reversely, the tractor traction clutch 37 is closed, the traction motor 23 is started, the tractor 3 winds the traction rope 39 through the winding wheel disc 38, and the fault cleaning robot is pulled to the edge of the row of photovoltaic modules;
step nine: the rescue vehicle 3 is disconnected with the fault cleaning robot, returns to the tractor and stops running;
step ten: the tractor traction motor 23 stalls, and the traction clutch 37 is disengaged;
step eleven: the tractor locking device 14 acts, the locking bolt 21 is withdrawn from the through hole of the locking hole plate 22, and the tractor 5 and the line feed track 6 are not fixed;
step twelve: the tractor 5 starts to operate, carries the rescue vehicle 3 and returns to the line-changing track stop 4;
step thirteen: and the operation and maintenance manager takes the fault cleaning robot away from the photovoltaic module to perform related maintenance work.
Aiming at the problems of difficulty in field maintenance, high risk and the like of a fault cleaning robot, the invention provides the fault rescue tractor for the photovoltaic module cleaning robot.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a photovoltaic module cleans trouble rescue tractor of robot, tractor (5) activity sets up on trading line track (6), the activity is provided with rescue car (3) on tractor (5), every row photovoltaic module (1) a side border position is laid in trading line track (6), tractor (5) carry on rescue car (3) and advance along trading line track (6), be provided with on photovoltaic module (1) and clean robot (2), trading line track (6) one end is provided with parking stall (4), its characterized in that: the tractor (5) comprises a tractor chassis (8), a tractor walking device (7), a tractor traction device (13), a tractor locking device (14) and a rescue vehicle supporting frame (11), the tractor chassis (8) is positioned at the lower end of the tractor (5), the tractor chassis (8) is formed by longitudinally supporting two chassis (35) and transversely supporting two chassis (28) to form a rectangular frame structure, the tractor walking device (7) is arranged on the lower surface of the tractor chassis (8), the tractor walking device (7) is arranged at two ends of the lower surface of the tractor chassis (8), a tractor control box (9), a tractor battery (10), a rescue vehicle supporting frame (11), the tractor traction device (13), the tractor locking device (14), an RFID sensor (16) and a tractor approach switch (18) are respectively arranged on the upper surface of the tractor chassis (8), a rescue car proximity switch baffle (12) is arranged on the rescue car supporting frame (11), the tractor traction device (13) is installed in the middle of the tractor chassis (8), and a group of tractor locking devices (14) are installed in the vertical direction of the two sides of the line changing track (6).
2. The rescue tractor of claim 1, wherein the rescue tractor comprises: tractor running gear (7) are including walking wheel part and driver part, walking wheel part includes driven walking wheel (19), initiative walking wheel (34), walking wheel axle (29) and driven pulley (30), initiative walking wheel (34) and driven walking wheel (19) are flange type structure, and its flange face laminating is inboard in rail of changing a journey (6), driver part is including walking motor (27), walking motor reduction gear (26) and driving pulley (32), driving pulley (32) install on walking motor reduction gear (26) output shaft and install in walking wheel axle (29) intermediate position driven pulley (30) link to each other through hold-in range (31).
3. The rescue tractor of claim 1, wherein the rescue tractor comprises: tractor draw gear (13) are including traction wheel dish (38), traction clutch (37) and traction motor (23), traction wheel dish (38) are installed in traction wheel dish support (40) and are fixed in tractor chassis (8) upper surface, around there being haulage rope (39) on traction wheel dish (38), traction clutch (37) one end links to each other with traction wheel dish (38), traction clutch (37) other end fixed mounting has traction driven sprocket (36), traction motor (23) become parallel mount with traction wheel dish (38), the output termination of traction motor (23) has traction reducer (24), traction drive sprocket (25) install in the output of traction motor (23) and with pull between driven sprocket (36) link to each other through traction chain (33).
4. The rescue tractor of claim 1, wherein the rescue tractor comprises: tractor locking means (14) are including locking electric jar (20), locking bolt (21) and locking orifice plate (22), locking orifice plate (22) are fixed in the track of trading (6) outside and the corresponding position of every row of photovoltaic module, it has the annular through-hole to open on locking orifice plate (22), locking bolt (21) link to each other with locking electric jar (20) and realize concertina movement through locking electric jar (20), locking bolt (21) cooperate with locking orifice plate (22).
5. The rescue tractor of claim 1, wherein the rescue tractor comprises: the line changing track (6) is provided with an RFID position tag (15) and a tractor proximity switch baffle (17), the RFID position tag (15) is matched with an RFID sensor (16), and the tractor proximity switch baffle (17) is matched with a tractor proximity switch (18).
6. The rescue tractor of claim 1, wherein the rescue tractor comprises: the working method comprises the following steps:
the method comprises the following steps: when the cleaning robot (2) breaks down and cannot move, the position information of the photovoltaic module where the cleaning robot is located is sent to the tractor (5);
step two: after receiving the position information of the fault cleaning robot (2), the tractor (5) carries a rescue vehicle (3) to go to the row of photovoltaic modules from a stop position (4) at one end of the line changing track along the line changing track (6);
step three: in the travelling process of the tractor (5), RFID position tags (15) installed on the edges of each row of photovoltaic modules are identified through RFID sensors (16), and whether the row of modules are the modules where the fault cleaning robot is located is judged;
step four: if the row of assemblies are not the assemblies where the fault cleaning robot is located, the tractor (5) continues to go to the lower row of assemblies, if the row of assemblies are the assemblies where the fault cleaning robot is located, the tractor (5) slows down the traveling speed, and when the tractor proximity switch (18) senses the tractor proximity switch baffle (17), the tractor (5) stops and is aligned with the row of assemblies;
step five: the tractor locking device (14) acts, and a locking bolt (21) is pushed by a locking electric cylinder (20) to be inserted into a through hole of a locking hole plate (22) so as to fix the tractor (5) and the line change track (6);
step six: the tractor traction clutch (37) is disconnected, the rescue vehicle (3) is started to run, and the photovoltaic module is climbed from the tractor (5);
step seven: the rescue vehicle (3) walks along the central line of the assembly, goes to the position of the fault cleaning robot and is connected with the fault cleaning robot;
step eight: the rescue vehicle (3) is started and operated reversely, the tractor traction clutch (37) is closed, the traction motor (23) is started, the tractor (3) winds the traction rope (39) through the winding wheel disc (38), and the fault cleaning robot is pulled to the edge of the row of photovoltaic modules;
step nine: the rescue vehicle (3) is disconnected with the fault cleaning robot, returns to the tractor and stops running;
step ten: the tractor traction motor (23) stops rotating, and the traction clutch (37) is disconnected;
step eleven: the tractor locking device (14) acts, the locking bolt (21) is retracted from the through hole of the locking hole plate (22), and the tractor (5) and the line-changing track (6) are not fixed;
step twelve: the tractor (5) is started to run, and carries the rescue vehicle (3) to return to the line-changing track stop position (4);
step thirteen: and the operation and maintenance manager takes the fault cleaning robot away from the photovoltaic module to perform related maintenance work.
CN202010397409.7A 2020-05-12 2020-05-12 Photovoltaic module cleans trouble rescue tractor of robot Pending CN111452814A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010397409.7A CN111452814A (en) 2020-05-12 2020-05-12 Photovoltaic module cleans trouble rescue tractor of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010397409.7A CN111452814A (en) 2020-05-12 2020-05-12 Photovoltaic module cleans trouble rescue tractor of robot

Publications (1)

Publication Number Publication Date
CN111452814A true CN111452814A (en) 2020-07-28

Family

ID=71673890

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010397409.7A Pending CN111452814A (en) 2020-05-12 2020-05-12 Photovoltaic module cleans trouble rescue tractor of robot

Country Status (1)

Country Link
CN (1) CN111452814A (en)

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