CN118268834A - Photovoltaic panel replacement equipment and method for centralized photovoltaic area - Google Patents
Photovoltaic panel replacement equipment and method for centralized photovoltaic area Download PDFInfo
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- CN118268834A CN118268834A CN202410391323.1A CN202410391323A CN118268834A CN 118268834 A CN118268834 A CN 118268834A CN 202410391323 A CN202410391323 A CN 202410391323A CN 118268834 A CN118268834 A CN 118268834A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 296
- 238000012423 maintenance Methods 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 29
- 238000013016 damping Methods 0.000 claims description 13
- 241000252254 Catostomidae Species 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- 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
-
- 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
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
- H02S50/10—Testing of PV devices, e.g. of PV modules or single PV cells
- H02S50/15—Testing of PV devices, e.g. of PV modules or single PV cells using optical means, e.g. using electroluminescence
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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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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Photovoltaic Devices (AREA)
Abstract
The application provides photovoltaic panel replacement equipment and a method for a centralized photovoltaic area, and belongs to the technical field of photovoltaic panel maintenance equipment; the lifting trolley is characterized by comprising a lifting trolley, wherein a hollow frame body is arranged on one side far away from the ground, and the distance between the frame body and the ground is adjustable; the first photovoltaic panel moving mechanism is arranged in the frame body, is arranged on one side of the extending direction of the frame body, slides or rotates relative to the frame body and is used for grabbing or placing a photovoltaic panel at the lower part of the photovoltaic module; the second photovoltaic board moving mechanism is arranged on the end face, far away from the ground, of the frame body, and the second photovoltaic board moving mechanism is lifted or rotated relative to the frame body and used for grabbing or placing the photovoltaic board at the high position of the photovoltaic module. The application is applicable to the replacement of photovoltaic panels with different heights, so that the replacement process is more convenient and safer.
Description
Technical Field
The invention relates to the technical field of photovoltaic panel maintenance equipment, in particular to photovoltaic panel replacement equipment and method for a centralized photovoltaic area.
Background
In recent years, with the rapid development of renewable energy sources, photovoltaic power stations have become an important power supply mode. The centralized photovoltaic area is generally built in desert, mountain or water surface areas, a photovoltaic power station is built by utilizing relatively stable solar resources, the building period is short, photovoltaic panels on the photovoltaic modules are arranged in an array mode with the same inclination direction, adjacent photovoltaic modules are closely arranged, the heights of different photovoltaic panels on the same photovoltaic module are different, and the photovoltaic modules are fixed on a support in a fastening mode. Along with the continuous breakthrough of the new high of national solar photovoltaic installed capacity, in the traditional replacement mode, a bracket is often required to be manually climbed, and safety risks exist in the face of uncertain weather and environment. Aiming at the current situation of high cost, high risk coefficient and low efficiency, the demand for inspecting and maintaining photovoltaic area equipment is more and more urgent.
The patent publication No. CN216785630U provides a replacement device comprising components such as a vehicle body, a vertical driving mechanism, a vertical sliding seat, a horizontal driving mechanism, a horizontal sliding seat, a rotary driving mechanism, a mounting seat and the like, but the device is opposite to the light-receiving surface of the photovoltaic component, is not suitable for smooth passing in a tightly arranged centralized photovoltaic area, and has poor applicability to photovoltaic panels with different heights. Therefore, aiming at the current situation that the height difference of the photovoltaic panels on the photovoltaic assembly is large, the development of the photovoltaic panel installation and maintenance requirements of the photovoltaic panels with different heights can be considered, and the higher applicability, safety and convenience are provided, so that the development of the photovoltaic panel installation and maintenance requirements is very necessary.
Disclosure of Invention
In view of the above, the invention provides a photovoltaic panel replacement device and a photovoltaic panel replacement method for a centralized photovoltaic area, which are convenient to operate and can meet the installation and maintenance requirements of photovoltaic panels with different heights.
The technical scheme of the invention is realized as follows:
in one aspect, the present invention provides a photovoltaic panel replacement apparatus for a concentrated photovoltaic zone, comprising:
the lifting trolley is provided with a hollow frame body at one side far away from the ground, and the distance between the frame body and the ground is adjustable;
the first photovoltaic panel moving mechanism is arranged in the frame body, slides or rotates along the extending direction of the frame body and is used for grabbing or placing a photovoltaic panel at the lower part of the photovoltaic module;
the second photovoltaic board moving mechanism is arranged on the end face, far away from the ground, of the frame body, and the second photovoltaic board moving mechanism is lifted or rotated relative to the frame body and used for grabbing or placing the photovoltaic board at the high position of the photovoltaic module.
On the basis of the technical scheme, preferably, the lifting trolley further comprises a crawler base and a first linear moving mechanism; one end that the ground was kept away from to the tracked vehicle base is provided with first linear movement mechanism, and first linear movement mechanism's one end is articulated with the tracked vehicle base, and first linear movement mechanism's the other end is articulated with the framework, and first linear movement mechanism is used for driving the framework and removes along vertical direction, adjusts first photovoltaic board moving mechanism or second photovoltaic board moving mechanism for the initial position of photovoltaic board.
Preferably, the first photovoltaic panel moving mechanism comprises a second linear moving mechanism, a first rotating mechanism, a covered bracket and a first supporting frame; the second linear movement mechanism is arranged in the frame body, a first rotating shaft and a first rotating mechanism are arranged at the edge of the movable end of the second linear movement mechanism, the first rotating shaft is rotationally connected with the movable end of the second linear movement mechanism, and the output end of the first rotating mechanism is meshed with the first rotating shaft; the cover-type support is arranged outside the movable end of the second linear moving mechanism and fixedly connected with the end part of the first rotating shaft extending axially, and the cover-type support, the first rotating mechanism and the first rotating shaft are arranged at intervals; the edge that the shop cover formula support is close to second rectilinear movement mechanism's expansion end one side terminal surface is provided with first support frame, and the one end and the shop cover formula support fixed connection of first support frame, the other end of first support frame still extends towards the direction that keeps away from shop cover formula support and first rotation axis place.
Further preferably, the first support frame comprises a first baffle and a second baffle, one end of the first baffle is fixedly connected with the edge of the end face of the movable end, close to the second linear moving mechanism, of the cover type support, the other end of the first baffle extends outwards in the direction away from the cover type support, the end, away from the cover type support, of the first baffle is provided with the second baffle, one end of the second baffle is fixedly connected with the first baffle, and the second baffle extends in the direction parallel to the cover type support; the distance between the second baffle and the covered bracket is not smaller than the thickness of the photovoltaic panel.
Preferably, the second photovoltaic panel moving mechanism comprises a third linear moving mechanism, an air source, a sucker support, a second rotating mechanism, a third rotating mechanism and a sucker; the movable end of the third linear movement mechanism is provided with a second rotating mechanism and a first sliding block, and the second rotating mechanism drives the movable end and the first sliding block to rotate relative to the central shaft of the fixed end of the second rotating mechanism; one end of the first sliding block, which is far away from the third linear moving mechanism, is provided with a sucker bracket and a third rotating mechanism, and the sucker bracket is hinged with the first sliding block; the fixed end of the third rotating mechanism is fixedly arranged relative to the first sliding block, the movable end of the third rotating mechanism is fixedly connected with the sucker support and the hinge shaft of the first sliding block, and the movable end of the third rotating mechanism adjusts the pitching angle of the sucker support relative to the frame body; be provided with a plurality of sucking discs on the sucking disc support, the sucking disc communicates each other with the air supply respectively for adsorb the photovoltaic board of placing on the sucking disc support.
Further preferably, the second photovoltaic panel moving mechanism further comprises a fourth linear moving mechanism, a fourth rotating mechanism and a second supporting frame; the fourth linear movement mechanism comprises a rack, a guide rail and a damping slide block, the guide rail is fixedly arranged on the end surface of the sucker support, which is close to the first slide block, the guide rail is provided with the damping slide block, the damping slide block is in sliding connection with the guide rail, the damping slide block is provided with the rack, and the fourth linear movement mechanism adjusts the length of the rack extending out of the sucker support; the rack is also provided with a fourth rotating mechanism and a second supporting frame, and the second supporting frame is hinged with the rack; the fixed end of the fourth rotating mechanism is fixedly arranged relative to the rack, the movable end of the fourth rotating mechanism is fixedly connected with the second support frame and the hinge shaft of the rack, the fourth rotating mechanism is used for adjusting the angle of the second support frame deviating from the rack, and the second support frame is used for propping against the side surface of the photovoltaic panel placed on the sucker support.
Still more preferably, the end face of the frame body far away from the ground is also provided with a guardrail, a thermal infrared imager, an industrial camera and an industrial personal computer, and the guardrail is arranged at the edge of the frame body; the infrared thermal imager and the industrial camera are arranged on the surface of the frame body and are respectively used for acquiring thermal images and color images of the photovoltaic panel, and are also in communication connection with the industrial computer; the first linear movement mechanism, the second linear movement mechanism, the first rotating mechanism, the third linear movement mechanism, the air source, the second rotating mechanism, the third rotating mechanism, the fourth linear movement mechanism and the fourth rotating mechanism are all in communication connection with the industrial personal computer; the outside of guardrail still is provided with a plurality of photovoltaic board and bears the weight of the portion, and a plurality of photovoltaic board bear the weight of the portion and all include third baffle and fourth baffle, and the one end of third baffle is close to the surface fixed connection of framework one side with the guardrail, and the other end of third baffle outwards stretches out towards the direction level of keeping away from the guardrail, and the one end fixed connection of guardrail is kept away from to the one end of fourth baffle and third baffle, and the other end of fourth baffle upwards extends along vertical direction, and the terminal surface that the fourth baffle is close to the guardrail is not less than the thickness of two photovoltaic boards with the interval of guardrail surface.
On the other hand, the invention also provides a photovoltaic panel replacement method of the centralized photovoltaic area, which comprises the following steps:
s1: the photovoltaic panel replacement equipment of the centralized photovoltaic area is configured, and a thermal infrared imager, an industrial camera and an industrial personal computer which are arranged on the frame body are started;
s2: the lifting trolley walks along a channel between the adjacent photovoltaic modules, and the thermal infrared imager acquires thermal images of the photovoltaic panels of the adjacent photovoltaic modules and sends the thermal images to the industrial personal computer; the industrial personal computer judges whether a hot spot area exists in the thermal image of the photovoltaic panel, if the hot spot area does not exist, the industrial personal computer continues to walk forwards; if the hot spot area exists, recording the position of the hot spot area; when the photovoltaic panel with the hot spot area is on the higher side of the photovoltaic module, executing step S3; step S4 is executed when the photovoltaic panel with the hot spot area is arranged on the lower side of the photovoltaic module;
S3: the lifting trolley reaches the position right below the photovoltaic panel with the hot spot, the second rotating mechanism or the third rotating mechanism of the second photovoltaic panel moving mechanism adjusts the gesture of the sucker support, so that the sucker support is aligned to the photovoltaic panel with the hot spot, the movable end of the third linear moving mechanism or the movable end of the first linear moving mechanism is adjusted, the sucker on the sucker support is propped against the end face of the photovoltaic panel near the ground with the hot spot, an air source is started to generate negative pressure, the sucker is used for grabbing and stabilizing the photovoltaic panel with the hot spot, a fastener between the photovoltaic panel with the hot spot and the photovoltaic module is removed, the third linear moving mechanism is further lifted, the photovoltaic panel with the hot spot is separated from the photovoltaic module, then the third rotating mechanism adjusts the sucker support to a vertical state, the second rotating mechanism drives the sucker support to rotate relative to the fixed end of the third linear moving mechanism, so that the photovoltaic panel with the hot spot deviates from the installation area of the photovoltaic panel on the photovoltaic module, the hot spot is prevented from colliding with the photovoltaic module, and the fourth rotating mechanism drives the second support to come out and prop against the photovoltaic panel with the hot spot at the edge of the photovoltaic module; then vertically lowering the movable end of the third linear movement mechanism or the movable end of the first linear movement mechanism to enable the photovoltaic panel with the hot spots to vertically pass through the installation position of the photovoltaic panel on the photovoltaic module; then resetting the air source, loosening all the suckers on the sucker support, taking down the photovoltaic panel with the hot spots on the sucker support by a maintainer, and storing the photovoltaic panel at a photovoltaic panel bearing part outside the guardrail; taking a new photovoltaic plate from the photovoltaic plate bearing part, propping the new photovoltaic plate against the sucker support and the second support frame, starting an air source, adsorbing the new photovoltaic plate, vertically lifting the movable end of the third linear moving mechanism or the movable end of the first linear moving mechanism, enabling the new photovoltaic plate to vertically pass through an installation area on the photovoltaic assembly, resetting the second rotating mechanism, adjusting the angle of the sucker support relative to the photovoltaic assembly by the third rotating mechanism, enabling the new photovoltaic plate to be aligned with the installation area on the photovoltaic assembly in the vertical direction, vertically descending the movable end of the third linear moving mechanism or the movable end of the first linear moving mechanism again, enabling the new photovoltaic plate to prop against the surface of the photovoltaic assembly, installing a fastener between the new photovoltaic plate and the photovoltaic assembly by a maintainer, and finally resetting the sucker support, the air source, the rack and the fourth rotating mechanism;
S4: the lifting trolley reaches the outer side right below the photovoltaic panel with the hot spots, the height of the frame body of the lifting trolley is adjusted, then the first rotating mechanism is rotated and extends out of the second linear moving mechanism, the cover type support is arranged in parallel with the photovoltaic panel with the hot spots, the first linear moving mechanism adjusts the height of the frame body, the end face of the cover type support far away from the ground is propped against the end face of the photovoltaic panel close to the ground, which is provided with the hot spots, of the cover type support, a maintainer removes a fastener between the photovoltaic panel with the hot spots and the photovoltaic module, slides down the photovoltaic panel with the hot spots, enables the photovoltaic panel with the hot spots to enter a region between the cover type support and the first rotating shaft and prop against the end face of the first supporting frame, then the first rotating mechanism is rotated to the vertical direction, and the maintainer takes down the photovoltaic panel with the hot spots and stores the photovoltaic panel at a photovoltaic panel bearing part outside the guardrail; the novel photovoltaic board is taken from the photovoltaic board bearing part, the novel photovoltaic board is vertically inserted into the area between the covered support and the first rotating shaft, then the first rotating mechanism drives the covered support and the novel photovoltaic board to rotate to be aligned with the photovoltaic board installation area of the photovoltaic module, maintenance personnel extract the novel photovoltaic board, maintenance personnel install a fastener between the novel photovoltaic board and the photovoltaic module, then the first linear moving mechanism resets the height of the frame body, the first rotating mechanism drives the covered support to rotate to the vertical direction, and the second linear moving mechanism retracts to reset.
Preferably, in step S2, the industrial personal computer determines whether the thermal image of the photovoltaic panel has a hot spot area, and simultaneously satisfies the following conditions: 1) The inclination angle of the thermal infrared imager relative to the photovoltaic panel is 60-90 degrees; 2) Sequentially acquiring images of the back surface of the photovoltaic panel; 3) Acquiring the size of a pixel area of a photovoltaic panel working normally and the interval pixel quantity of an adjacent photovoltaic panel under the current focal length, carrying out area separation on a thermal image of the photovoltaic panel, and extracting images of the back area of each photovoltaic panel; recording the interval of gray values of the pixel areas of the photovoltaic panel which work normally; 4) The method comprises the steps of gridding an image of a back area of each photovoltaic panel, decomposing the image of the back area of each photovoltaic panel into grids with fixed sizes, randomly extracting n different pixels of different rows or columns from the grids, obtaining gray values of the pixels of each grid, arranging the gray values of the pixels according to a sequence from large to small, and if the gray value of more than 60% of the pixels belonging to the same grid exceeds 1.5-1.6 times of the interval median of the gray value of the pixel area of the photovoltaic panel working normally, considering that hot spots exist in the grid, and marking the grid by an industrial personal computer and storing the image of the back area of the photovoltaic panel corresponding to the sequence number of the photovoltaic panel.
Preferably, the number of the pixels n is not less than 16.
Compared with the prior art, the photovoltaic panel replacement equipment and the method for the centralized photovoltaic area have the following beneficial effects:
(1) According to the photovoltaic panel replacement equipment provided by the application, the hydraulic lifting replacement mechanism is designed for the photovoltaic panel at a high position, and the sucker support and the plurality of rotating mechanisms are correspondingly configured, so that the degree of freedom in multiple directions is realized, the relative position between the photovoltaic panel and the mounting support can be flexibly changed, and the replacement and the mounting of the photovoltaic panel at a higher position are more convenient;
(2) The device is arranged at the frame body of the lifting trolley, and after the lifting trolley rises to a certain height, the motor drives the cover-type bracket and the photovoltaic panel to rotate, so that the photovoltaic panel and the photovoltaic module are parallel and pushed to the installation position, and the replacement and installation process of the low photovoltaic panel is realized;
(3) The thermal image of the back of the photovoltaic panel is obtained by adopting the thermal infrared imager, and whether one or more areas with abnormal temperature exist in the photovoltaic panel is identified, so that whether the photovoltaic panel needs to be replaced is judged, and compared with a method for manually detecting the output electric signals of each photovoltaic panel, the method is more visual and accurate;
(4) The industrial camera is used for tracking the relative position relation between the sucker support and the photovoltaic panel installation part of the photovoltaic module, so that the industrial computer drives the corresponding linear movement mechanism or rotation mechanism to act, and accurate replacement and installation processes are realized.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an apparatus perspective view of a photovoltaic panel replacement apparatus and method of the centralized photovoltaic zone of the present invention;
FIG. 2 is an apparatus front view of the centralized photovoltaic panel replacement apparatus and method of the present invention;
FIG. 3 is an apparatus top view of the photovoltaic panel replacement apparatus and method of the centralized photovoltaic zone of the present invention;
FIG. 4 is an exploded perspective view of a lifting cart for a centralized photovoltaic panel replacement apparatus and method of the present invention;
FIG. 5 is a perspective view of a first photovoltaic panel movement mechanism of the centralized photovoltaic panel replacement apparatus and method of the present invention;
FIG. 6 is a front view of a first photovoltaic panel movement mechanism of the centralized photovoltaic panel replacement apparatus and method of the present invention;
FIG. 7 is a top view of a first photovoltaic panel movement mechanism of the centralized photovoltaic panel replacement apparatus and method of the present invention;
FIG. 8 is a perspective view of a second photovoltaic panel movement mechanism of the centralized photovoltaic panel replacement apparatus and method of the present invention;
FIG. 9 is another perspective view of a second photovoltaic panel movement mechanism of the centralized photovoltaic panel replacement apparatus and method of the present invention;
Fig. 10 is a flowchart of the operation of the photovoltaic panel replacement apparatus and method of the centralized photovoltaic section of the present invention.
Reference numerals: 1. lifting trolley; 11. a frame; 2. a first photovoltaic panel movement mechanism; 3. a second photovoltaic panel movement mechanism; 12. a crawler base; 13. a first linear movement mechanism; 21. a second linear movement mechanism; 22. a first rotation mechanism; 23. a covered bracket; 24. a first support frame; 25. a first rotation shaft; 241. a first baffle; 242. a second baffle; 31. a third linear movement mechanism; 32. a gas source; 33. a suction cup bracket; 34. a second rotation mechanism; 35. a third rotation mechanism; 36. a suction cup; 30. a first slider; 37. a fourth linear movement mechanism; 38. a fourth rotation mechanism; 39. a second support frame; 371. a rack; 372. a guide rail; 373. damping slide blocks; 14. guard bars; 15. an infrared thermal imager; 16. an industrial camera; 17. an industrial personal computer; 18. a photovoltaic panel carrier; 181. a third baffle; 182. and a fourth baffle.
Detailed Description
The following description of the embodiments of the present invention will clearly and fully describe the technical aspects of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
As shown in fig. 1 to 3, the present invention provides a photovoltaic panel replacement apparatus of a centralized photovoltaic zone, comprising a lifting trolley 1, a first photovoltaic panel moving mechanism 2, a second photovoltaic panel moving mechanism 3, and the like.
A hollow frame 11 is arranged on one side of the lifting trolley 1 away from the ground, and the distance between the frame 11 and the ground can be adjusted; the frame 11 is used for carrying the first photovoltaic panel moving mechanism 2 and the second photovoltaic panel moving mechanism 3.
The first photovoltaic panel moving mechanism 2 is arranged in the frame 11, and the first photovoltaic panel moving mechanism 2 slides or rotates along the extending direction of the frame 11 and is used for grabbing or placing a photovoltaic panel at the lower part of the photovoltaic module;
The second photovoltaic panel moving mechanism 3 is arranged on the end face, far away from the ground, of the frame 11, and the second photovoltaic panel moving mechanism 3 is lifted or rotated relative to the frame 11 and used for grabbing or placing a photovoltaic panel at the high position of the photovoltaic module.
Therefore, the lifting trolley 1 can be combined with the first photovoltaic panel moving mechanism 2 and the second photovoltaic panel moving mechanism 3 to maintain the photovoltaic panels at any positions with different heights, which are obliquely arranged, and the convenience and safety of maintenance operation are obviously higher than those of manual ascending operation due to the operation platform of the frame 11.
As shown in fig. 1 and 4, the lifting trolley 1 includes a crawler base 12 and a first linear movement mechanism 13 in addition to a frame 11; the one end that crawler base 12 kept away from ground is provided with first linear movement mechanism 13, and the one end and the crawler base 12 hinge of first linear movement mechanism 13 are connected, and the other end and the framework 11 hinge of first linear movement mechanism 13, and first linear movement mechanism 13 is used for driving framework 11 and removes along vertical direction, adjusts first photovoltaic board moving mechanism 2 or second photovoltaic board moving mechanism 3 for the initial position of photovoltaic board. The crawler base 12 has the characteristics of large ground contact area, small ground contact pressure, small turning radius and strong ground grasping capability. The first linear motion mechanism 13 may be a scissor type hydraulic lift mechanism.
As shown in fig. 5 to 7, the first photovoltaic panel moving mechanism 2 includes a second linear moving mechanism 21, a first rotating mechanism 22, a blanket type bracket 23, and a first supporting frame 24; the second linear movement mechanism 21 is arranged in the frame 11, a first rotating shaft 25 and a first rotating mechanism 22 are arranged at the edge of the movable end of the second linear movement mechanism 21, the first rotating shaft 25 is rotationally connected with the movable end of the second linear movement mechanism 21, and the output end of the first rotating mechanism 22 is meshed with the first rotating shaft 25; the cover-type bracket 23 is arranged outside the movable end of the second linear movement mechanism 21 and is fixedly connected with the axially extending end part of the first rotating shaft 25, and the cover-type bracket 23 is arranged at intervals with the first rotating mechanism 22 and the first rotating shaft 25; the edge of the cover-type support 23, which is close to the end face of the movable end side of the second linear moving mechanism 21, is provided with a first support frame 24, one end of the first support frame 24 is fixedly connected with the cover-type support 23, and the other end of the first support frame 24 extends towards the direction away from the cover-type support 23 and the first rotating shaft 25.
As shown in fig. 4, the end surface of the frame 11 far from the ground is symmetrically provided with a chute, and the movable end of the second linear movement mechanism 21 is embedded in the chute and can horizontally extend outwards. The second linear movement mechanism 21 may be implemented by an air cylinder, a hydraulic cylinder, an electric push rod, or the like. The two first rotating shafts 25 in the figure are arranged, the first rotating mechanism 22 can be known from the details in the figure to comprise a driving motor, a double-output speed reducer and two couplings, an output shaft of the driving motor is connected with an input end of the double-output speed reducer, output ends of the double-output speed reducer are respectively connected with one coupling, and the couplings are fixedly connected with the first rotating shafts 25 in a one-to-one correspondence. The first rotating mechanism 22 drives the first rotating shaft 25 and the cover-type support 23 to rotate relative to the movable end of the second linear moving mechanism 21, so that a posture parallel to the lower photovoltaic panel is achieved, and the photovoltaic panel is convenient to remove from the photovoltaic module or pushed onto the photovoltaic module by the cover-type support 23. In order to make the cover-type support 23 close to the photovoltaic module, the first linear moving mechanism 13 can further adjust the height of the frame 11, so as to achieve the effect of approaching the photovoltaic module.
In order to better hold up the photovoltaic panel, the first support frame 24 specifically includes a first baffle 241 and a second baffle 242, one end of the first baffle 241 is fixedly connected with the edge of the end face of the cover type support 23, which is close to the movable end of the second linear movement mechanism 21, the other end of the first baffle 241 extends outwards in the direction away from the cover type support 23, the end of the first baffle 241, which is far away from the cover type support 23, is provided with the second baffle 242, one end of the second baffle 242 is fixedly connected with the first baffle 241, and the second baffle 242 extends along the direction parallel to the cover type support 23; the distance between the second baffle 242 and the blanket-type bracket 23 is not smaller than the thickness of the photovoltaic panel. The first baffle 241 and the second baffle 242 in the figure can be of a split structure or an integrated structure, such as angle steel or bent steel plates, and can all play the roles of supporting the edge of the photovoltaic panel and preventing the photovoltaic panel from falling off. Since the blanket support 23 can only transport one photovoltaic panel at a time, the second baffle 242 is spaced from the blanket support 23 to accommodate one photovoltaic panel.
As shown in fig. 2, 8 and 9, the second photovoltaic panel moving mechanism 3 includes a third linear moving mechanism 31, an air source 32, a suction cup holder 33, a second rotating mechanism 34, a third rotating mechanism 35 and a suction cup 36; the third linear movement mechanism 31 and the air source 32 are arranged on the end surface of the frame 11 far away from the ground, the fixed end of the third linear movement mechanism 31 is fixedly connected with the end surface of the frame 11 far away from the ground, the movable end of the third linear movement mechanism 31 is provided with a second rotation mechanism 34 and a first sliding block 30, and the second rotation mechanism 34 drives the movable end and the first sliding block 30 to rotate relative to the central axis of the fixed end; the end, far away from the third linear movement mechanism 31, of the first sliding block 30 is provided with a sucker bracket 33 and a third rotation mechanism 35, and the sucker bracket 33 is hinged with the first sliding block 30; the fixed end of the third rotating mechanism 35 is fixedly arranged relative to the first sliding block 30, the movable end of the third rotating mechanism 35 is fixedly connected with the sucker support 33 and the hinge shaft of the first sliding block 30, and the movable end of the third rotating mechanism 35 adjusts the pitching angle of the sucker support 33 relative to the frame 11; the sucker support 33 is provided with a plurality of suckers 36, and the suckers 36 are respectively communicated with the air source 32 and are used for adsorbing the photovoltaic panel placed on the sucker support 33.
The third linear movement mechanism 31 may be implemented by an air cylinder, a hydraulic cylinder, an electric push rod, or the like, and the fixed end of the third linear movement mechanism 31 is fixedly connected to the frame 11 through a flange. The air source 32 can provide negative pressure or positive pressure as required to achieve the effect of grabbing or releasing the photovoltaic panel. The movable end of the third linear movement mechanism 31 is provided with a plate-shaped platform, a pair of gears meshed with each other are arranged on the platform, wherein the driving wheel is fixedly connected with the movable end of the second rotation mechanism 34, namely, the output shaft, a first sliding block 30 is arranged at the center of the driven wheel, and when the second rotation mechanism 34 rotates, the driven wheel, the first sliding block 30, the third rotation mechanism 35 and the sucker support 33 can be driven to rotate together relative to the central shaft of the third linear movement mechanism 31. One end of the first slider 30 far away from the ground is hinged with the sucker support 33, and the hinged shaft is driven by the third rotating mechanism 35, so that the pitching degree of the sucker support 3 can be adjusted, for example, the photovoltaic panel is attached to the installation position of the photovoltaic module or the photovoltaic panel moves vertically.
In order to define the relative position relationship between the photovoltaic panel and the sucker support 33, the edge position of the photovoltaic panel is better propped against, and the repeated positioning precision is improved; the second photovoltaic panel moving mechanism 3 further includes a fourth linear moving mechanism 37, a fourth rotating mechanism 38, and a second supporting frame 39; the fourth linear movement mechanism 37 comprises a rack 371, a guide rail 372, a damping slider 373 and a driving motor, the guide rail 372 is fixedly arranged on the end surface of the sucker support 33, which is close to the first slider 30, the damping slider 373 is arranged on the guide rail 372, the damping slider 373 is in sliding connection with the guide rail 372, the rack 371 is arranged on the damping slider 373, and the fourth linear movement mechanism 37 adjusts the length of the rack 371 extending out of the sucker support 33; the rack 371 is also provided with a fourth rotating mechanism 38 and a second supporting frame 39, and the second supporting frame 39 is hinged with the rack 371; the fixed end of the fourth rotating mechanism 38 is fixedly arranged relative to the rack 371, the movable end of the fourth rotating mechanism 38 is fixedly connected with the second supporting frame 39 and the hinge shaft of the rack 371, the fourth rotating mechanism 38 is used for adjusting the angle of the second supporting frame 39 deviating from the rack 371, and the second supporting frame 39 is used for propping against the side surface of the photovoltaic panel placed on the sucker support 33. When the gear on the output shaft of the driving motor of the fourth linear moving mechanism 37 drives the rack meshed with the gear, the rack moves along the sliding rail and stretches out, and then the fourth rotating mechanism 38 rotates to drive the second supporting frame 39 to unscrew, so that the edge position of the photovoltaic panel is defined.
As shown in fig. 1 in combination with fig. 2 and 3, the end surface of the frame 11 far away from the ground is also provided with a guardrail 14, a thermal infrared imager 15, an industrial camera 16 and an industrial personal computer 17, and the guardrail 14 is arranged at the edge of the frame 11; the thermal infrared imager 15 and the industrial camera 16 are arranged on the surface of the frame 11 and are respectively used for acquiring thermal images and color images of the photovoltaic panel, and the thermal infrared imager 15 and the industrial camera 16 are also in communication connection with the industrial personal computer 17; the first linear movement mechanism 13, the second linear movement mechanism 21, the first rotation mechanism 22, the third linear movement mechanism 31, the air source 32, the second rotation mechanism 34, the third rotation mechanism 35, the fourth linear movement mechanism 37 and the fourth rotation mechanism 38 are all in communication connection with the industrial personal computer 17; the outside of guardrail 14 still is provided with a plurality of photovoltaic board and bears portion 18, a plurality of photovoltaic board bear portion 18 all includes third baffle 181 and fourth baffle 182, the one end of third baffle 181 is close to the surface fixed connection of framework 11 one side with guardrail 14, the other end of third baffle 181 outwards stretches out towards the direction level of keeping away from guardrail 14, the one end of fourth baffle 182 is kept away from the one end fixed connection of guardrail 14 with third baffle 181, the other end of fourth baffle 182 upwards extends along vertical direction, the terminal surface that fourth baffle 182 is close to guardrail 14 is not less than the thickness of two photovoltaic boards with the interval of guardrail 14 surface. The guardrail 14 can play a role in safety protection during climbing operation, and can also be matched with the photovoltaic panel bearing part 18 for storing a plurality of photovoltaic panels.
In addition, as shown in fig. 10, the invention also provides a photovoltaic panel replacement method of the centralized photovoltaic area, which comprises the following steps:
S1: the above-mentioned photovoltaic panel replacement device of the centralized photovoltaic area is configured, and the thermal infrared imager 15, the industrial camera 16 and the industrial personal computer 17 which are arranged on the frame 11 are started.
S2: the lifting trolley 1 walks along a channel between adjacent photovoltaic modules, and the thermal imaging system 15 acquires thermal images of photovoltaic panels of the adjacent photovoltaic modules and sends the thermal images to the industrial personal computer 17; the industrial personal computer 17 judges whether a hot spot area exists in the thermal image of the photovoltaic panel, if the hot spot area does not exist, the photovoltaic panel continues to walk forwards; if the hot spot area exists, recording the position of the hot spot area; when the photovoltaic panel with the hot spot area is on the higher side of the photovoltaic module, executing step S3; the photovoltaic panel having the hot spot area is on the lower side of the photovoltaic module, and step S4 is performed.
The industrial personal computer 17 judges whether a hot spot area exists in a thermal image of the photovoltaic panel, and specifically, the following conditions need to be satisfied simultaneously: 1) The inclination angle of the thermal infrared imager 15 relative to the photovoltaic panel is 60-90 degrees; 2) Sequentially acquiring images of the back surface of the photovoltaic panel; 3) Acquiring the size of a pixel area of a photovoltaic panel working normally and the interval pixel quantity of an adjacent photovoltaic panel under the current focal length, carrying out area separation on a thermal image of the photovoltaic panel, and extracting images of the back area of each photovoltaic panel; recording the interval of gray values of the pixel areas of the photovoltaic panel which work normally; 4) The method comprises the steps of gridding an image of a back area of each photovoltaic panel, decomposing the image of the back area of each photovoltaic panel into grids with fixed sizes, randomly extracting n different pixels of different rows or columns from the grids, obtaining gray values of the pixels of each grid, arranging the gray values of the pixels according to the sequence from large to small, and if the gray value of more than 60% of the pixels belonging to the same grid exceeds 1.5-1.6 times of the interval median of the gray value of the pixel area of the photovoltaic panel working normally, considering that hot spots exist in the grid, and marking the grid by an industrial personal computer 17 and storing the image of the back area of the photovoltaic panel corresponding to the sequence number of the photovoltaic panel. The number of pixels n is not less than 16. In order to reduce the influence of environmental factors, it is proposed to determine whether a hot spot area exists in a thermal image of a photovoltaic panel in a centralized photovoltaic area within half an hour of early morning or sunset, and at this time, the sunlight intensity is weak, so that the photovoltaic panel is easily distinguished from a background photovoltaic module.
S3: the lifting trolley 1 reaches the position right below the photovoltaic panel with the hot spot, the second rotating mechanism 34 or the third rotating mechanism 35 of the second photovoltaic panel moving mechanism 3 adjusts the gesture of the sucker support 33, so that the sucker support 33 is aligned with the photovoltaic panel with the hot spot in parallel, the movable end of the third linear moving mechanism 31 or the movable end of the first linear moving mechanism 13 is adjusted, the sucker on the sucker support 33 is propped against the end surface of the photovoltaic panel with the hot spot close to the ground, the air source 32 is started to generate negative pressure, the photovoltaic panel with the hot spot is grabbed and stabilized by the sucker, the fastener between the photovoltaic panel with the hot spot and the photovoltaic module is removed, the third linear moving mechanism 31 is further lifted, the photovoltaic panel with the hot spot is separated from the photovoltaic module, then the sucker support 33 is adjusted to be in a vertical state by the third rotating mechanism 35, the second rotating mechanism 34 drives the sucker support 33 to rotate relative to the fixed end of the third linear moving mechanism 31, so that the photovoltaic panel with the hot spot is prevented from deviating from the installation area on the photovoltaic module, the photovoltaic panel with the hot spot is propped against the photovoltaic module, the photovoltaic module with the hot spot is driven by the fourth rotating mechanism 38 to collide with the photovoltaic module at the edge of the photovoltaic module with the photovoltaic module; then vertically lowering the movable end of the third linear movement mechanism 31 or the movable end of the first linear movement mechanism 13 to enable the photovoltaic panel with the hot spots to vertically pass through the installation position of the photovoltaic panel on the photovoltaic module; then the air source 32 is reset, the suction cups on the suction cup support 33 are loosened, the maintenance personnel take down the photovoltaic panel with the hot spots on the suction cup support 33 and store the photovoltaic panel at the photovoltaic panel bearing part 18 outside the guardrail 14; a new photovoltaic panel is taken from the photovoltaic panel bearing part 18, the new photovoltaic panel is propped against the sucker support and the second support frame, the air source 32 is started, the new photovoltaic panel is adsorbed, the movable end of the third linear moving mechanism 31 or the movable end of the first linear moving mechanism 13 is vertically lifted, the new photovoltaic panel vertically passes through the installation area on the photovoltaic assembly, then the second rotating mechanism 34 is reset, the third rotating mechanism 35 adjusts the angle of the sucker support 33 relative to the photovoltaic assembly, the new photovoltaic panel is aligned with the installation area on the photovoltaic assembly in the vertical direction, then the movable end of the third linear moving mechanism 31 or the movable end of the first linear moving mechanism 13 is vertically lowered again, the new photovoltaic panel is propped against the surface of the photovoltaic assembly, a maintainer installs a fastener between the new photovoltaic panel and the photovoltaic assembly, and finally the sucker support 33, the air source 32, the rack 371 and the fourth rotating mechanism 38 are reset.
The area of the photovoltaic panel is slightly larger than the area of the installation area reserved at the top of the photovoltaic module, so that the photovoltaic panel is free from interference in the vertical lifting process, a certain included angle is required to be formed between the photovoltaic panel and the installation area of the photovoltaic panel on the photovoltaic module, namely, the projection of the photovoltaic panel on the ground is not intersected or overlapped with the projection of the installation area of the photovoltaic panel on the photovoltaic module on the ground. In the step S3, the industrial camera respectively and correspondingly acquires the installation position of the photovoltaic panel on the photovoltaic module and the projection of the photovoltaic panel with the hot spot or the new photovoltaic panel clamped by the second photovoltaic panel moving mechanism 3 working nearby the installation position on the horizontal plane; the projection of the edge of the photovoltaic panel installation part is a fixed rectangular area; when a photovoltaic panel with hot spots vertically descends and passes through a photovoltaic panel installation position, or when a new photovoltaic panel vertically ascends and passes through the photovoltaic panel installation position, as the clamped photovoltaic panel is partially shielded, the following two conditions 1) that the pixel area of the projection of the sucker support 33 on the horizontal plane is recognized and acquired by an industrial camera is ensured to be not more than 15% of the rectangular area formed by the projection of the photovoltaic panel installation position are simultaneously satisfied; 2) The edges of the suction cup support 33 and the photovoltaic panel are in clear clearance with the boundary of the rectangular area formed by the projection of the photovoltaic panel mounting part. Otherwise, the third rotation mechanism 35 adjusts the angle of the sucker support 33 relative to the photovoltaic module, so that the projected pixel area of the sucker support 33 in the horizontal plane is rotated in a direction of further reducing; or the second rotating mechanism 34 moves toward the suction cup support 33 and the direction in which the gap between the edge of the photovoltaic panel and the edge of the photovoltaic panel mounting portion increases. Until the above two conditions are satisfied, the adjustment of the third rotation mechanism 35 or the second rotation mechanism 34 is stopped.
S4: the lifting trolley 1 reaches the outer side right below the photovoltaic panel with the hot spots, the first rotating mechanism 22 is opposite to the photovoltaic panel with the hot spots, the height of the frame 11 of the lifting trolley 1 is adjusted, then the first rotating mechanism 22 is rotated and extends out of the second linear moving mechanism 21, the covered bracket 23 is arranged in parallel with the photovoltaic panel with the hot spots, the first linear moving mechanism 13 adjusts the height of the frame 11, the end face of the covered bracket 23 far away from the ground is abutted against the end face of the photovoltaic panel close to the ground with the hot spots, a maintainer removes a fastener between the photovoltaic panel with the hot spots and the photovoltaic module, slides down the photovoltaic panel with the hot spots, the photovoltaic panel with the hot spots enters a region between the covered bracket 23 and the first rotating shaft 25 and is abutted against the end face of the first supporting frame 24, then the first rotating mechanism 22 is rotated to the vertical direction, and the maintainer takes down the photovoltaic panel with the hot spots and stores the photovoltaic panel at the photovoltaic panel bearing part 18 outside the guardrail 14; a new photovoltaic panel is taken from the photovoltaic panel bearing part 18, the new photovoltaic panel is vertically inserted into the area between the covered support 23 and the first rotating shaft 25, then the first rotating mechanism 22 drives the covered support 23 and the new photovoltaic panel to rotate to be aligned with the photovoltaic panel installation area of the photovoltaic module, maintenance personnel extract the new photovoltaic panel, maintenance personnel install a fastener between the new photovoltaic panel and the photovoltaic module, then the first linear moving mechanism 13 resets the height of the frame 11, the first rotating mechanism 22 drives the covered support 23 to rotate to the vertical direction, and the second linear moving mechanism 21 retracts to reset.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. Photovoltaic panel replacement apparatus of centralized photovoltaic district, characterized by comprising:
A hollow frame body (11) is arranged on one side of the lifting trolley (1) far away from the ground, and the distance between the frame body (11) and the ground is adjustable;
The first photovoltaic panel moving mechanism (2) is arranged on one side of the extending direction of the frame body (11), and the first photovoltaic panel moving mechanism (2) slides or rotates relative to the frame body (11) and is used for grabbing or placing a photovoltaic panel at the lower part of the photovoltaic module;
the second photovoltaic panel moving mechanism (3) is arranged on the end face, far away from the ground, of the frame body (11), and the second photovoltaic panel moving mechanism (3) is lifted or rotated relative to the frame body (11) and used for grabbing or placing a photovoltaic panel at the high position of the photovoltaic module.
2. The photovoltaic panel replacement device of a centralized photovoltaic area according to claim 1, characterized in that the lifting trolley (1) further comprises a crawler base (12) and a first linear movement mechanism (13); one end that crawler base (12) kept away from ground is provided with first straight line moving mechanism (13), and the one end and the crawler base (12) of first straight line moving mechanism (13) are articulated, and the other end and the framework (11) of first straight line moving mechanism (13) are articulated, and first straight line moving mechanism (13) are used for driving framework (11) to remove along vertical direction, adjust first photovoltaic board moving mechanism (2) or second photovoltaic board moving mechanism (3) for the initial position of photovoltaic board.
3. The photovoltaic panel replacement device of a centralized photovoltaic area according to claim 2, characterized in that the first photovoltaic panel movement mechanism (2) comprises a second linear movement mechanism (21), a first rotation mechanism (22), a covered bracket (23) and a first support frame (24); the second linear movement mechanism (21) is arranged in the frame body (11), a first rotating shaft (25) and a first rotating mechanism (22) are arranged at the edge of the movable end of the second linear movement mechanism (21), the first rotating shaft (25) is rotationally connected with the movable end of the second linear movement mechanism (21), and the output end of the first rotating mechanism (22) is meshed with the first rotating shaft (25); the cover-type bracket (23) is arranged outside the movable end of the second linear moving mechanism (21) and is fixedly connected with the axially extending end part of the first rotating shaft (25), and the cover-type bracket (23) is arranged at intervals with the first rotating mechanism (22) and the first rotating shaft (25); the edge of the movable end side end surface of the cover-type support (23) close to the second linear moving mechanism (21) is provided with a first support frame (24), one end of the first support frame (24) is fixedly connected with the cover-type support (23), and the other end of the first support frame (24) extends towards the direction away from the cover-type support (23) and the first rotating shaft (25).
4. A photovoltaic panel replacement apparatus in a concentrated photovoltaic area according to claim 3, characterized in that the first supporting frame (24) comprises a first baffle (241) and a second baffle (242), one end of the first baffle (241) is fixedly connected with the edge of the movable end side end face of the blanket type support (23) close to the second linear moving mechanism (21), the other end of the first baffle (241) extends outwards in a direction away from the blanket type support (23), the end of the first baffle (241) away from the blanket type support (23) is provided with a second baffle (242), one end of the second baffle (242) is fixedly connected with the first baffle (241), and the second baffle (242) extends in a direction parallel to the blanket type support (23); the distance between the second baffle plate (242) and the covered bracket (23) is not smaller than the thickness of the photovoltaic panel.
5. The photovoltaic panel replacement device of a centralized photovoltaic area according to claim 2, characterized in that the second photovoltaic panel movement mechanism (3) comprises a third linear movement mechanism (31), a gas source (32), a suction cup support (33), a second rotation mechanism (34), a third rotation mechanism (35) and suction cups (36); the third linear movement mechanism (31) and the air source (32) are arranged on the end surface of the frame body (11) far away from the ground, the fixed end of the third linear movement mechanism (31) is fixedly connected with the end surface of the frame body (11) far away from the ground, the movable end of the third linear movement mechanism (31) is provided with a second rotation mechanism (34) and a first sliding block (30), and the second rotation mechanism (34) drives the movable end and the first sliding block (30) to rotate relative to the central shaft of the fixed end; one end of the first sliding block (30) far away from the third linear moving mechanism (31) is provided with a sucker bracket (33) and a third rotating mechanism (35), and the sucker bracket (33) is hinged with the first sliding block (30); the fixed end of the third rotating mechanism (35) is fixedly arranged relative to the first sliding block (30), the movable end of the third rotating mechanism (35) is fixedly connected with the sucker support (33) and the hinge shaft of the first sliding block (30), and the movable end of the third rotating mechanism (35) adjusts the pitching angle of the sucker support (33) relative to the frame body (11); the sucker support (33) is provided with a plurality of suckers (36), and the suckers (36) are respectively communicated with the air source (32) and are used for adsorbing the photovoltaic panel placed on the sucker support (33).
6. The photovoltaic panel replacement device of a centralized photovoltaic area according to claim 5, characterized in that the second photovoltaic panel movement mechanism (3) further comprises a fourth linear movement mechanism (37), a fourth rotation mechanism (38) and a second support frame (39); the fourth linear movement mechanism (37) comprises a rack (371), a guide rail (372) and a damping slide block (373), the guide rail (372) is fixedly arranged on the end face, close to the first slide block (30), of the sucker support (33), the damping slide block (373) is arranged on the guide rail (372), the damping slide block (373) is in sliding connection with the guide rail (372), the rack (371) is arranged on the damping slide block (373), and the fourth linear movement mechanism (37) adjusts the length of the rack (371) extending out of the sucker support (33); the rack (371) is also provided with a fourth rotating mechanism (38) and a second supporting frame (39), and the second supporting frame (39) is hinged with the rack (371); the fixed end of the fourth rotating mechanism (38) is fixedly arranged relative to the rack (371), the movable end of the fourth rotating mechanism (38) is fixedly connected with the second support frame (39) and the hinge shaft of the rack (371), the fourth rotating mechanism (38) is used for adjusting the angle of the second support frame (39) deviating from the rack (371), and the second support frame (39) is used for propping against the side surface of the photovoltaic panel placed on the sucker support (33).
7. The photovoltaic panel replacement apparatus of a centralized photovoltaic area according to claim 6, characterized in that the end surface of the frame body (11) far from the ground is further provided with a guardrail (14), a thermal infrared imager (15), an industrial camera (16) and an industrial personal computer (17), and the guardrail (14) is arranged at the edge of the frame body (11); the thermal infrared imager (15) and the industrial camera (16) are arranged on the surface of the frame body (11) and are respectively used for acquiring thermal images and color images of the photovoltaic panel, and the thermal infrared imager (15) and the industrial camera (16) are also in communication connection with the industrial control computer (17); the first linear movement mechanism (13), the second linear movement mechanism (21), the first rotation mechanism (22), the third linear movement mechanism (31), the air source (32), the second rotation mechanism (34), the third rotation mechanism (35), the fourth linear movement mechanism (37) and the fourth rotation mechanism (38) are all in communication connection with the industrial personal computer (17); the outside of guardrail (14) still is provided with a plurality of photovoltaic board and bears portion (18), a plurality of photovoltaic board bear portion (18) all include third baffle (181) and fourth baffle, the one end of third baffle (181) is close to the surface fixed connection of framework (11) one side with guardrail (14), the other end of third baffle (181) outwards stretches out towards the direction level of keeping away from guardrail (14), the one end fixed connection of guardrail (14) is kept away from to one end and third baffle (181) of fourth baffle (182), the other end of fourth baffle (182) upwards extends along vertical direction, the interval that the terminal surface that fourth baffle (182) is close to guardrail (14) and guardrail (14) surface is not less than the thickness of two photovoltaic boards.
8. The photovoltaic panel replacement method of the centralized photovoltaic area is characterized by comprising the following steps of:
S1: -configuring a photovoltaic panel replacement device of the centralized photovoltaic area according to any one of claims 1 to 7, -activating a thermal infrared imager (15), an industrial camera (16) and an industrial personal computer (17) provided on the frame (11);
S2: the lifting trolley (1) walks along a channel between adjacent photovoltaic modules, and a thermal infrared imager (15) acquires thermal images of photovoltaic panels of the adjacent photovoltaic modules and sends the thermal images to the industrial personal computer (17); the industrial personal computer (17) judges whether a hot spot area exists in the thermal image of the photovoltaic panel, if the hot spot area does not exist, the photovoltaic panel continues to walk forwards; if the hot spot area exists, recording the position of the hot spot area; when the photovoltaic panel with the hot spot area is on the higher side of the photovoltaic module, executing step S3; step S4 is executed when the photovoltaic panel with the hot spot area is arranged on the lower side of the photovoltaic module;
S3: the lifting trolley (1) reaches the position right below the photovoltaic panel with the hot spot, the second rotating mechanism (34) or the third rotating mechanism (35) of the second photovoltaic panel moving mechanism (3) adjusts the gesture of the sucker support (33) to enable the sucker support (33) to be aligned with the photovoltaic panel with the hot spot, the movable end of the third linear moving mechanism (31) or the movable end of the first linear moving mechanism (13) is adjusted to enable the sucker on the sucker support (33) to prop against the end face of the photovoltaic panel with the hot spot close to the ground, the air source (32) is started to generate negative pressure, the photovoltaic panel with the hot spot is grabbed and stabilized by the sucker, the fastener between the photovoltaic panel with the hot spot and the photovoltaic assembly is removed, the third linear moving mechanism (31) is further lifted to enable the photovoltaic panel with the hot spot to be separated from the photovoltaic assembly, then the third rotating mechanism (35) is adjusted to be in a vertical state, the second rotating mechanism (34) drives the sucker support (33) to rotate relative to the fixed end of the third linear moving mechanism (31), so that the sucker on the sucker support (33) props against the photovoltaic panel with the hot spot, and the photovoltaic assembly is prevented from being collided with the photovoltaic assembly at the edge of the photovoltaic assembly (39; then vertically lowering the movable end of the third linear movement mechanism (31) or the movable end of the first linear movement mechanism (13) to enable the photovoltaic panel with the hot spots to vertically pass through the installation position of the photovoltaic panel on the photovoltaic module; then the air source (32) is reset, all the suckers on the sucker support (33) are loosened, and the photovoltaic panel with the hot spots on the sucker support (33) is taken down by a maintainer and is stored at the photovoltaic panel bearing part (18) outside the guardrail (14); a new photovoltaic panel is taken from the photovoltaic panel bearing part (18), the new photovoltaic panel is propped against the sucker support (33) and the second support frame (39), the air source (32) is started, the new photovoltaic panel is adsorbed, the movable end of the third linear moving mechanism (31) or the movable end of the first linear moving mechanism (13) is vertically lifted, the new photovoltaic panel vertically passes through the installation area on the photovoltaic module, then the second rotating mechanism (34) is reset, the third rotating mechanism (35) adjusts the angle of the sucker support (33) relative to the photovoltaic module, the new photovoltaic panel is aligned with the installation area on the photovoltaic module in the vertical direction, then the movable end of the third linear moving mechanism (31) or the movable end of the first linear moving mechanism (13) is vertically lowered again, the new photovoltaic panel is propped against the surface of the photovoltaic module, maintenance personnel installs a fastener between the new photovoltaic panel and the photovoltaic module, and finally the sucker support (33), the air source (32), the fourth rotating mechanism (38) and the fourth rotating mechanism (38) can be reset;
s4: the lifting trolley (1) reaches the outer side of the photovoltaic panel with the hot spots, the height of the frame body (11) of the lifting trolley (1) is adjusted, then the first rotating mechanism (22) is rotated and extends out of the second linear moving mechanism (21), the covered type support (23) is arranged in parallel with the photovoltaic panel with the hot spots, the first linear moving mechanism (13) adjusts the height of the frame body (11), the end face of the covered type support (23) far away from the ground is propped against the end face of the photovoltaic panel with the hot spots, which is close to the ground, of the maintenance personnel, the fastener between the photovoltaic panel with the hot spots and the photovoltaic assembly is removed, the photovoltaic panel with the hot spots is slid down, the photovoltaic panel with the hot spots enters the area between the covered type support (23) and the first rotating shaft (25) and is propped against the end face of the first support frame (24), then the first rotating mechanism (22) is rotated to the vertical direction, and the maintenance personnel takes down the photovoltaic panel with the hot spots and stores the photovoltaic panel at the photovoltaic panel bearing part (18) outside the guardrail (14); taking a new photovoltaic panel from a photovoltaic panel bearing part (18), vertically inserting the new photovoltaic panel into an area between the covered support (23) and the first rotating shaft (25), then driving the covered support (23) and the new photovoltaic panel to rotate to be aligned with a photovoltaic panel installation area of the photovoltaic module by the first rotating mechanism (22), extracting the new photovoltaic panel by maintenance personnel, installing a fastener between the new photovoltaic panel and the photovoltaic module by the maintenance personnel, resetting the height of the frame body (11) by the first linear moving mechanism (13), driving the covered support (23) to rotate to the vertical direction by the first rotating mechanism (22), and retracting and resetting by the second linear moving mechanism (21).
9. The method for replacing a photovoltaic panel in a centralized photovoltaic area according to claim 8, wherein the industrial personal computer (17) in step S2 determines whether the thermal image of the photovoltaic panel has a hot spot area, and simultaneously satisfies the following conditions: 1) The inclination angle of the thermal infrared imager (15) relative to the photovoltaic panel is 60-90 degrees; 2) Sequentially acquiring images of the back surface of the photovoltaic panel; 3) Acquiring the size of a pixel area of a photovoltaic panel working normally and the interval pixel quantity of an adjacent photovoltaic panel under the current focal length, carrying out area separation on a thermal image of the photovoltaic panel, and extracting images of the back area of each photovoltaic panel; recording the interval of gray values of the pixel areas of the photovoltaic panel which work normally; 4) The method comprises the steps of gridding an image of a back area of each photovoltaic panel, decomposing the image of the back area of each photovoltaic panel into grids with fixed sizes, randomly extracting n different pixels of different rows or columns from the grids, obtaining gray values of the pixels of each grid, arranging the gray values of the pixels according to the sequence from large to small, and if the gray value of more than 60% of the pixels belonging to the same grid exceeds 1.5-1.6 times of the interval median of the gray value of the pixel area of the photovoltaic panel working normally, considering that hot spots exist in the grid, and marking the grid by an industrial personal computer (17) and storing the image of the back area of the photovoltaic panel corresponding to the sequence number of the photovoltaic panel.
10. The method for replacing a photovoltaic panel in a concentrated photovoltaic area according to claim 9, wherein the number of pixels n is not less than 16.
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