CN218618721U - Array-crossing transfer device of photovoltaic system assembly cleaning robot for whole scene - Google Patents
Array-crossing transfer device of photovoltaic system assembly cleaning robot for whole scene Download PDFInfo
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- CN218618721U CN218618721U CN202222379408.7U CN202222379408U CN218618721U CN 218618721 U CN218618721 U CN 218618721U CN 202222379408 U CN202222379408 U CN 202222379408U CN 218618721 U CN218618721 U CN 218618721U
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Abstract
The utility model relates to a photovoltaic module washs technical field, especially relates to a photovoltaic system subassembly cleaning robot strides array transfer device for whole scene, including transfer track, transfer car chassis, chassis drive assembly, butt joint platform, gradient adjustable lifting unit, power supply unit and remote control formula center control system; the chassis driving assembly is arranged at the bottom of the chassis of the transfer vehicle and is in sliding connection with the transfer track; the docking platform is fixedly arranged at the top of the chassis of the transfer vehicle through a lifting assembly; the remote control type central control system is integrated in the electric cabinet and is arranged on the rear side of the transfer vehicle chassis together with the power supply assembly, the power supply assembly provides electric energy for the whole transfer device, and the chassis driving assembly and the lifting assembly are connected with the remote control type central control system in an electric signal mode. The utility model discloses a cleaning robot's automatic transfer of array of striding, the transfer process can charge and add water for cleaning robot, guarantees that cleaning robot electric power is sufficient with wasing water, and automated control, has reduced cleaning robot's transfer cost.
Description
Technical Field
The utility model relates to a photovoltaic module washs technical field, especially relates to a whole scene is with photovoltaic system subassembly cleaning robot strides array transfer device, is applicable to the photovoltaic board washing of rigid photovoltaic system subassembly and flexible photovoltaic system subassembly under arbitrary installation scene.
Background
With the requirement of environmental protection and the improvement of sustainable energy demand, the proportion of clean energy in total energy is increased year by year, and the cleaning demand of photovoltaic panel arrays is gradually increasing in the current market. Photovoltaic arrays are cleaned for two reasons: dirt can cause heat conduction difference on the surface of the photovoltaic panel, and finally 'hot spots' are caused to damage the photovoltaic module; fouling causes a reduction in the surface transmittance of the photovoltaic panel, thereby affecting the photothermal conversion of the array of photovoltaic panel assemblies, i.e., reducing the efficiency of electricity generation. Therefore, in order to ensure that the power generation efficiency is not reduced and damage to the photovoltaic module is avoided, cleaning of the photovoltaic panel is necessary.
At present, the cleaning of photovoltaic power plant components is done by special photovoltaic cleaning robots. In order to facilitate cleaning, the photovoltaic power station components are generally arranged in an array form, and the photovoltaic components in different arrays are cleaned by a photovoltaic cleaning robot. Therefore, there are two cleaning methods, one is: the cleaning robots are arranged in each array, so that the investment cost is increased; the other is as follows: the same cleaning robot is transferred among different arrays by adopting a manual hoisting or mechanical hoisting mode, and the mode has huge workload and is quite inconvenient; meanwhile, no matter the flexible photovoltaic system assembly or the rigid photovoltaic system assembly is high in mounting bracket or the mounting scene is located on the water surface, a water pool or a mountain depression, the common ground transfer equipment cannot perform the transfer operation of the cleaning robot, and the terrain copying is difficult in manual transfer, high in cost and safe.
In addition, the existing photovoltaic cleaning robot is charged by solar energy, so that the storage capacity is limited, the electric energy cannot be supplemented due to weather problems after cleaning operation possibly exists, and the photovoltaic cleaning robot cannot work normally when cleaning the photovoltaic panels of other arrays; meanwhile, the water storage capacity of the washing machine is limited, and if the washing machine cannot be timely replenished, the washing effect is reduced.
Therefore, it is urgent to develop a transfer apparatus which is not limited by an installation scene, can automatically transfer among different photovoltaic arrays, and can charge and fill water into a cleaning robot.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving the technical problem who exists among the prior art. Therefore, the utility model provides a do not receive installation scene restriction, can be in different photovoltaic array automatic transfer and can charge the array transfer device strides of water injection to cleaning robot.
The utility model provides a technical scheme that its technical problem adopted is:
the robot cross-array transfer device comprises a transfer rail, a transfer vehicle chassis, a chassis driving assembly, a butt joint platform, an adjustable-gradient lifting assembly, a power supply assembly and a remote control type central control system; the chassis driving assembly is arranged at the bottom of the transfer vehicle chassis, is in sliding connection with the transfer track and is used for driving the transfer device to reciprocate along the transfer track; the docking platform is fixedly arranged at the top of the transfer vehicle chassis through the lifting assembly, the cleaning robot is lifted through the lifting assembly, and the inclination of the cleaning robot is adjusted; the remote control type central control system is integrated in the electric cabinet and is arranged on the rear side of the transfer vehicle chassis together with the power supply assembly, the power supply assembly provides electric energy for the whole transfer device, and the chassis driving assembly and the lifting assembly are connected with the remote control type central control system through electric signals.
In a preferred embodiment of the photovoltaic system assembly cleaning robot across-array transfer device for a full scene provided by the present invention, the docking platform comprises a base, a lifting arm, a docking portion and a telescopic push rod; the lifting arm is longitudinally slidably mounted at two ends of the base, the butt joint part is arranged at the head end of the lifting arm and is used for butt joint with a lifting ring on the lifting arm of the cleaning robot, one end of the telescopic push rod is fixedly mounted on the base, and the other end of the telescopic push rod is connected with the tail end of the lifting arm and is used for driving the lifting arm to move forwards and backwards.
In a preferred embodiment of the photovoltaic system assembly cleaning robot across-array transfer device for the whole scene provided by the utility model, the docking platform further comprises a limiting assembly, the limiting assembly is arranged at the head ends of the two lifting arms and is used for providing an in-place signal for the telescopic push rod; the limiting assembly comprises a fixing plate, a limiting switch and a baffle plate, the limiting switch is fixedly arranged above the butt joint part through the fixing plate and is in electric signal connection with the remote control type central control system, and the baffle plate is vertically arranged and is fixedly connected with a swing arm of the limiting switch; the baffle is in an inverted T shape, and a waist-shaped through hole for allowing the butt joint part to penetrate is formed in the baffle.
The utility model provides a photovoltaic system subassembly cleaning robot is used to full scene strides in array transfer device's a preferred embodiment, still be equipped with on the butt joint portion and be used for carrying out the charging contact of electricity connection with the contact electrode on cleaning robot's the rings, the charging contact electricity is connected the power supply unit.
In a preferred embodiment of the photovoltaic system component cleaning robot cross-array transfer device for the whole scene, the photovoltaic system component cleaning robot cross-array transfer device further comprises a water tank component, wherein the water tank component is fixedly installed on the back surface of a chassis of the transfer vehicle, and comprises a support, a water tank, a water pump and a water injection pipe; a plurality of water tank tanks are fixedly arranged on the bracket in parallel; the bracket and the water pump are respectively fixedly arranged on the back surface and the inner part of the transfer vehicle chassis; the water injection pipe is vertically and fixedly installed at the head end of the lifting arm, is connected with the water pump and the water tank through a water supply pipe and is used for being in butt joint with a water injection port on the lifting arm of the cleaning robot for water supplement.
In a preferred embodiment of the photovoltaic system assembly cleaning robot cross-array transfer device for the whole scene, the utility model further comprises a positioning assembly, wherein the positioning assembly comprises a fixing frame, two travel switches and a driving lever; the two travel switches are fixedly arranged at two ends of the fixing frame, and are connected with the remote control type central control system through electric signals; the swing arms of the two travel switches are fixedly provided with the deflector rod; the distance between the two travel switches is matched with the distance between the two steel cables used for installing the photovoltaic panel in the flexible photovoltaic assembly system.
In a preferred embodiment of the photovoltaic system assembly cleaning robot cross-array transfer device for a full scene provided by the present invention, the lifting assembly comprises a long support arm, a middle support arm, a short support arm and an electric push rod; the long support arm, the middle support arm and the short support arm are all H-shaped; one end of the middle support arm is hinged with one end of the transfer vehicle chassis, and the other end of the middle support arm is hinged with an ear seat arranged on the long support arm; one end of the long support arm is hinged with one end of the bottom of the base of the butt joint platform, and the other end of the long support arm is hinged with a sliding seat on a long linear guide rail arranged on the chassis of the transfer vehicle; one end of the short support arm is hinged with the other end of the transfer vehicle chassis, and the other end of the short support arm is hinged with a sliding seat on a short linear guide rail arranged at the bottom of the other end of the base of the butt joint platform; two electric putter's cylinder body is equallyd divide respectively fixed mounting in shift the vehicle chassis, push rod between them is connected with well support arm and short support arm are articulated mutually respectively.
The utility model provides a photovoltaic system subassembly cleaning robot for full scene strides in array transfer device's a preferred embodiment, chassis drive assembly including locate transfer car chassis bottom both ends with transfer track swing joint's restraint wheel subassembly with locate transfer car chassis bottom and be used for driving two the hold-in range drive arrangement of restraint wheel subassembly.
In a preferred embodiment of the photovoltaic system component cleaning robot across-array transfer device for a full scene provided by the present invention, the restraint wheel assembly comprises an anti-roll bracket, a driving wheel assembly, a restraint wheel assembly, a pressure spring assembly and an adjusting bottom support; the anti-tilting bracket is fixedly arranged at the bottom of the transfer vehicle chassis; the driving wheel set consists of a first connecting shaft and driving wheels fixedly arranged at two ends of the first connecting shaft, the first connecting shaft is detachably connected with the anti-tilting bracket, and the driving wheels at two sides of the anti-tilting bracket correspond to two tracks of the transfer track; the restraining wheel group consists of a second connecting shaft and restraining wheels which can be rotatably arranged at two ends of the second connecting shaft, the restraining wheels are arranged opposite to the driving wheels and are positioned below the two tracks of the transfer track, the second connecting shaft is arranged in a U-shaped groove at the bottom of the anti-tilting bracket and is tightly propped by the adjusting bottom support, and the height of the first connecting shaft is adjusted by the adjusting bottom support; one end of the pressure spring assembly is fixedly arranged on the anti-tilt bracket, and the other end of the pressure spring assembly tightly props against the second connecting shaft;
the synchronous belt driving device comprises a driving synchronous belt wheel, a driven synchronous belt wheel, a synchronous belt, a driving motor, an idler wheel and a tension wheel; the driving motor is fixedly arranged at the bottom of the transfer vehicle chassis through a motor bracket; the driving synchronous belt pulley and the driven synchronous belt pulley are respectively and fixedly arranged on a driving shaft of the driving motor and first connecting shafts on two sides; the idle wheel is rotatably arranged on the motor bracket and is positioned below the driving synchronous belt wheel; the tensioning wheel is arranged on the motor bracket and positioned on two sides of the driving synchronous belt wheel; the synchronous belt is wrapped by the driving synchronous belt wheel, the driven synchronous belt wheel and the idle wheel, and is pressed by the tension wheel.
In a preferred embodiment of the photovoltaic system module cleaning robot for the whole scene provided by the present invention, the base of the docking platform is further provided with a photovoltaic panel electrically connected to the power supply module; and the base of the butt joint platform is also provided with a monitoring camera which is connected with the remote control type central control system through an electric signal relative to the inner side of each lifting arm.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses an adopt welding or bolt fastening's mode installation transfer rail in one end of photovoltaic system subassembly steelframe, transfer device installs on the track, after control transfer device and cleaning robot overlap, can realize cleaning robot's the automatic transfer of cross array, and the transfer process can charge and add water for cleaning robot simultaneously, guarantees that cleaning robot electric power and washing water are sufficient, guarantees cleaning robot's normal cleaning work, and automated control, has reduced cleaning robot's transfer cost; meanwhile, the transfer device is arranged at the end part of the photovoltaic system assembly while the photovoltaic system assembly is erected, so that the transfer device can move back and forth between different photovoltaic arrays to realize array-crossing transfer of the cleaning robot, and the limitation of the cleaning robot on installation scenes (such as water surfaces, mountain depression and the like) in a manual hoisting or mechanical hoisting mode is eliminated;
2. the designed butt joint platform adopts two groups of independently driven telescopic suspension arms, the suspension arms can extend into a hanging ring of the cleaning robot, whether the suspension arms extend to the position or not can be judged through the limiting assembly, and when the suspension arms extend to the position, water injection operation of the cleaning robot can be realized; when the cleaning robot is lifted, the cleaning robot can be charged and injected with water;
3. the designed lifting assembly adopts a connecting rod lifting mechanism controlled by two electric push rods, the long support arm is arranged close to the low end of the photovoltaic panel, the short support arm is arranged close to the high end of the photovoltaic panel, and the cleaning robot can realize a bottom horizontal state after being lifted and is simultaneously higher than the highest point of the photovoltaic assembly so as to be convenient for transferring among different photovoltaic arrays; the lifting assembly adopts an H-shaped support arm, so that the eccentric load can be effectively resisted;
4. still design on the transfer device has a locating component, to flexible photovoltaic module system: the transfer device is corresponding to the photovoltaic module array by utilizing the contact between a shift lever on the travel switch and the steel cable, and the butt joint of the transfer device and the cleaning robot on the photovoltaic module is ensured; for steel core photovoltaic system components: a positioning baffle can be arranged on a steel frame of the photovoltaic array, and the transfer device corresponds to the photovoltaic module array by utilizing the contact between a deflector rod on a travel switch and the positioning baffle, so that the butt joint of the transfer device and a cleaning robot on the photovoltaic module and the determination of the transfer position are ensured;
5. the chassis driving assembly designed on the chassis of the transfer vehicle provides friction force on the track through the driving wheels to provide power for the transfer vehicle; the transfer vehicle can be restrained from being influenced by unbalance loading force by the restraining wheels clamped on the rail, and the multi-angle restraining transfer vehicle can run on the rail in a straight line or in a bent way.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic structural diagram of a cross-array transfer device of a photovoltaic system module cleaning robot for a whole scene provided by the present invention;
FIG. 2 is a front view of the landscape photovoltaic system assembly cleaning robot cross-array transfer arrangement provided in FIG. 1;
FIG. 3 is a top view of the landscape photovoltaic system assembly cleaning robot cross-array transfer arrangement provided in FIG. 1;
FIG. 4 is a side view of the landscape photovoltaic system assembly cleaning robot cross-array transfer arrangement provided in FIG. 1;
fig. 5 is a schematic structural diagram of a lifting assembly of the photovoltaic system assembly cleaning robot for a whole scene crossing array transfer device in a lifting state;
FIG. 6 is an enlarged view of the connection structure of the restraint wheel assembly and the track provided in FIG. 4;
fig. 7 is a schematic view of the docking structure of the photovoltaic system module cleaning robot for the whole scene, which straddles the array transfer device and the cleaning robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Example one
The embodiment provides a photovoltaic system component cleaning robot array-spanning transfer device for a whole scene, which comprises a transfer track 1, a transfer vehicle chassis 2, a chassis driving component, a docking platform 5, an inclination-adjustable lifting component 6, a power supply component 7 and a remote control type central control system, wherein the transfer vehicle chassis 2, the chassis driving component, the docking platform 5, the inclination-adjustable lifting component 6 and the remote control type central control system are shown in attached drawings 1 to 3.
As shown in fig. 1 and fig. 2, the chassis driving assembly 3 in this embodiment is disposed at the bottom of the transfer vehicle chassis 2 and is slidably connected to the transfer rail 1 for driving the transfer device to reciprocate along the transfer rail. Preferably, the transfer rail 1 in this embodiment is fixedly mounted at one end of the steel frame of the photovoltaic system component by welding or bolt fixing, the rail is formed by processing a section bar (square steel), and is designed to be a single-rail or double-rail structure, as shown in fig. 1, in this embodiment, the transfer rail is designed to be a double-rail structure, so that the transfer device can freely travel on the rail.
Preferably, as shown in fig. 2 and fig. 4, the chassis driving assembly in this embodiment includes restraining wheel assemblies 3 disposed at two ends of the bottom of the transfer vehicle chassis 2 and movably connected to the transfer track 1, and a synchronous belt driving device 4 disposed at the bottom of the transfer vehicle chassis 2 and used for driving the two restraining wheel assemblies 3. The chassis driving assembly designed by the embodiment provides friction force on the track through the restraining wheel assembly to provide power for the transfer vehicle; and the restraining wheel assembly can be clamped on the track, can restrain the transfer device from being influenced by offset load force, and can enable the multi-angle restraining transfer device to linearly or curvedly run on the track.
As shown in fig. 1, 2 and 4, in this embodiment, the docking platform 5 is fixedly mounted on the top of the chassis of the transfer vehicle through the lifting assembly 6, and the cleaning robot is lifted by the lifting assembly and the inclination of the cleaning robot is adjusted.
As shown in fig. 1 and 4, the remote control type central control system in this embodiment is integrated in an electric cabinet 8 and is disposed on the rear side of the transfer vehicle chassis 2 together with the power supply assembly 7, the power supply assembly 7 supplies electric energy to the whole transfer device, and the chassis driving assembly and the lifting assembly 6 are both electrically connected to the remote control type central control system, and can control the transfer device to automatically operate through the remote control type central control system.
This embodiment docks with cleaning machines people through docking platform, after the butt joint is accomplished, lift by crane cleaning machines people through lifting unit, move on the track by chassis drive assembly control transfer device after lifting by crane to realize cleaning machines people and stride the transfer of array, compare artifical the transfer, intelligent degree is high, only need 1 transfer device and 1 cleaning machines people can satisfy the photovoltaic board washing of photovoltaic system component array, greatly reduced photovoltaic module's cleaning cost.
Example two
On the basis of the first embodiment, the present embodiment further designs the docking platform, as shown in fig. 1 and fig. 4, the docking platform 5 in the present embodiment includes a base 5.1, a lifting arm 5.2, a docking portion 5.3, and a telescopic push rod 5.4.
The base 5.1 is a frame structure formed by assembling sectional materials, and the lifting arm 5.2 is longitudinally installed at two ends of the base 5.1 in a sliding mode. Specifically, a plurality of sliding blocks are fixed at two ends of the base, a sliding rail is fixed at the bottom of the lifting arm, and the sliding rail is connected with the sliding blocks in a sliding mode. The butt joint portion is arranged at the head end of the lifting arm (namely close to one side of the photovoltaic module) and is used for butt joint with a lifting ring on the lifting arm of the cleaning robot. As shown in fig. 1 and fig. 4, the docking portion 5.3 in this embodiment includes a docking rod 5.3.1 and a bullet-shaped guide block 5.3.2 fixedly mounted at an end of the docking rod, the guide block can play a role of guiding during docking and can play a role of limiting a hanging ring during hoisting, so as to prevent the hanging ring from coming off the docking rod, and the docking rod 5.3.1 is fixedly mounted at the bottom of the front end of the boom 5.2 through a clamping block. One end of the telescopic push rod 5.4 is fixedly arranged on the base 5.1, and the other end of the telescopic push rod is connected with the tail end of the lifting arm 5.2 and used for driving the lifting arm to move forwards and backwards; specifically, the telescopic push rod in this embodiment is a telescopic push rod with a stroke limit, and specifically, one of an electric push rod, an electro-hydraulic push rod, an air cylinder, and an oil cylinder may be used.
Further, the docking platform 5 in this embodiment further includes a limiting component 5.5, as shown in fig. 1 and fig. 4, the limiting component 5.5 is disposed at the head ends of the two lifting arms 5.2, and is used for providing an in-place signal to the telescopic push rod 5.4. Preferably, the limit assembly 5.5 of this embodiment includes a fixed plate 5.5.1, a limit switch 5.5.2 and a baffle 5.5.3, the limit switch 5.5.2 is fixedly mounted above the butt joint portion 5.3 through the fixed plate 5.5.1, and is connected with the remote control type central control system through an electric signal, the baffle 5.5.3 is vertically arranged and is fixedly connected with the swing arm of the limit switch 5.5.2. As shown in fig. 7, when the lifting arm approaches the cleaning robot, the butt joint part extends into a lifting ring of the cleaning robot, the lifting arm continues to move until the lifting arm contacts the baffle plate, so that the baffle plate triggers a signal of the limit switch, and the surface lifting arm is in butt joint at the moment, thereby meeting the lifting requirement. Preferably, the baffle in this embodiment is an inverted T-shape, and the baffle is provided with a waist-shaped through hole for allowing the butt joint portion to pass through, so that the design ensures that the hanging ring can touch the baffle inevitably to trigger the limit switch in the butt joint process.
EXAMPLE III
In addition to the second embodiment, in this embodiment, a charging contact (not shown) for electrically connecting with a contact electrode on a lifting ring of the cleaning robot is further disposed on the butting portion 5.3, and the charging contact is electrically connected with the power supply assembly 7. This embodiment has realized that cleaning robot charges at hoist and mount and transfer in-process, has effectively prevented to cause cleaning robot can't normally supply the problem that the electric energy influences normal operation because of the weather reason.
Example four
On the basis of the third embodiment, in the third embodiment, a water tank assembly 9 is further arranged on the transfer device, as shown in fig. 1 and fig. 4, the water tank assembly 9 in the present embodiment is fixedly mounted on the back surface (the side far away from the photovoltaic assembly) of the transfer vehicle chassis 2, and the water tank assembly 9 includes a bracket 9.1, a water tank 9.2, a water pump 9.3 and a water injection pipe 9.4; a plurality of water tank tanks 9.2 are fixedly arranged on the bracket 9.1 in parallel, and the water phase tanks are connected in series; the support 9.1 and the water pump 9.3 are respectively fixedly arranged on the back surface and the inner part of the transfer vehicle chassis 2; the water injection pipe 9.4 is vertically and fixedly installed at the head end of the lifting arm 5.2, is connected with the water pump 9.3 and the water tank 9.2 through a water supply pipe, and is used for being in butt joint with a water injection port 100 arranged on the lifting arm of the cleaning robot for water supplement, as shown in the attached figure 7. After the cleaning robot is in place in the butt joint and in the lifting and transferring process, the water injection and water supplement operation of the cleaning robot can be realized, and the problem that the cleaning robot is difficult to supply water is solved.
EXAMPLE five
On the basis of the first to fourth embodiments, the present embodiment further designs a positioning assembly 10 on the transferring device, as shown in fig. 1 and fig. 2, the positioning assembly 10 includes a fixing frame 10.1, two travel switches 10.2 and a shift lever 10.3. The two travel switches 10.2 are fixedly arranged at two ends of the fixed frame 10.1, and are connected with the remote control type central control system through electric signals; the swing arms of the two travel switches 10.2 are fixedly provided with the deflector rod 10.3. The positioning assembly of the embodiment can realize the correspondence between the transfer device and the photovoltaic assembly array, and ensure the butt joint of the transfer device and the cleaning robot on the photovoltaic assembly and the determination of the transfer position.
In the specific embodiment, for the flexible photovoltaic assembly system, as the photovoltaic panel is fixed through the two steel cables, the distance between the two travel switches is matched with the distance between the two steel cables for installing the photovoltaic panel in the flexible photovoltaic assembly system, the transfer device is corresponding to the photovoltaic assembly array by utilizing the contact between the shift lever on the travel switches and the steel cables, the transfer device is ensured to be in butt joint with the cleaning robot on the photovoltaic assembly, and specifically, each travel switch finishes triggering of signals for 2 times, namely, the surface of the transfer device reaches the butt joint position. For a rigid photovoltaic module system, a positioning baffle can be arranged on a steel frame of a photovoltaic array, and the transfer device corresponds to the photovoltaic module array by utilizing the contact between a shifting rod on a travel switch and the positioning baffle, so that the butt joint of the transfer device and a cleaning robot on the photovoltaic module and the determination of the transfer position are ensured.
EXAMPLE six
On the basis of the first to fifth embodiments, the lifting assembly 6 is further designed in the present embodiment, as shown in fig. 2 and 5, the lifting assembly 6 of the present embodiment includes a long arm 6.1, a middle arm 6.2, a short arm 6.3, and an electric push rod 6.4.
The long support arm 6.1, the middle support arm 6.2 and the short support arm 6.3 are all H-shaped, and the H-shaped support arms are adopted, so that unbalance loading can be effectively resisted; one end of the middle support arm 6.2 is hinged with one end of the transfer vehicle chassis 2, and the other end is hinged with an ear seat arranged on the long support arm 6.1; one end of the long support arm 6.1 is hinged with one end of the bottom of the base of the butt-joint platform 5, and the other end is hinged with a sliding seat arranged on a long linear guide rail on the chassis 2 of the transfer vehicle; one end of the short support arm 6.3 is hinged with the other end of the transfer vehicle chassis 2, and the other end of the short support arm 6.3 is hinged with a sliding seat on a short linear guide rail arranged at the bottom of the other end of the base of the butt joint platform 5; two electric putter 6.4's cylinder body is equallyd divide respectively fixed mounting in transfer car chassis 2 is last, and push rod between them is articulated with well support arm 6.2 and short support arm 6.3 mutually respectively and is connected.
The lifting component is designed by the embodiment, the two electric push rod-controlled connecting rod lifting mechanisms are adopted, the long support arm is arranged close to the low end of the photovoltaic panel, the short support arm is arranged close to the high end of the photovoltaic panel, the horizontal state of the bottom can be realized after the cleaning robot is lifted, and the height of the cleaning robot is simultaneously higher than the highest point of the photovoltaic component, so that the cleaning robot can be conveniently transferred between different photovoltaic arrays.
Further, this embodiment is in the four corners of transfer car chassis still is equipped with the stand 11 that is used for supporting the base of butt joint platform, as shown in figure 5, after lifting unit draws in, the base supports through the stand, and electric putter does not bear load this moment.
EXAMPLE seven
On the basis of the first to sixth embodiments, the present embodiment further designs the restraint wheel assembly, as shown in fig. 1, fig. 2, fig. 4 and fig. 6, the present embodiment takes a double track as an example, and the restraint wheel assembly 3 in the present embodiment includes an anti-roll bracket 3.1, a driving wheel set 3.2, a restraint wheel set 3.3, a pressure spring assembly 3.4 and an adjusting shoe 3.5.
The anti-tilting bracket 3.1 is fixedly arranged at the bottom of the transfer vehicle chassis 2;
the driving wheel set 3.2 consists of a first connecting shaft and driving wheels 3.2.1 which are rotatably arranged at two ends of the first connecting shaft, the first connecting shaft is fixedly connected with the anti-tilting bracket 3.1, and the driving wheels 3.2.1 at two sides of the anti-tilting bracket 3.1 correspond to two tracks of the transfer track 1;
the restraint wheelset 3.3 comprises second connecting axle and the rotatable restraint wheel 3.3.1 of locating the second connecting axle both ends, restraint wheel 3.3.1 with drive wheel 3.2.1 sets up relatively and is located two track below of transfer track 1, the second connecting axle is located prevent inclining in the U type inslot of support 3.1 bottom, by adjust collet 3.5 top tightly, it can adjust to adjust the collet the height of first connecting axle. Specifically, the adjusting shoe 3.5 in this embodiment includes a fixing block 3.5.1 and an adjusting bolt 3.5.2, the fixing block 3.5.1 is fixedly mounted on a side surface of a U-shaped groove at the bottom of the anti-roll bracket 3.1 relative to the compressed spring assembly 3.4, and the adjusting bolt 3.5.2 penetrates through the fixing block 3.5.1 in a threaded manner;
one end of the pressure spring assembly 3.4 is fixedly arranged on the anti-tilting bracket 3.1, and the other end of the pressure spring assembly abuts against the second connecting shaft. Preferably, the pressure spring assembly 3.4 includes an installation block 3.4.1, a spring 3.4.2, a spring pressure seat 3.4.3 and a guide rod 3.4.4, the installation block 3.4.1 is fixedly installed on the side of the anti-tilting bracket 3.1 and is located above the U-shaped groove, one end of the guide rod 3.4.4 is fixedly installed on the spring pressure seat 3.4.3, the other end of the guide rod penetrates through the installation block 3.4.1, the spring 3.4.2 is arranged on the guide rod 3.4.4, and two ends of the spring are respectively connected with the installation block 3.4.1 and the spring pressure seat 3.4.3. In this embodiment, the restraining wheel set is formed by fixedly installing the pressure spring assembly and the adjusting shoe in the U-shaped groove at the bottom of the anti-tilt support, and the position of the restraining wheel set can be adjusted by adjusting the shoe, so that the restraining wheel set can smoothly enter the transfer track and be movably clamped and connected with the transfer track.
In the monorail designed in other embodiments, the specific structure of the restraint wheel assembly refers to the structure of the restraint wheel assembly in this embodiment, and details are not described herein.
Further, as shown in fig. 2 and fig. 6, the synchronous belt driving device 4 in this embodiment includes a driving synchronous pulley 4.1, a driven synchronous pulley 4.2, a synchronous belt 4.3, a driving motor 4.4, an idler pulley 4.5 and a tension pulley 4.6;
the driving motor 4.4 is fixedly arranged at the bottom of the transfer vehicle chassis 2 through a motor bracket;
the driving synchronous belt pulley 4.1 and the driven synchronous belt pulley 4.2 are respectively and fixedly arranged on a driving shaft of the driving motor 4.4 and first connecting shafts at two sides;
the idle wheel 4.5 is rotatably arranged on the motor bracket and is positioned below the driving synchronous belt wheel 4.1;
the tensioning wheel 4.6 is arranged on the motor bracket and positioned at two sides of the driving synchronous belt wheel 4.1;
the synchronous belt is wrapped by the driving synchronous belt wheel, the driven synchronous belt wheel and the idle wheel, and is pressed by the tension wheel.
In the embodiment, the chassis driving assembly designed for the chassis of the transfer vehicle provides friction force on the track through the driving wheels to provide power for the transfer vehicle; the transfer vehicle can be restrained from being influenced by unbalance loading force by the restraining wheels clamped on the rail, and the multi-angle restraining transfer vehicle can run on the rail in a straight line or in a bent way.
Example eight
Based on the aforesaid wantonly the embodiment, as shown in fig. 1 to fig. 4, this implementation is further in still be equipped with on docking platform 5's the base 5.1 with power supply unit 7 electric connection's photovoltaic board 12, usable photovoltaic board charges for transfer device's power supply unit, the utility model discloses a power supply unit adopts the electric storage battery of large capacity to guarantee self electric quantity and supply power for cleaning machines people.
Further, in this embodiment, a monitoring camera 13 electrically connected to the remote control type central control system is further disposed on the base 5.1 of the docking platform 5 and on the inner side of each lifting arm 5.2, and the real-time state of the remote control type central control system can be monitored by the monitoring camera.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes made by the present specification can be changed, or directly or indirectly applied to other related technical fields, and all the same principles are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a photovoltaic system subassembly cleaning robot strides array transfer device for full scene which characterized in that: the remote control type transfer vehicle comprises a transfer track, a transfer vehicle chassis, a chassis driving assembly, a butt joint platform, a lifting assembly with adjustable inclination, a power supply assembly and a remote control type central control system;
the chassis driving assembly is arranged at the bottom of the transfer vehicle chassis, is in sliding connection with the transfer track and is used for driving the transfer device to move back and forth along the transfer track;
the docking platform is fixedly arranged at the top of the transfer vehicle chassis through the lifting assembly, and the cleaning robot is lifted through the lifting assembly and the inclination of the cleaning robot is adjusted;
the remote control type central control system is integrated in the electric cabinet and is arranged on the rear side of the transfer vehicle chassis together with the power supply assembly, the power supply assembly provides electric energy for the whole transfer device, and the chassis driving assembly and the lifting assembly are connected with the remote control type central control system through electric signals.
2. The full scene photovoltaic system assembly cleaning robot cross-array transfer device of claim 1, wherein: the butt joint platform comprises a base, a lifting arm, a butt joint part and a telescopic push rod; the lifting arm is longitudinally slidably mounted at two ends of the base, the butt joint part is arranged at the head end of the lifting arm and used for being in butt joint with a lifting ring on the lifting arm of the cleaning robot, one end of the telescopic push rod is fixedly mounted on the base, and the other end of the telescopic push rod is connected with the tail end of the lifting arm and used for driving the lifting arm to move forwards and backwards.
3. The full scene photovoltaic system assembly cleaning robot cross-array transfer device of claim 2, wherein: the butt joint platform further comprises a limiting assembly, and the limiting assembly is arranged at the head ends of the two lifting arms and used for providing in-place signals for the telescopic push rod;
the limit assembly comprises a fixing plate, a limit switch and a baffle plate, the limit switch is fixedly arranged above the butt joint part through the fixing plate and is in electric signal connection with the remote control type central control system, and the baffle plate is vertically arranged and is fixedly connected with a swing arm of the limit switch;
the baffle is in an inverted T shape, and a waist-shaped through hole for the butt joint part to pass through is formed in the baffle.
4. The full scene photovoltaic system assembly cleaning robot cross-array transfer device of claim 2, wherein: the butt joint part is also provided with a charging contact which is used for being electrically connected with a contact electrode on a hanging ring of the cleaning robot, and the charging contact is electrically connected with the power supply assembly.
5. The full scene photovoltaic system component cleaning robot cross-array transfer device according to claim 2 or 4, characterized in that: the water tank assembly is fixedly arranged on the back surface of the transfer vehicle chassis and comprises a support, a water tank, a water pump and a water injection pipe;
a plurality of water tank tanks are fixedly arranged on the bracket in parallel;
the bracket and the water pump are respectively and fixedly arranged on the back surface and the inner part of the transfer vehicle chassis;
the water injection pipe is vertically and fixedly installed at the head end of the lifting arm, is connected with the water pump and the water tank through a water supply pipe and is used for being in butt joint with a water injection port on the lifting arm of the cleaning robot for water supplement.
6. The full scene photovoltaic system component cleaning robot cross-array transfer device of claim 1, characterized in that: the positioning assembly comprises a fixed frame, two travel switches and a shifting rod;
the two travel switches are fixedly arranged at two ends of the fixing frame and are connected with the remote control type central control system through electric signals;
the swing arms of the two travel switches are fixedly provided with the deflector rod;
the distance between the two travel switches is matched with the distance between the two steel cables used for installing the photovoltaic panel in the flexible photovoltaic assembly system.
7. The full scene photovoltaic system component cleaning robot cross-array transfer device according to claim 2, wherein: the lifting assembly comprises a long support arm, a middle support arm, a short support arm and an electric push rod;
the long support arm, the middle support arm and the short support arm are all H-shaped;
one end of the middle support arm is hinged with one end of the transfer vehicle chassis, and the other end of the middle support arm is hinged with an ear seat arranged on the long support arm;
one end of the long support arm is hinged with one end of the bottom of the base of the butt joint platform, and the other end of the long support arm is hinged with a sliding seat on a long linear guide rail arranged on the chassis of the transfer vehicle;
one end of the short support arm is hinged with the other end of the transfer vehicle chassis, and the other end of the short support arm is hinged with a sliding seat on a short linear guide rail arranged at the bottom of the other end of the base of the butt joint platform;
the two electric push rod cylinders are respectively fixedly installed on the transfer vehicle chassis, and the push rods are respectively hinged with the middle support arm and the short support arm.
8. The full scene photovoltaic system component cleaning robot cross-array transfer device of claim 1, characterized in that: the chassis driving assembly comprises restraint wheel assemblies which are arranged at two ends of the bottom of the transfer vehicle and movably connected with the transfer track and a synchronous belt driving device which is arranged at the bottom of the transfer vehicle and used for driving the two restraint wheel assemblies.
9. The full scene photovoltaic system assembly cleaning robot cross-array transfer device of claim 8, wherein:
the restraint wheel assembly comprises an anti-tilting bracket, a driving wheel assembly, a restraint wheel assembly, a pressure spring assembly and an adjusting bottom support;
the anti-tilting bracket is fixedly arranged at the bottom of the transfer vehicle chassis;
the driving wheel set consists of a first connecting shaft and driving wheels which can be rotatably arranged at two ends of the first connecting shaft, the first connecting shaft is fixedly connected with the anti-tilting bracket, and the driving wheels at two sides of the anti-tilting bracket correspond to the two tracks of the transfer track;
the restraining wheel group consists of a second connecting shaft and restraining wheels which can be rotatably arranged at two ends of the second connecting shaft, the restraining wheels are arranged opposite to the driving wheels and are positioned below the two tracks of the transfer track, the second connecting shaft is arranged in a U-shaped groove at the bottom of the anti-tilting bracket and is tightly propped by the adjusting bottom support, and the height of the first connecting shaft is adjusted by the adjusting bottom support;
one end of the pressure spring assembly is fixedly arranged on the anti-tilting bracket, and the other end of the pressure spring assembly abuts against the second connecting shaft;
the synchronous belt driving device comprises a driving synchronous belt wheel, a driven synchronous belt wheel, a synchronous belt, a driving motor, an idler wheel and a tension wheel;
the driving motor is fixedly arranged at the bottom of the transfer vehicle chassis through a motor bracket;
the driving synchronous belt pulley and the driven synchronous belt pulley are respectively and fixedly arranged on a driving shaft of the driving motor and first connecting shafts on two sides;
the idle wheel is rotatably arranged on the motor bracket and is positioned below the driving synchronous belt wheel;
the tensioning wheel is arranged on the motor bracket and positioned on two sides of the driving synchronous belt wheel;
the synchronous belt is wrapped by the driving synchronous belt wheel, the driven synchronous belt wheel and the idle wheel, and is pressed by the tension wheel.
10. The full scene photovoltaic system component cleaning robot cross-array transfer device according to claim 2, wherein:
the base of the butt joint platform is also provided with a photovoltaic panel electrically connected with the power supply assembly;
and the base of the butt joint platform is also provided with a monitoring camera which is connected with the remote control type central control system through an electric signal relative to the inner side of each lifting arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222379408.7U CN218618721U (en) | 2022-09-07 | 2022-09-07 | Array-crossing transfer device of photovoltaic system assembly cleaning robot for whole scene |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222379408.7U CN218618721U (en) | 2022-09-07 | 2022-09-07 | Array-crossing transfer device of photovoltaic system assembly cleaning robot for whole scene |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218618721U true CN218618721U (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222379408.7U Active CN218618721U (en) | 2022-09-07 | 2022-09-07 | Array-crossing transfer device of photovoltaic system assembly cleaning robot for whole scene |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218618721U (en) |
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2022
- 2022-09-07 CN CN202222379408.7U patent/CN218618721U/en active Active
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