CN109347429B - Connection track-changing mechanism and track-changing method for multi-row solar photovoltaic panels for walking robot - Google Patents
Connection track-changing mechanism and track-changing method for multi-row solar photovoltaic panels for walking robot Download PDFInfo
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- CN109347429B CN109347429B CN201811441447.7A CN201811441447A CN109347429B CN 109347429 B CN109347429 B CN 109347429B CN 201811441447 A CN201811441447 A CN 201811441447A CN 109347429 B CN109347429 B CN 109347429B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007704 transition Effects 0.000 claims abstract description 74
- 230000009194 climbing Effects 0.000 claims abstract description 26
- 230000003014 reinforcing effect Effects 0.000 claims description 27
- 238000005096 rolling process Methods 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 13
- 238000004140 cleaning Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 3
- 238000010248 power generation Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention discloses a connection track-changing mechanism and a track-changing method of a multi-row solar photovoltaic panel for a walking robot, wherein the connection track-changing mechanism is in a herringbone shape and comprises a front track and a rear track; the front rail comprises a climbing rail, a transition rail I and an automatic rail descending rail; the rear rail comprises a climbing depth rail and a transition rail II; the first transition track and the second transition track are parallel to the photovoltaic panel frame, the first transition track is higher than the second transition track, and the height difference is higher than the height of the vehicle body of the walking robot; the automatic lowering rail is hinged with the outer side end of the transition rail and can rotate around a hinge shaft; when the automatic lowering rail rotates backward and downward, the bottom of the automatic lowering rail points to the transition rail II. According to the invention, different rows of photovoltaic plate frames can be connected in series, one robot can finish the operation of all the photovoltaic plates connected in series, the efficiency is improved by at least one time compared with the efficiency of a carrier mode, and the operation mileage is increased by more than one time.
Description
Technical Field
The invention relates to the technical field of photovoltaic panel cleaning and detecting robots, in particular to a connecting track-changing mechanism and a track-changing method of a multi-row solar photovoltaic panel for a walking robot.
Background
The traditional energy is gradually in shortage, and the development and utilization of new energy are imperative. The solar energy is used as clean energy, has the inexhaustible advantages of inexhaustible, environment-friendly and the like, and is greatly popularized and utilized. The conversion rate of solar photovoltaic power generation is an important index, and the solar photovoltaic power generation not only relates to the utilization of solar energy, but also relates to the benefit of a power plant.
At present, more than half of photovoltaic power plants are built in severe-condition areas, water and dust are deficient all the year round, sand and dust are serious, and if dust, dirt and the like on the surface of a solar panel are not cleaned timely, the power generation efficiency is seriously affected, and phenomena such as hot spots and the like can be caused, so that the photovoltaic panel is permanently damaged. Because the solar power plant is large in laying area, the environment is severe, the cleaning and detecting workload of solar energy is extremely huge, the manual cleaning cost is high, the sweeper cleaning is limited by objective environment and cannot be widely adopted, and the workload is also large.
It is desirable to perform automatic cleaning by a robot while performing related defect detection. However, the existing robots can only work one row of photovoltaic panels, and other rows can be carried by automatic trucks or manual work. In addition, erect the transport track and set up carrier and inconvenience, efficiency is lower moreover, control is loaded down with trivial details.
Disclosure of Invention
The invention aims at solving the technical problems of the prior art, and provides a connecting and track-changing mechanism and a track-changing method for a multi-row solar photovoltaic panel for a walking robot.
In order to solve the technical problems, the invention adopts the following technical scheme:
The utility model provides a walking robot is with connection track change mechanism of multirow solar photovoltaic board for connect adjacent two rows of lights Fu Banjia; the two adjacent rows of photovoltaic grillages are respectively a front row of photovoltaic grillages and a rear row of photovoltaic Fu Banjia; the photovoltaic plate frame is obliquely arranged.
The rail changing mechanism is in a herringbone shape and comprises a front rail and a rear rail.
The front rail comprises a climbing rail, a transition rail I and an automatic descending rail which are sequentially connected and paved from the side of the front row of photovoltaic board frames.
The rear rail comprises a climbing depth rail and a transition rail II which are sequentially connected and paved from the side of the rear row of photovoltaic panel frame.
The first transition track and the second transition track are parallel to the photovoltaic panel frame, the first transition track is higher than the second transition track, and the height difference is higher than the vehicle body height of the walking robot.
The climbing track comprises two mutually parallel and equal inclined guide rails I.
The climbing and deepening track comprises two mutually parallel and equal inclined guide rails II.
The automatic lowering rail is hinged with the outer side end of the first transition rail and can rotate around a hinge shaft; when the automatic lowering rail rotates backward and downward, the bottom of the automatic lowering rail points to the transition rail II.
The automatic falling rail is connected with the outer side end of the first transition rail through a pin shaft and a reset spring; when the reset spring is in a natural state, the automatic falling rail and the transition rail I are positioned on the same plane; when the walking robot walks to the automatic descending rail, the bottom of the automatic descending rail points to the transition rail II when the automatic descending rail rotates backwards and downwards; when the walking robot is transferred from the automatic track lowering to the transition track II, the automatic track lowering is restored to the initial state under the action of the reset spring.
The return spring is a torsion spring or a leaf spring.
The automatic rail lowering device also comprises a rolling bearing; a support plate with a fixed position is arranged below the automatic lowering rail, and is perpendicular to the axis of the pin shaft; the rolling bearing is arranged at the bottom of the automatic descending rail and rotates along with the automatic descending rail, and in the rotating process, the outer ring of the rolling bearing is always contacted with the supporting plate.
The automatic rail descending device also comprises a reinforcing cross rod, a reinforcing longitudinal rod, an inclined strut and a bearing mounting seat; the two reinforcing cross bars are respectively and vertically arranged at the front end and the rear end of the automatic descending rail, the two reinforcing cross bars and the two rails of the automatic descending rail form a rectangle, and the reinforcing longitudinal bar is vertically arranged between the two reinforcing cross bars and divides the rectangle into a large rectangle and a small rectangle; the bearing mounting seat is arranged at the bottom of the reinforced longitudinal rod, and the rolling bearing is mounted on the bearing mounting seat; the diagonal bracing is arranged in the large rectangle, and two ends of the diagonal bracing are respectively connected with the reinforcing longitudinal rod and a reinforcing transverse rod far away from the pin shaft.
One end of the diagonal brace is arranged at the joint of the bearing mounting seat and the reinforcing longitudinal rod.
A connection track-changing method of a plurality of rows of solar photovoltaic panels for a walking robot comprises the following steps.
Step 1, a walking robot ascends along a climbing track along a front row of photovoltaic panel frames to a first transition track.
And 2, the front wheel of the walking robot passes through the first transition track and moves onto the automatic descending track, the automatic descending track is pressed to the rear lower side under the action of gravity, and the automatic descending track rotates around the pin shaft to the rear lower side.
Step 3, gradually moving the walking robot to an automatic lowering rail, wherein the automatic lowering rail is acted by all gravity of the robot, and the torque around a pin shaft is larger and larger in the advancing process of the walking robot; in the rotation process of the pin shaft, the rolling bearing positioned at the bottom of the automatic rail descending device is always in contact with the supporting plate, and the supporting plate is vertical to the axis of the pin shaft, so that the bending moment effect of the automatic rail descending device on the pin shaft under the action of the gravity of the robot is improved; the gravity of the walking robot is in the maximum moment arm state when the robot leaves the automatic descending rail quickly, so that the upward acting force of the reset spring on the automatic descending rail can be overcome, the automatic descending rail can be rotated to descend to the bottom, and the far end of the bottom is erected on the transition rail II; the walking robot gradually leaves the automatic descending rail and enters the transition rail II; at this time, the automatic lowering rail rotates to an initial state under the elastic force of the return spring.
And 4, the walking robot walks to the tail end of the transition track II, and after a travel switch of the walking robot touches the blocking plate, the walking robot walks reversely and walks to the climbing depth track along the transition track II.
And 5, the walking robot moves to the rear row photovoltaic panel frame along the climbing deep track to perform cleaning operation.
And 6, repeating the steps 1-5 to realize the cleaning operation of one robot on all photovoltaic panels on the photovoltaic panels frame.
The invention has the following beneficial effects: the invention can realize the automatic transition of the robot to the second row of photovoltaic panel frames without other external force control. Because the vehicle does not need to return to the starting point to carry, the walking path is cleaned and detected, almost all the vehicle is effective, the driving mileage of idle driving is reduced, the operation range is increased by at least one time, at least half of time is saved, the manual intervention link is omitted, the operation efficiency is greatly improved, the cleaning and detecting frequency is increased, the power generation efficiency is improved, and the cost is reduced.
Drawings
Fig. 1 shows a schematic structure of a connection track-changing mechanism of a multi-row solar photovoltaic panel for a walking robot.
Fig. 2 shows a schematic diagram of an example of the specific layout of the track-changing mechanism in the multi-row photovoltaic panel frame.
Fig. 3 shows a schematic structural view of the automatic lowering rail and the transition rail in the same plane.
Fig. 4 shows a side view of the automatic derailment.
The method comprises the following steps:
1-front row photovoltaic panels; 2-climbing a track; 3-transition track one; 4-a return spring; 5-a pin shaft; 6-automatically lowering the rail; 7-rolling bearings; 8-supporting plates; 9-transition track II; 10-climbing a depth track; 11-back row photovoltaic panels; 12. a reinforcing cross bar; 13. a reinforcing longitudinal bar; 14. diagonal bracing; 15. a bearing mounting seat; 16. a supporting rod.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
One side or two sides of two adjacent rows of photovoltaic plate frames are respectively provided with the track changing mechanism.
When one side of two adjacent rows of photovoltaic grillages is provided with the track changing mechanism, a plurality of track changing mechanisms are distributed among the rows of photovoltaic grillages in a staggered way as shown in fig. 2, and the walking robot automatically cleans the first row of photovoltaic grillages to the last row of photovoltaic grillages in sequence each time.
When one side of each two adjacent rows of photovoltaic plate frames is provided with the track changing mechanism, the walking robot can sequentially and automatically clean the photovoltaic plate frames from the first row of photovoltaic plate frames to the last row of photovoltaic plate frames; the cleaning may be performed in reverse from the last row of light Fu Jiaban to the first row of photovoltaic panels in sequence, and may be specifically set as needed.
The adjacent two rows of photovoltaic grillage are respectively a front row photovoltaic grillage 1 and a back row photovoltaic grillage 11. The terms "front" and "rear" as used herein are distinguished along the direction of travel of the walking robot, i.e., the walking robot walks from the front row of photovoltaic panels to the rear row of photovoltaic panels. For the same row of photovoltaic panels, as shown in fig. 2, it is possible to have a rear row of photovoltaic panels in the right side track change mechanism, but a front row of photovoltaic panels in the left side track change mechanism.
As shown in fig. 1 and 2, a connection track-changing mechanism of a multi-row solar photovoltaic panel for a walking robot is in a herringbone shape and comprises a front track and a rear track.
The front rail comprises a climbing rail 2, a transition rail I3 and an automatic rail descending 6 which are sequentially connected and paved from the side of the front row of photovoltaic board frames.
The rear rail comprises a climbing depth rail 10 and a transition rail II 9 which are sequentially connected and paved from the side of the rear row of photovoltaic panel frames.
The first transition track and the second transition track are parallel to the photovoltaic panel frame, the first transition track is higher than the second transition track, and the height difference is higher than the vehicle body height of the walking robot. The first transition track is preferably 500mm higher than the second transition track, and exceeds the height of the robot by more than about 100 mm.
The distance between the first transition track and the front row of photovoltaic grillages is smaller than the distance between the second transition track and the rear row of photovoltaic grillages.
The climbing track comprises two mutually parallel and equal inclined guide rails I.
The climbing and deepening track comprises two mutually parallel and equal inclined guide rails II and a plurality of reinforcing rods arranged between the inclined guide rails II. The tilting direction of the tilting rail II is opposite to the tilting direction of the tilting rail I.
The automatic lowering rail is hinged with the outer side end of the first transition rail and rotates around a hinge shaft. When the automatic lowering rail rotates backward and downward, the bottom of the automatic lowering rail points to the transition rail II. When the automatic lowering height is to be the lowest, the most distal end of the automatic lowering is preferably assumed on the upper surface of the front end of the transition rail II, and the transition rail II has a supporting function on the automatic lowering.
Assuming a design with a front-back row of photovoltaic panels at a distance of 2000mm, the climbing rail height elevation angle is preferably equal to 30 °, and the length is selected
The automatic track lowering rotation angle is selected to be 1000mm, the automatic track lowering rotation angle is preferably selected to be 30 degrees, the length is 1000mm, the external extension length of the transition track is 500mm, the total length of the transition track is 600mm, the elevation angle of the climbing depth track is preferably smaller than 30 degrees, and the robot can stably walk on the track.
The automatic lowering rail is preferably connected with the outer side end of the first transition rail through a pin shaft 5 and a return spring 4. The return spring is preferably a torsion spring, a leaf spring, or the like.
When the reset spring is in a natural state, the automatic falling rail and the transition rail I are positioned on the same plane; when the walking robot walks to the automatic descending rail, the bottom of the automatic descending rail points to the transition rail II when the automatic descending rail rotates backwards and downwards; when the walking robot is transferred from the automatic track lowering to the transition track II, the automatic track lowering is restored to the initial state under the action of the reset spring.
As shown in fig. 1, 3 and 4, the automatic derailing further includes rolling bearings 7, reinforcing cross bars 12, reinforcing longitudinal bars 13, diagonal braces 14 and bearing mounts 15.
The bearing mounting seat is arranged at the bottom of the reinforcing longitudinal rod, and the rolling bearing is arranged on the bearing mounting seat.
The diagonal bracing is arranged in the large rectangle, and two ends of the diagonal bracing are respectively connected with the reinforcing longitudinal rod and a reinforcing transverse rod far away from the pin shaft. One end of the diagonal brace is preferably arranged at the joint of the bearing mounting seat and the reinforcing longitudinal rod.
The lower part of the automatic lowering rail is preferably provided with a fixed support plate perpendicular to the axis of the pin, which is preferably fixed independently to the foundation by means of a strut 16, but also to the transition rail one.
The rolling bearing is arranged at the bottom of the automatic descending rail and rotates along with the automatic descending rail, and in the rotating process, the outer ring of the rolling bearing is always contacted with the supporting plate.
The support plate and the rolling bearing are preferably arranged close to the lower side, so that enough space is conveniently reserved for the robot to walk.
The rolling bearing is arranged at the bottom of the automatic descending rail and rotates along with the automatic descending rail, and in the rotating process, the outer ring of the rolling bearing is always contacted with the supporting plate. Further, the bending moment effect of the automatic falling rail on the pin shaft under the action of the gravity of the robot is improved.
When the automatic lowering rail rotates backward and downward, the top of the supporting plate can be in a small rectangle, and the top of the supporting plate is preferably provided with a plane and a lower inclined plane, namely, the top of the supporting plate does not exceed the top plane of the automatic lowering rail which is lowered under the action of the gravity of the walking robot.
A connection track-changing method of a plurality of rows of solar photovoltaic panels for a walking robot comprises the following steps.
Step 1, a walking robot ascends along a climbing track along a front row of photovoltaic panel frames to a first transition track.
And 2, the front wheel of the walking robot passes through the first transition track and moves onto the automatic descending track, the automatic descending track is pressed to the rear lower side under the action of gravity, and the automatic descending track rotates around the pin shaft to the rear lower side.
Step 3, gradually moving the walking robot to an automatic lowering rail, wherein the automatic lowering rail is acted by all gravity of the robot, and the torque around a pin shaft is larger and larger in the advancing process of the walking robot; in the rotation process of the pin shaft, the rolling bearing positioned at the bottom of the automatic rail descending device is always in contact with the supporting plate, and the supporting plate is vertical to the axis of the pin shaft, so that the bending moment effect of the automatic rail descending device on the pin shaft under the action of the gravity of the robot is improved; the gravity of the walking robot is in the maximum moment arm state when the robot leaves the automatic descending rail quickly, so that the upward acting force of the reset spring on the automatic descending rail can be overcome, the automatic descending rail can be rotated to descend to the bottom, and the far end of the bottom is erected on the transition rail II; the walking robot gradually leaves the automatic descending rail and enters the transition rail II; at this time, the automatic falling rail rotates to an initial state under the action of the elasticity of the reset spring, and enough space is reserved between the automatic falling rail, the transition rail II and the climbing deep rail for the robot to walk.
And 4, the walking robot walks to the tail end of the transition track II, and after a travel switch of the walking robot touches the blocking plate, the walking robot walks reversely and walks to the climbing depth track along the transition track II.
And 5, the walking robot moves to the rear row photovoltaic panel frame along the climbing deep track to perform cleaning operation.
And 6, repeating the steps 1-5 to realize the cleaning operation of one robot on all photovoltaic panels on the photovoltaic panels frame.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the equivalent changes belong to the protection scope of the present invention.
Claims (3)
1. The utility model provides a walking robot is with connection track change mechanism of multirow solar photovoltaic board which characterized in that: for connecting adjacent two rows of light Fu Banjia; the two adjacent rows of photovoltaic grillages are respectively a front row of photovoltaic grillages and a rear row of photovoltaic Fu Banjia; the photovoltaic plate frame is obliquely arranged;
the rail changing mechanism is in a herringbone shape and comprises a front rail and a rear rail;
The front rail comprises a climbing rail, a transition rail I and an automatic descending rail which are sequentially connected and paved from the front row of photovoltaic panel frame side;
The rear rail comprises a climbing depth rail and a transition rail II which are sequentially connected and paved from the side of the rear row of photovoltaic panel frame;
The first transition track and the second transition track are parallel to the photovoltaic panel frame, the first transition track is higher than the second transition track, and the height difference is higher than the height of the vehicle body of the walking robot;
The climbing track comprises two mutually parallel and equal inclined guide rails I;
The climbing depth track comprises two parallel and equal inclined guide rails II;
The automatic lowering rail is hinged with the outer side end of the first transition rail and can rotate around a hinge shaft; when the automatic lowering rail rotates backward and downward, the bottom of the automatic lowering rail points to the transition rail II;
The automatic falling rail is connected with the outer side end of the first transition rail through a pin shaft and a reset spring; when the reset spring is in a natural state, the automatic falling rail and the transition rail I are positioned on the same plane; when the walking robot walks to the automatic descending rail, the bottom of the automatic descending rail points to the transition rail II when the automatic descending rail rotates backwards and downwards; when the walking robot is transferred from the automatic track lowering to the transition track II, the automatic track lowering is restored to an initial state under the action of the reset spring;
The reset spring is a torsion spring or a plate spring;
the automatic rail lowering device also comprises a rolling bearing; a support plate with a fixed position is arranged below the automatic lowering rail, and is perpendicular to the axis of the pin shaft; the rolling bearing is arranged at the bottom of the automatic descending rail and rotates along with the automatic descending rail, and the outer ring of the rolling bearing is always contacted with the supporting plate in the rotation process;
the automatic rail descending device also comprises a reinforcing cross rod, a reinforcing longitudinal rod, an inclined strut and a bearing mounting seat; the two reinforcing cross bars are respectively and vertically arranged at the front end and the rear end of the automatic descending rail, the two reinforcing cross bars and the two rails of the automatic descending rail form a rectangle, and the reinforcing longitudinal bar is vertically arranged between the two reinforcing cross bars and divides the rectangle into a large rectangle and a small rectangle; the bearing mounting seat is arranged at the bottom of the reinforced longitudinal rod, and the rolling bearing is mounted on the bearing mounting seat; the diagonal bracing is arranged in the large rectangle, and two ends of the diagonal bracing are respectively connected with the reinforcing longitudinal rod and a reinforcing transverse rod far away from the pin shaft.
2. The connection track-changing mechanism of a plurality of rows of solar photovoltaic panels for a walking robot according to claim 1, wherein: one end of the diagonal brace is arranged at the joint of the bearing mounting seat and the reinforcing longitudinal rod.
3. A connection track-changing method of a plurality of rows of solar photovoltaic panels for a walking robot, based on the connection track-changing mechanism of the plurality of rows of solar photovoltaic panels for the walking robot according to any one of claims 1 to 2, characterized in that: the method comprises the following steps:
Step 1, a walking robot ascends along a climbing track along a front row of photovoltaic panel frames to a first transition track;
Step 2, the front wheel of the walking robot passes through the first transition track and moves onto the automatic descending track, the automatic descending track is pressed to the rear lower side under the action of gravity, and the automatic descending track rotates around the pin shaft to the rear lower side;
Step 3, along with the gradual complete movement of the walking robot onto the automatic lowering rail, the automatic lowering rail is subjected to the complete gravity action of the robot, and the torque around the pin shaft is larger and larger in the advancing process of the walking robot; in the rotation process of the pin shaft, the rolling bearing positioned at the bottom of the automatic rail descending device is always in contact with the supporting plate, and the supporting plate is vertical to the axis of the pin shaft, so that the bending moment effect of the automatic rail descending device on the pin shaft under the action of the gravity of the robot is improved; the gravity of the walking robot is in the maximum moment arm state when the robot leaves the automatic descending rail quickly, so that the upward acting force of the reset spring on the automatic descending rail can be overcome, the automatic descending rail can be rotated to descend to the bottom, and the far end of the bottom is erected on the transition rail II; the walking robot gradually leaves the automatic descending rail and enters the transition rail II; at the moment, the automatic falling rail rotates to an initial state under the elastic force of the reset spring;
Step 4, the travel switch of the traveling robot travels to the tail end of the transition track II, and after touching the blocking plate, the traveling robot travels reversely and travels to the climbing depth track along the transition track II;
step 5, the walking robot moves to the rear row photovoltaic panel frame along the climbing deep track to perform cleaning operation;
And 6, repeating the steps 1-5 to realize the cleaning operation of one robot on all photovoltaic panels on the photovoltaic panels frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811441447.7A CN109347429B (en) | 2018-11-29 | 2018-11-29 | Connection track-changing mechanism and track-changing method for multi-row solar photovoltaic panels for walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811441447.7A CN109347429B (en) | 2018-11-29 | 2018-11-29 | Connection track-changing mechanism and track-changing method for multi-row solar photovoltaic panels for walking robot |
Publications (2)
| Publication Number | Publication Date |
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| CN109347429A CN109347429A (en) | 2019-02-15 |
| CN109347429B true CN109347429B (en) | 2024-05-17 |
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| CN201811441447.7A Active CN109347429B (en) | 2018-11-29 | 2018-11-29 | Connection track-changing mechanism and track-changing method for multi-row solar photovoltaic panels for walking robot |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206759384U (en) * | 2017-05-31 | 2017-12-15 | 重庆科技学院 | Transfer orbit for photovoltaic battery panel |
| CN108745998A (en) * | 2018-08-02 | 2018-11-06 | 南京师范大学 | A kind of full automatic solar photovoltaic battery plate cleaning detection robot |
| CN209072415U (en) * | 2018-11-29 | 2019-07-05 | 南京师范大学 | The connection of the multiple rows of solar energy photovoltaic panel of walking robot becomes rail mechanism |
-
2018
- 2018-11-29 CN CN201811441447.7A patent/CN109347429B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206759384U (en) * | 2017-05-31 | 2017-12-15 | 重庆科技学院 | Transfer orbit for photovoltaic battery panel |
| CN108745998A (en) * | 2018-08-02 | 2018-11-06 | 南京师范大学 | A kind of full automatic solar photovoltaic battery plate cleaning detection robot |
| CN209072415U (en) * | 2018-11-29 | 2019-07-05 | 南京师范大学 | The connection of the multiple rows of solar energy photovoltaic panel of walking robot becomes rail mechanism |
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| CN109347429A (en) | 2019-02-15 |
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