A fault rescue tractor for a photovoltaic module cleaning robot

Abstract

The present invention discloses a fault rescue tractor for a photovoltaic component cleaning robot. The tractor chassis is located at the lower end of the tractor, and the tractor chassis is constructed by two chassis longitudinal supports and two chassis transverse supports to form a rectangular frame structure. A tractor running device is installed on the lower surface of the tractor chassis, and the tractor running device is installed at both ends of the lower surface of the tractor chassis. A tractor control box, a tractor battery, a rescue vehicle support frame, a tractor traction device, a tractor locking device, an RFID sensor and a tractor proximity switch are respectively installed on the upper surface of the tractor chassis. The invention has a reasonable structure. Through the tractor, a cleaning robot with a fault can be towed from the fault location to the edge of the photovoltaic component, which is convenient for operation and maintenance personnel to perform maintenance work, solves the problem of difficult and dangerous on-site repair construction at the fault location, and effectively improves the maintenance efficiency of the faulty robot.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic component operation and maintenance robots, and in particular to a fault rescue tractor of a photovoltaic component cleaning robot. Background Art

[0002] For photovoltaic power stations built in special places such as fish ponds and tidal flats, if the photovoltaic module cleaning robot used for daily cleaning and maintenance of the power station fails, the operation and maintenance management personnel need to wade to the fault location with tools such as small boats and long ladders for on-site maintenance. Since the fault cleaning robot is often located at a certain height above the water surface and at a certain angle to the water surface, this maintenance method is difficult, inefficient, and has certain risks. Therefore, an improved technology is urgently needed to solve this problem in the existing technology. Summary of the invention

[0003] The object of the present invention is to provide a fault rescue tractor for a photovoltaic module cleaning robot to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fault rescue tractor for a photovoltaic module cleaning robot, the tractor is movably arranged on a line-changing track, a rescue vehicle is movably arranged on the tractor, the line-changing track is laid at the edge of one side of each row of photovoltaic modules, the tractor carries the rescue vehicle and travels along the line-changing track, a cleaning robot is arranged on the photovoltaic module, a stop position is arranged at one end of the line-changing track, the tractor comprises a tractor chassis, a tractor walking device, a tractor traction device, a tractor locking device and a rescue vehicle support frame, the tractor chassis is located at the lower end of the tractor, and the tractor chassis consists of Two chassis longitudinal supports and two chassis transverse supports are constructed to form a rectangular frame structure. A tractor running device is installed on the lower surface of the tractor chassis. The tractor running device is installed at both ends of the lower surface of the tractor chassis. A tractor control box, a tractor battery, a rescue vehicle support frame, a tractor traction device, a tractor locking device, an RFID sensor and a tractor proximity switch are respectively installed on the upper surface of the tractor chassis. A rescue vehicle proximity switch baffle is provided on the rescue vehicle support frame. The tractor traction device is installed in the middle position of the tractor chassis. A group of tractor locking devices are installed in the vertical direction on both sides of the line change track.

[0005] Preferably, the tractor travel device includes a travel wheel component and a driving component, the travel wheel component includes a driven travel wheel, a driving travel wheel, a travel wheel shaft and a driven pulley, the driving travel wheel and the driven travel wheel are flange-type structures, and their flange surfaces are attached to the inner side of the line change track, and the driving component includes a travel motor, a travel motor reducer and a driving pulley, the driving pulley is installed on the output shaft of the travel motor reducer and is connected to the driven pulley installed in the middle position of the travel wheel shaft through a synchronous belt.

[0006] Preferably, the traction device of the traction vehicle includes a traction wheel, a traction clutch and a traction motor, the traction wheel is installed in a traction wheel support and fixed to the upper surface of the traction vehicle chassis, a traction rope is wound around the traction wheel, one end of the traction clutch is connected to the traction wheel, and a traction driven sprocket is fixedly installed on the other end of the traction clutch, the traction motor is installed in parallel with the traction wheel, the output end of the traction motor is connected to a traction reducer, and the traction driving sprocket is installed at the output end of the traction motor and connected to the traction driven sprocket through a traction chain.

[0007] Preferably, the tractor locking device includes a locking electric cylinder, a locking pin and a locking orifice plate, wherein the locking orifice plate is fixed to the outer side of the return track at a position corresponding to each row of photovoltaic modules, an annular through hole is formed on the locking orifice plate, the locking pin is connected to the locking electric cylinder and realizes telescopic movement through the locking electric cylinder, and the locking pin cooperates with the locking orifice plate.

[0008] Preferably, an RFID position tag and a tractor proximity switch baffle are provided on the line-changing track, the RFID position tag cooperates with the RFID sensor, and the tractor proximity switch baffle cooperates with the tractor proximity switch.

[0009] Preferably, the working method comprises the following steps:

[0010] Step 1: When the cleaning robot fails and cannot move, it sends the location information of the photovoltaic panel to the tractor;

[0011] Step 2: After receiving the location information of the faulty cleaning robot, the tractor carries the rescue vehicle along the return track from the stop position at one end of the return track to the row of photovoltaic panels;

[0012] Step 3: When the tractor is moving, the RFID position tags installed on the edge of each row of photovoltaic modules are identified by the RFID sensor to determine whether the row of modules is the module where the faulty cleaning robot is located;

[0013] Step 4: If the row of components is not where the faulty cleaning robot is located, the tractor continues to move to the next row of components. If the row of components is where the faulty cleaning robot is located, the tractor slows down its speed. When the tractor proximity switch senses the tractor proximity switch baffle, the tractor stops and aligns with the row of components.

[0014] Step 5: The locking device of the tractor is activated, and the locking pin is inserted into the through hole of the locking plate under the push of the locking electric cylinder, thereby fixing the tractor to the line-changing track;

[0015] Step 6: The traction clutch of the tractor is disconnected, the rescue vehicle is started, and the PV panels are mounted from the tractor;

[0016] Step 7: The rescue vehicle moves along the center line of the component to the location of the fault cleaning robot and connects with the fault cleaning robot;

[0017] Step 8: The rescue vehicle starts running in reverse, the traction clutch of the tractor is closed, the traction motor is started, the tractor reels the traction rope through the reel, and pulls the fault cleaning robot to the edge of the row of photovoltaic panels;

[0018] Step 9: The rescue vehicle is disconnected from the fault cleaning robot, returns to the tractor, and stops running;

[0019] Step 10: The traction motor of the tractor stops and the traction clutch is disconnected;

[0020] Step 11: The locking device of the tractor is activated, the locking pin is retracted from the through hole of the locking hole plate, and the tractor and the line-changing track are no longer fixed;

[0021] Step 12: The tractor starts to run, carrying the rescue vehicle back to the stop position of the line change track;

[0022] Step 13: The operation and maintenance manager removes the faulty cleaning robot from the PV panel to carry out relevant maintenance work.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The tractor can be used to tow a faulty cleaning robot from the fault location to the edge of the photovoltaic panel, making it easier for operation and maintenance personnel to carry out maintenance work. This solves the problem of difficult and dangerous on-site repair work at the fault location, and effectively improves the maintenance efficiency of faulty robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the operation of the present invention.

[0026] Figure 2 It is a structural schematic diagram of the present invention.

[0027] Figure 3Schematic diagram of the tractor chassis structure.

[0028] In the figure: 1-photovoltaic module; 2-cleaning robot; 3-rescue vehicle; 4-stop position; 5-tractor; 6-travel track; 7-tractor walking device; 8-tractor chassis; 9-tractor control box; 10-tractor battery; 11-rescue vehicle support frame; 12-rescue vehicle proximity switch baffle; 13-tractor traction device; 14-tractor locking device; 15-RFID position tag; 16-RFID sensor; 17-tractor proximity switch baffle; 18-tractor proximity switch; 19-driven walking wheel; 20-locking electric cylinder; 21-locking pin; 22-locking hole plate; 23-traction motor; 24-traction reducer; 25-traction driving sprocket; 26-travel motor reducer; 27-travel motor; 28-chassis cross support; 29-travel wheel shaft; 30-driven pulley; 31-synchronous belt; 32-driving pulley; 33-traction chain; 34-driving travel wheel; 35-chassis longitudinal support; 36-traction driven sprocket; 37-traction clutch; 38-traction wheel disc; 39-traction rope; 40-traction wheel disc support. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-3The present invention provides a technical solution: a fault rescue tractor for a photovoltaic component cleaning robot, wherein the tractor 5 is movably arranged on a line-changing track 6, a rescue vehicle 3 is movably arranged on the tractor 5, the line-changing track 6 is laid at the edge of one side of each row of photovoltaic components 1, the tractor 5 carries the rescue vehicle 3 and moves along the line-changing track 6, and is used to carry the rescue vehicle 3 to the photovoltaic component where the faulty cleaning robot is located, and after the rescue vehicle 3 is connected to the faulty cleaning robot 2, the faulty cleaning robot 2 is towed to the edge of the row of photovoltaic components, a cleaning robot 2 is arranged on the photovoltaic component 1, and a parking space 4 is arranged at one end of the line-changing track 6, the tractor 5 includes a tractor chassis 8, a tractor walking device 7, a tractor traction device 13, a tractor locking device 14 and a rescue vehicle support frame 11, the tractor chassis is located at the lower end of the tractor, and the tractor chassis 8 is composed of two chassis longitudinal supports 35 and two chassis transverse supports 2 8 is built to form a rectangular frame structure, the lower surface of the tractor chassis 8 is equipped with a tractor running device 7, the tractor running device 7 is installed at both ends of the lower surface of the tractor chassis 8, the upper surface of the tractor chassis 8 is respectively equipped with a tractor control box 9, a tractor battery 10, a rescue vehicle support frame 11, a tractor traction device 13, a tractor locking device 14, an RFID sensor 16 and a tractor proximity switch 18, a rescue vehicle support frame 11 is provided with a rescue vehicle proximity switch baffle 12, the tractor traction device 13 is installed in the middle position of the tractor chassis 8, the tractor locking device 14 is installed in a group along the vertical direction of both sides of the line change track 6, the line change track 6 is provided with an RFID position tag 15 and a tractor proximity switch baffle 17, the RFID position tag 15 cooperates with the RFID sensor 16, and the tractor proximity switch baffle 17 cooperates with the tractor proximity switch 18.

[0031] like Figure 2As shown, the tractor travel device 7 includes a travel wheel component and a driving component. The travel wheel component includes a driven travel wheel 19, a driving travel wheel 34, a travel wheel shaft 29 and a driven pulley 30. The driving travel wheel 34 and the driven travel wheel 19 are flange-type structures, and their flange surfaces are attached to the inner side of the line-changing track 6. The driving component includes a travel motor 27, a travel motor reducer 26 and a driving pulley 32. The driving pulley 32 is installed on the output shaft of the travel motor reducer 26 and is connected to the driven pulley 30 installed in the middle position of the travel wheel shaft 29 through a synchronous belt 31 to achieve the driving of the tractor 5; the tractor traction device 13 includes a traction wheel disc 38, a traction clutch 37 and a traction motor 23. The traction wheel disc 38 is installed in the traction wheel disc support 40 and fixed on the upper surface of the tractor chassis 8. A traction rope 39 is wound around the traction wheel disc 38. The traction clutch 3 7 is connected to the traction wheel 38 at one end, and the other end of the traction clutch 37 is fixedly installed with a traction driven sprocket 36. The traction motor 23 is installed in parallel with the traction wheel 38. The output end of the traction motor 23 is connected with the traction reducer 24. The traction driving sprocket 25 is installed at the output end of the traction motor 23 and is connected to the traction driven sprocket 36 through the traction chain 33. The traction clutch 37 increases the power of the traction wheel 38. The traction vehicle locking device 14 includes a locking cylinder 20, a locking pin 21 and a locking hole plate 22. The locking hole plate 22 is fixed to the outer side of the line-changing track 6 at a position corresponding to each row of photovoltaic modules. An annular through hole is opened on the locking hole plate 22. The locking pin 21 is connected to the locking cylinder 20 and realizes telescopic movement through the locking cylinder 20. The locking pin 21 cooperates with the locking hole plate 22 to realize the fixation of the tractor 5 and the line-changing track 6.

[0032] A fault rescue tractor for a photovoltaic module cleaning robot, the working method of which comprises the following steps:

[0033] Step 1: When the cleaning robot 2 fails and cannot move, it sends the location information of the photovoltaic module to the tractor 5;

[0034] Step 2: After receiving the position information of the faulty cleaning robot 2, the tractor 5 carries the rescue vehicle 3 along the return track 6 from the stop position 4 at one end of the return track to the row of photovoltaic modules;

[0035] Step 3: When the tractor 5 is moving, the RFID position tag 15 installed on the edge of each row of photovoltaic modules is identified by the RFID sensor 16 to determine whether the row of modules is the module where the faulty cleaning robot is located;

[0036] Step 4: If the row of components is not where the faulty cleaning robot is located, the tractor 5 continues to move to the next row of components. If the row of components is where the faulty cleaning robot is located, the tractor 5 slows down its speed. When the tractor proximity switch 18 senses the tractor proximity switch baffle 17, the tractor 5 stops and aligns with the row of components.

[0037] Step 5: The tractor locking device 14 is activated, and the locking pin 21 is inserted into the through hole of the locking hole plate 22 under the push of the locking electric cylinder 20, thereby fixing the tractor 5 and the line change track 6;

[0038] Step 6: The traction clutch 37 of the tractor is disconnected, the rescue vehicle 3 starts running, and the PV module is boarded from the tractor 5;

[0039] Step 7: The rescue vehicle 3 moves along the center line of the component to the location of the fault cleaning robot and connects with the fault cleaning robot;

[0040] Step 8: The rescue vehicle 3 starts running in reverse, the traction clutch 37 of the tractor is closed, the traction motor 23 is started, and the tractor 3 winds up the traction rope 39 through the winding wheel 38 to pull the fault cleaning robot to the edge of the row of photovoltaic modules;

[0041] Step 9: The rescue vehicle 3 is disconnected from the fault cleaning robot, returns to the tractor, and stops running;

[0042] Step 10: The traction motor 23 of the tractor stops rotating, and the traction clutch 37 is disconnected;

[0043] Step 11: The tractor locking device 14 is actuated, the locking pin 21 is retracted from the through hole of the locking hole plate 22, and the tractor 5 and the line change track 6 are no longer fixed;

[0044] Step 12: The tractor 5 starts to run, carrying the rescue vehicle 3 back to the stop position 4 of the line change track;

[0045] Step 13: The operation and maintenance manager removes the faulty cleaning robot from the PV panel to carry out relevant maintenance work.

[0046] In view of the problems that faulty cleaning robots are difficult and dangerous to repair on site, the present invention proposes a fault rescue tractor for photovoltaic module cleaning robots. The tractor can be used to tow the faulty cleaning robot from the fault location to the edge of the photovoltaic module, making it convenient for operation and maintenance personnel to carry out maintenance work, solving the difficult and dangerous problem of on-site repair construction at the fault location, and effectively improving the maintenance efficiency of faulty robots.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fault rescue tractor for a photovoltaic module cleaning robot, wherein the tractor (5) is movably arranged on a line-changing track (6), a rescue vehicle (3) is movably arranged on the tractor (5), the line-changing track (6) is laid at an edge position on one side of each row of photovoltaic modules (1), the tractor (5) carries the rescue vehicle (3) and moves along the line-changing track (6), a cleaning robot (2) is arranged on the photovoltaic module (1), and a parking space (4) is arranged at one end of the line-changing track (6), characterized in that: The tractor (5) comprises a tractor chassis (8), a tractor running device (7), a tractor traction device (13), a tractor locking device (14) and a rescue vehicle support frame (11); the tractor chassis (8) is located at the lower end of the tractor (5); the tractor chassis (8) is constructed by two chassis longitudinal supports (35) and two chassis transverse supports (28) to form a rectangular frame structure; the tractor running device (7) is installed on the lower surface of the tractor chassis (8); the tractor running device (7) is installed at both ends of the lower surface of the tractor chassis (8); The upper surface of the tractor chassis (8) is respectively provided with a tractor control box (9), a tractor battery (10), a rescue vehicle support frame (11), a tractor traction device (13), a tractor locking device (14), an RFID sensor (16) and a tractor proximity switch (18); the rescue vehicle support frame (11) is provided with a rescue vehicle proximity switch baffle (12); the tractor traction device (13) is installed at the middle position of the tractor chassis (8); and the tractor locking device (14) is installed in a group along the vertical direction of both sides of the line change track (6); The tractor travel device (7) comprises a travel wheel component and a driving component, wherein the travel wheel component comprises a driven travel wheel (19), a driving travel wheel (34), a travel wheel shaft (29) and a driven pulley (30), wherein the driving travel wheel (34) and the driven travel wheel (19) are flange-type structures, and their flange surfaces are attached to the inner side of the line-changing track (6), and the driving component comprises a travel motor (27), a travel motor reducer (26) and a driving pulley (32), wherein the driving pulley (32) is mounted on the output shaft of the travel motor reducer (26) and is connected to the driven pulley (30) mounted at the middle position of the travel wheel shaft (29) through a synchronous belt (31); The traction device (13) of the tractor comprises a traction wheel (38), a traction clutch (37) and a traction motor (23); the traction wheel (38) is installed in a traction wheel support (40) and fixed to the upper surface of the traction vehicle chassis (8); a traction rope (39) is wound around the traction wheel (38); one end of the traction clutch (37) is connected to the traction wheel (38); a traction driven sprocket (36) is fixedly installed at the other end of the traction clutch (37); the traction motor (23) is installed in parallel with the traction wheel (38); the output end of the traction motor (23) is connected to a traction reducer (24); a traction driving sprocket (25) is installed at the output end of the traction motor (23) and is connected to the traction driven sprocket (36) via a traction chain (33); The tractor locking device (14) comprises a locking electric cylinder (20), a locking pin (21) and a locking hole plate (22); the locking hole plate (22) is fixed to a position corresponding to each row of photovoltaic modules on the outer side of the line-changing track (6); an annular through hole is formed on the locking hole plate (22); the locking pin (21) is connected to the locking electric cylinder (20) and realizes telescopic movement through the locking electric cylinder (20); the locking pin (21) cooperates with the locking hole plate (22).

2. The photovoltaic module cleaning robot failure rescue tractor according to claim 1, characterized in that: An RFID position tag (15) and a tractor proximity switch baffle (17) are arranged on the line-changing track (6); the RFID position tag (15) cooperates with an RFID sensor (16), and the tractor proximity switch baffle (17) cooperates with a tractor proximity switch (18).

3. The photovoltaic module cleaning robot failure rescue tractor according to claim 1, characterized in that: Its working method includes the following steps: Step 1: When the cleaning robot (2) fails and cannot move, it sends the location information of the photovoltaic module to the tractor (5); Step 2: After receiving the position information of the faulty cleaning robot (2), the tractor (5) carries the rescue vehicle (3) along the return track (6) and starts from the stop position (4) at one end of the return track to the row of photovoltaic modules; Step 3: When the tractor (5) is moving, the RFID position tag (15) installed on the edge of each row of photovoltaic modules is identified by the RFID sensor (16) to determine whether the row of photovoltaic modules is the module where the faulty cleaning robot is located; Step 4: If the row of photovoltaic components is not where the faulty cleaning robot is located, the tractor (5) continues to move to the next row of components; if the row of photovoltaic components is where the faulty cleaning robot is located, the tractor (5) slows down its speed, and when the tractor proximity switch (18) senses the tractor proximity switch baffle (17), the tractor (5) stops and aligns with the row of photovoltaic components; Step 5: The tractor locking device (14) is activated, and the locking pin (21) is inserted into the through hole of the locking hole plate (22) under the push of the locking electric cylinder (20), thereby fixing the tractor (5) and the line change track (6); Step 6: The traction clutch (37) of the tractor is disconnected, the rescue vehicle (3) starts running, and the PV module is mounted from the tractor (5); Step 7: The rescue vehicle (3) moves along the center line of the component to the location of the fault cleaning robot and connects with the fault cleaning robot; Step 8: The rescue vehicle (3) starts running in reverse, the traction clutch (37) of the traction vehicle is closed, the traction motor (23) is started, and the traction vehicle (5) winds up the traction rope (39) through the traction wheel (38) to pull the fault cleaning robot to the edge of the row of photovoltaic modules; Step 9: The rescue vehicle (3) is disconnected from the faulty cleaning robot, returns to the tractor, and stops running; Step 10: The traction motor (23) of the traction vehicle stops rotating and the traction clutch (37) is disconnected; Step 11: The tractor locking device (14) is activated, the locking pin (21) is retracted from the through hole of the locking hole plate (22), and the tractor (5) and the line change track (6) are unfixed; Step 12: The tractor (5) starts to run, carrying the rescue vehicle (3) back to the stop position (4) of the line change track; Step 13: The operation and maintenance manager removes the faulty cleaning robot from the PV panel to carry out relevant maintenance work.

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