A walking mechanism for cleaning a photovoltaic panel

Abstract

The application relates to the technical field of walking mechanisms, in particular to a walking mechanism for cleaning photovoltaic panels, which comprises a central frame and further comprises: an extension part connected with the central frame, the extension part comprising cover bodies slidingly installed at two ends of the central frame, a spacing control structure is installed between the cover bodies, and the spacing control structure is connected with the central frame; a walking part connected with the cover bodies; swing clamp parts installed at two ends of the walking part, the swing clamp parts comprising racks, the racks being fixedly connected with first double-output shaft motors, output shafts of the first double-output shaft motors being fixedly connected with connecting plates, the connecting plates being fixedly connected with the walking part, and the racks being connected with clamping structures through driving structures; and a rotating support part connected with the central frame. The walking mechanism is moved between equidistantly-installed support frames without contacting the ground through cooperation between the extension part, the walking part and the swing clamp parts, the walking mechanism is prevented from being disturbed by complex ground conditions, and the applicability of the walking mechanism is improved.

Description

Technical Field

[0001] This invention relates to the field of walking mechanism technology, specifically a walking mechanism for cleaning photovoltaic panels. Background Technology

[0002] Photovoltaic power generation uses photovoltaic (PV) panels as the energy receiving medium, capturing solar energy and converting it into electrical energy. Therefore, the cleanliness of the PV panel surface, as the core component for receiving solar energy, directly affects the solar-to-electricity conversion efficiency. Consequently, various PV panel cleaning devices have emerged.

[0003] The support frames used for photovoltaic (PV) panels are generally fixed connections. Existing PV power plants mostly employ a matrix arrangement of support frames, meaning the spacing between support frames in the same row or column is uniform. Since PV panels in PV power plants are often installed over large areas, the PV panel cleaning equipment needs to move between different panels to complete automated cleaning operations. However, due to various unfavorable factors such as on-site construction, the ground in PV power plants is generally not finely leveled. This forces conventional ground-moving mechanisms to navigate complex terrain, severely impacting the movement of the PV panel cleaning equipment and hindering the proper cleaning of the PV panel surfaces. Summary of the Invention

[0004] The purpose of this invention is to provide a walking mechanism for cleaning photovoltaic panels to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A walking mechanism for cleaning photovoltaic panels includes a central frame and further includes:

[0007] An extension connected to a central frame, the extension including covers slidably mounted at both ends of the central frame, a spacing control structure installed between the covers, and the spacing control structure connected to the central frame;

[0008] The traveling part is connected to the cover body, and the traveling part is connected to the central frame;

[0009] The swing clamping parts are installed at both ends of the walking part. The swing clamping parts include a frame. The frame is fixedly connected to a first dual-output shaft motor. The output shaft of the first dual-output shaft motor is fixedly connected to a connecting plate. The connecting plate is fixedly connected to the walking part. The frame is fixedly connected to multiple sets of laser rangefinders. The frame is connected to a clamping structure through a drive structure. The clamping structure is symmetrically installed on both sides of the frame.

[0010] Rotary support unit connected to the central frame.

[0011] As a further improvement of the present invention: the rotating support includes a motor platform fixedly connected to the central frame, a first motor fixedly connected to the motor platform, a turntable fixedly mounted on the output shaft of the first motor, and the turntable rotatably connected to the motor platform.

[0012] As a further improvement of the present invention: the central frame is fixedly connected to an independent power supply.

[0013] As a further improvement of the present invention: the spacing control structure includes a second dual-output shaft motor fixedly connected to the central frame, a screw fixedly installed at the output end of the second dual-output shaft motor, the screw being threadedly connected to a perforated plate, and the perforated plate being fixedly connected to the cover.

[0014] As a further improvement of the present invention: the walking part includes a second motor fixedly connected to the central frame, the output shaft of the second motor is fixedly mounted with a linkage frame, a drive shaft is fixedly mounted on one side of the linkage frame, a dovetail guide rail is fixedly mounted inside the cover, a sliding seat is slidably connected to the dovetail guide rail, a connecting block is fixedly connected to the sliding seat, the connecting block is fixedly connected to the connecting plate, the connecting block is slidably connected to the cover, a linkage shaft is fixedly connected to the sliding seat, a T-shaped frame is rotatably mounted inside the central frame, the T-shaped frame has symmetrically opened transverse grooves, the transverse grooves are slidably connected to the linkage shaft, and the T-shaped frame has opened longitudinal grooves, the longitudinal grooves are slidably connected to the drive shaft.

[0015] As a further improvement of the present invention: the driving structure includes an active telescopic rod fixedly connected to the frame, a hinge frame fixedly installed at the moving end of the active telescopic rod, a plurality of sleeves fixedly connected to the hinge frame, a guide rod fixedly connected to the frame slidably connected to the sleeves, a plurality of flip frames hinged to the hinge frame, and the flip frames connected to the clamping structure.

[0016] As a further improvement of the present invention: the clamping structure includes a guide rail fixedly connected to the frame, a parallel seat slidably connected to the guide rail, the parallel seat being hinged to the flipping frame, rotating seats fixedly installed on both sides of the parallel seat, a plate sleeve rotatably connected to the rotating seat, a plate body slidably connected to the plate sleeve, a hinge arm fixedly connected to the plate body, a connecting arm fixedly connected to the guide rail by the hinge arm, a clamping frame movably connected to the hinge arm, and an anti-slip pad fixedly connected to the clamping frame.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] Before the walking mechanism moves, the clamping structures are all clamped onto the support frames of the photovoltaic panels. When the walking mechanism needs to move to the next set of adjacent photovoltaic panel support frames, the clamping structures of one set of swing clamps release the support frames, and the first dual-output shaft motor of the other set of swing clamps drives the connecting plate to rotate. The connecting plate drives the walking part to rotate, and the walking part drives the central frame to rotate through the cover. At this time, the clamping structures in the released state rotate to the next set of photovoltaic panel support frames, thereby causing the walking mechanism to flip and move. The spacing control structure adjusts the spacing between the covers. During this period, the laser rangefinder measures the distance between the clamping structures and the support frames in real time. Then, the clamping structures clamp onto the next set of photovoltaic panel support frames. At this time, the two sets of swing clamps of the walking mechanism clamp onto the support frames of the next set of photovoltaic panels. Holding onto two different sets of photovoltaic panels, the clamping structure releases the support frame of the upper set of photovoltaic panels. The drive connecting plate of the first dual-output shaft motor of the swing clamp on the lower set of support frames rotates, and the walking mechanism flips and moves again. The clamping structure clamps the support frame of the lower set of photovoltaic panels. At this time, the clamping structure is clamped on the support frame of the lower set of photovoltaic panels. Then, the walking part drives the connecting plate to move. The connecting plate drives the frame to move through the first dual-output shaft motor. The frame drives the clamping structure to move along the support frame of the photovoltaic panels through the drive structure. Each time, the walking part only drives one set of swing clamps to move, while the other set of swing clamps clamps the support frame of the photovoltaic panels. This allows the height of the walking mechanism to be adjusted while preventing the walking mechanism from slipping. This traveling mechanism, through the cooperation of its extension, traveling section, and swing clamp, allows it to move between equally spaced support frames without touching the ground. This enables the traveling mechanism to move accurately between the support frames of photovoltaic panels without contacting the ground, avoiding interference from complex road conditions and improving its applicability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a three-dimensional structural diagram of the swing clamp part of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the swing clamp part of the present invention;

[0022] Figure 4 For the present invention Figure 2 A magnified view of a portion of point A in the middle;

[0023] Figure 5 This is a schematic diagram of the structure of the frame, the first dual-output shaft motor, the connecting plate, and the laser rangefinder of the present invention.

[0024] In the diagram: 1. Central frame; 2. Extension section; 3. Cover; 4. Spacing control structure; 5. Walking section; 6. Swing clamp section; 7. Frame; 8. First dual-shaft output motor; 9. Connecting plate; 10. Laser rangefinder; 11. Drive structure; 12. Clamping structure; 13. Rotating support section; 14. Motor platform; 15. First motor; 16. Turntable; 17. Independent power supply; 18. Second dual-shaft output motor; 19. Screw; 20. Perforated plate; 21. Second motor; 22. Linkage frame; 2 3. Drive shaft; 24. Dovetail guide rail; 25. Sliding seat; 26. Connecting block; 27. Linkage shaft; 28. T-shaped frame; 29. ​​Horizontal groove; 30. Longitudinal groove; 31. Active telescopic rod; 32. Hinge frame; 33. Sleeve; 34. Guide rod; 35. Tilting frame; 36. Guide rail; 37. Parallel seat; 38. Rotating seat; 39. Plate sleeve; 40. Plate body; 41. Hinge arm; 42. Connecting arm; 43. Clamp; 44. Anti-slip pad; 45. Communication module; 46. Ground distance measuring instrument. Detailed Implementation

[0025] The technical solution of this patent will be further described in detail below with reference to specific embodiments.

[0026] Example 1

[0027] See Figures 1-5 As shown, a walking mechanism for cleaning photovoltaic panels includes a central frame 1, a communication module 45 fixedly connected to the central frame 1 for communication with a remote control center, a ground distance measuring instrument 46 fixedly connected to the central frame 1 for measuring the distance between the central frame 1 and the ground, a controller fixedly connected to the central frame 1, and further includes:

[0028] An extension 2 connected to the central frame 1, the extension 2 including a cover 3 slidably mounted at both ends of the central frame 1, a spacing control structure 4 installed between the cover 3, and the spacing control structure 4 connected to the central frame 1;

[0029] The walking part 5 is connected to the cover 3, and the walking part 5 is connected to the center frame 1;

[0030] The swing clamping parts 6 are installed at both ends of the walking part 5. Each swing clamping part 6 includes a frame 7. The frame 7 is fixedly connected to a first dual-output shaft motor 8. The output shaft of the first dual-output shaft motor 8 is fixedly connected to a connecting plate 9. The connecting plate 9 is fixedly connected to the walking part 5. The frame 7 is fixedly connected to multiple sets of laser rangefinders 10. The frame 7 is connected to a clamping structure 12 through a drive structure 11. The clamping structure 12 is symmetrically installed on both sides of the frame 7.

[0031] The rotating support 13 is connected to the central frame 1 and is used to support the cleaning mechanism.

[0032] Before the walking mechanism moves, the clamping structures 12 are all clamped on the support frames of the photovoltaic panels. When the walking mechanism needs to move to the support frames of the next set of adjacent photovoltaic panels, the clamping structures 12 of one set of swing clamping parts 6 release the support frames, and the first dual-output shaft motor 8 of the other set of swing clamping parts 6 drives the connecting plate 9 to rotate. The connecting plate 9 drives the walking part 5 to rotate, and the walking part 5 drives the central frame 1 to rotate through the cover 3. At this time, the clamping structures 12 in the released state rotate to the support frames of the next set of photovoltaic panels, thereby causing the walking mechanism to flip and move. The spacing control structure 4 adjusts the spacing between the covers 3. During this period, the laser rangefinder 10 measures the distance between the clamping structures 12 and the support frames in real time. Then, the clamping structures 12 clamp the support frames of the next set of photovoltaic panels. At this time, the two sets of swing clamping parts 6 of the walking mechanism respectively Clamped on the support frames of two different sets of photovoltaic panels, the clamping structure 12 releases the support frame of the upper set of photovoltaic panels, and the drive connecting plate 9 of the first dual-output shaft motor 8 of the swing clamp part 6 on the lower set of support frames rotates. The walking mechanism flips and moves again, and the clamping structure 12 clamps the support frame of the lower set of photovoltaic panels. At this time, the clamping structure 12 is clamped on the support frame of the lower set of photovoltaic panels. Then, the walking part 5 drives the connecting plate 9 to move, and the connecting plate 9 drives the frame 7 to move through the first dual-output shaft motor 8. The frame 7 drives the clamping structure 12 to move along the support frame of the photovoltaic panels through the drive structure 11. Each time, the walking part 5 drives only one set of swing clamp parts 6 to move, and the other set of swing clamp parts 6 clamps the support frame of the photovoltaic panels, thereby adjusting the height of the walking mechanism while preventing the walking mechanism from slipping. This walking mechanism, through the cooperation of the extension part 2, the walking part 5, and the swing clamp part 6, allows the walking mechanism to move between equally spaced support frames without contacting the ground. This enables the walking mechanism to move accurately between the support frames of photovoltaic power generation panels without touching the ground, avoiding interference from complex road conditions and improving the applicability of the walking mechanism.

[0033] In one embodiment, the rotating support 13 includes a motor platform 14 fixedly connected to the central frame 1. A first motor 15 is fixedly connected to the motor platform 14. The first motor 15 can be a servo motor or a stepper motor. A turntable 16 is fixedly mounted on the output shaft of the first motor 15. The turntable 16 is rotatably connected to the motor platform 14 and supports a cleaning mechanism for cleaning photovoltaic panels. The connection between the turntable 16 and the cleaning mechanism can be either a snap-fit ​​or a weld. The first motor 15 drives the turntable 16 to rotate, thereby adjusting the angle of the cleaning mechanism connected to the turntable 16.

[0034] In one embodiment, the central frame 1 is fixedly connected to an independent power supply 17. By providing an independent power supply 17, the walking mechanism can operate independently.

[0035] In one embodiment, the spacing control structure 4 includes a second dual-axis motor 18 fixedly connected to the central frame 1. A screw 19 is fixedly mounted on the output end of the second dual-axis motor 18. A perforated plate 20 is threadedly connected to the screw 19 and fixedly connected to the cover 3. The second dual-axis motor 18 drives the screw 19 to rotate, and the rotating screw 19 drives the perforated plate 20 to move. Under the influence of the perforated plate 20, the cover 3 slides along the central frame 1.

[0036] In one embodiment, the walking unit 5 includes a second motor 21 fixedly connected to the central frame 1. The second motor 21 can be a servo motor or a stepper motor. The output shaft of the second motor 21 is fixedly mounted with a linkage frame 22. A drive shaft 23 is fixedly mounted on one side of the linkage frame 22. A dovetail guide rail 24 is fixedly mounted inside the cover 3. A sliding seat 25 is slidably connected to the dovetail guide rail 24. A connecting block 26 is fixedly connected to the sliding seat 25. The connecting block 26 is fixedly connected to the connecting plate 9. The connecting block 26 is slidably connected to the cover 3. A linkage shaft 27 is fixedly connected to the sliding seat 25. A T-shaped frame 28 is rotatably mounted inside the central frame 1. A transverse groove 29 is symmetrically opened on the T-shaped frame 28. The transverse groove 29 is slidably connected to the linkage shaft 27. A longitudinal groove 30 is opened on the T-shaped frame 28. The longitudinal groove 30 is slidably connected to the drive shaft 23. When the cover 3 moves, the dovetail guide rail 24 moves together with the cover 3. The dovetail guide rail 24 drives the sliding seat 25 to move. During this period, the linkage shaft 27 slides relative to the transverse groove 29 and the connecting block 26 is driven by the sliding seat 25, thereby adjusting the distance between the connecting blocks 26 and thus adjusting the distance between the swing clamps 6. The second motor 21 drives the linkage frame 22 to rotate, and the linkage frame 22 drives the drive shaft 23 to rotate. While the drive shaft 23 moves, it slides in the longitudinal groove 30, thereby causing the T-shaped frame 28 to swing back and forth. The transverse groove 29 drives the linkage shaft 27, and the linkage shaft 27 drives the sliding seat 25 to move along the dovetail guide rail 24. The sliding seat 25 drives the connecting block 26 to move, and the connecting block 26 drives the swing clamp 6 to move.

[0037] In one embodiment, the drive structure 11 includes an active telescopic rod 31 fixedly connected to the frame 7. The active telescopic rod 31 can be either an electric or hydraulic telescopic rod. A hinge frame 32 is fixedly mounted on the moving end of the active telescopic rod 31. Multiple sets of sleeves 33 are fixedly connected to the hinge frame 32. Each sleeve 33 is slidably connected to a guide rod 34 fixedly connected to the frame 7. Multiple sets of flipping frames 35 are hinged to the hinge frame 32. The flipping frames 35 are connected to the clamping structure 12. The active telescopic rod 31 drives the hinge frame 32 to move. Under the drive of the hinge frame 32, the sleeves 33 move along the guide rod 34. Under the drive of the hinge frame 32, the flipping frames 35 drive the clamping structure 12.

[0038] Example 2

[0039] Based on Example 1, see [link / reference] Figures 1-5 The clamping structure 12 includes a guide rail 36 fixedly connected to the frame 7. The guide rail 36 is slidably connected to a parallel seat 37. The parallel seat 37 is hinged to the flipping frame 35. Rotating seats 38 are fixedly installed on both sides of the parallel seat 37. The rotating seat 38 is rotatably connected to a plate sleeve 39. The plate sleeve 39 is slidably connected to a plate body 40. The plate body 40 is fixedly connected to a hinge arm 41. The hinge arm 41 is hinged to a connecting arm 42 fixedly connected to the guide rail 36. The hinge arm 41 is movably connected to a clamping frame 43. The clamping frame 43 is fixedly connected to an anti-slip pad 44. Driven by the flipping frame 35, the parallel seat 37 moves along the guide rail 36. During the movement of the parallel seat 37, the rotating seat 38 moves together with the parallel seat 37. Since the connecting arm 42 restricts the movement of the hinge arm 41 and the hinge arm 41 is fixedly connected to the plate body 40, the plate sleeve 39 and the rotating seat 38 rotate relative to each other during the movement of the parallel seat 37. While the plate body 40 rotates with the plate sleeve 39, the plate body 40 slides relative to the plate sleeve 39. Driven by the rotating plate body 40, the hinge arm 41 rotates and drives the clamp 43 to move, thereby adjusting the distance between the clamps 43. The anti-slip pad 44 is used to increase the friction between the clamping structure 12 and the support frame of the photovoltaic power generation panel, thereby preventing the clamping structure 12 from accidentally slipping off the support frame of the photovoltaic power generation panel.

[0040] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A walking mechanism for cleaning photovoltaic panels, comprising a central frame, characterized in that, Also includes: An extension connected to a central frame, the extension including covers slidably mounted at both ends of the central frame, a spacing control structure installed between the covers, and the spacing control structure connected to the central frame; The walking part is connected to the cover body and is connected to the central frame. The walking part includes a second motor fixedly connected to the central frame. A linkage frame is fixedly installed on the output shaft of the second motor. A drive shaft is fixedly installed on one side of the linkage frame. A dovetail guide rail is fixedly installed inside the cover body. A sliding seat is slidably connected to the dovetail guide rail. A connecting block is fixedly connected to the sliding seat. The connecting block is fixedly connected to the connecting plate. The connecting block is slidably connected to the cover body. A linkage shaft is fixedly connected to the sliding seat. A T-shaped frame is rotatably installed inside the central frame. Horizontal grooves are symmetrically opened on the T-shaped frame. The horizontal grooves are slidably connected to the linkage shaft. Longitudinal grooves are opened on the T-shaped frame. The longitudinal grooves are slidably connected to the drive shaft. The pendulum clamping units are installed at both ends of the walking unit. Each pendulum clamping unit includes a frame. A first dual-output shaft motor is fixedly connected to the frame. The output shaft of the first dual-output shaft motor is fixedly connected to a connecting plate. The connecting plate is fixedly connected to the walking unit. Multiple sets of laser rangefinders are fixedly connected to the frame. A clamping structure is connected to the frame via a drive structure. The clamping structures are symmetrically installed on both sides of the frame. The drive structure includes an active telescopic rod fixedly connected to the frame. A hinge frame is fixedly installed at the moving end of the active telescopic rod. Multiple sets of sleeves are fixedly connected to the hinge frame. The sleeves slide... The hinged frame is connected to a guide rod that is fixedly connected to the frame. Multiple sets of tilting frames are hinged to the hinged frame. The tilting frame is connected to a clamping structure. The clamping structure includes a guide rail that is fixedly connected to the frame. A parallel seat is slidably connected to the guide rail. The parallel seat is hinged to the tilting frame. Rotating seats are fixedly installed on both sides of the parallel seat. A plate sleeve is rotatably connected to the rotating seat. A plate body is slidably connected to the plate sleeve. A hinged arm is fixedly connected to the plate body. A connecting arm that is fixedly connected to the guide rail is hinged to the hinged arm. A clamping frame is movably connected to the hinged arm. An anti-slip pad is fixedly connected to the clamping frame. Rotary support unit connected to the central frame.

2. The walking mechanism for cleaning photovoltaic panels according to claim 1, characterized in that, The rotating support includes a motor platform fixedly connected to the central frame. A first motor is fixedly connected to the motor platform, and a turntable is fixedly mounted on the output shaft of the first motor. The turntable is rotatably connected to the motor platform.

3. The walking mechanism for cleaning photovoltaic panels according to claim 1, characterized in that, The central frame is fixedly connected to an independent power supply.

4. The walking mechanism for cleaning photovoltaic panels according to claim 1, characterized in that, The spacing control structure includes a second dual-output shaft motor fixedly connected to the central frame. A screw is fixedly installed at the output end of the second dual-output shaft motor. The screw is threadedly connected to a perforated plate, and the perforated plate is fixedly connected to the cover.

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