A photovoltaic walking robot at sea

Abstract

The present invention discloses an offshore photovoltaic walking robot, which belongs to the field of photovoltaic installation. This walking robot includes an upper mobile platform assembly and a lower mobile platform assembly. A linear motion mechanism is provided at the connection between the upper mobile platform assembly and the lower mobile platform assembly. The upper mobile platform assembly includes a steel structure platform and a pile holding mechanism. The pile holding mechanism is arranged at both ends of the steel structure platform. The present invention effectively overcomes the problem of difficult offshore photovoltaic construction. Through the relative movement of the upper mobile platform assembly and the lower mobile platform assembly on the top of the photovoltaic pile, it is ensured that the walking robot can stably walk on the top of the photovoltaic pile. The use of this walking robot can complete the transportation and installation of photovoltaic installation components, effectively saving transportation and installation costs. In addition, the entire construction process will not be affected by the rising and falling tides of the mudflats and the strong winds and waves at sea, and can continue to operate, which significantly improves the construction efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of offshore photovoltaic installation, in particular to an offshore photovoltaic walking robot. Background Art

[0002] The installation of traditional photovoltaic installation components is very difficult, and workers need to install photovoltaic components on photovoltaic piles one by one, which takes a long construction period. Especially for the installation of photovoltaic components on tidal flats and offshore, there are high tides and low tides, strong winds and waves in the tidal flats and offshore respectively. Due to the special geographical environment, there are difficulties in installing photovoltaic components on the tidal flats and offshore. The common transportation and installation method is to build a large number of platforms, and the construction workers carry out construction and installation on the built platforms to avoid the influence of high tides and low tides on the tidal flats or wind and waves at sea. However, building platforms requires a lot of materials, labor and time, which is time-consuming and labor-intensive.

[0003] To solve the above problems, the existing technology uses a mobile transportation mechanism that can move on the top of photovoltaic piles to complete the transportation and installation of photovoltaic modules. However, due to the limitations of tidal flat and offshore photovoltaic piling technology, there are deviations in the height of the driven photovoltaic piles, which makes it very difficult for the transportation mechanism to move on the top of the photovoltaic piles, resulting in low efficiency in the transportation and installation of photovoltaic modules.

[0004] Therefore, in order to solve the difficulties existing in the installation of the prior art, it is urgent to develop an offshore photovoltaic walking robot. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention provides an offshore photovoltaic walking robot, comprising an upper mobile platform assembly and a lower mobile platform assembly. The lower mobile platform assembly is arranged below the upper mobile platform assembly. A linear motion mechanism is provided at the connection between the upper mobile platform assembly and the lower mobile platform assembly. The upper mobile platform assembly comprises a steel structure platform and a pile holding mechanism. The pile holding mechanism is arranged at both ends of the steel structure platform. The lower mobile platform assembly comprises a tail pile holding mechanism, a main beam, a jacking mechanism and a head pile holding mechanism. The head pile holding mechanism and the tail pile holding mechanism are respectively fixedly arranged at the two ends of the main beam, and the jacking mechanism is arranged at the bottom of the main beam.

[0006] Furthermore, the pile-holding mechanism comprises two sets of reciprocating motion mechanisms, two sets of clamping mechanisms and a power source, wherein the power source is arranged between the two sets of the reciprocating motion mechanisms, and one end of the clamping mechanism is fixedly connected to the reciprocating motion mechanism.

[0007] Furthermore, the clamping mechanism comprises a clamping plate and an arc plate, one end of the clamping plate is fixedly connected to the reciprocating motion mechanism, and the other end of the clamping plate is fixedly connected to the arc plate.

[0008] Furthermore, the clamping mechanism also includes a pin, and the pin is arranged on the arc plate in a telescopic manner.

[0009] Furthermore, the reciprocating motion mechanism includes two screw fixing seats, a screw, a screw nut, a slide rail A and a slider A, the slider A is movably arranged on the slide rail A, the two ends of the screw are respectively fixedly connected to the two screw fixing seats, the screw nut is sleeved on the screw, the screw nut and the slider A are fixedly connected to one end of the clamping mechanism, the two ends of the slide rail A and the screw fixing seats are fixed on the steel structure platform, and the slider A and the screw nut are fixedly connected.

[0010] Furthermore, the head pile-holding mechanism includes a sliding mechanism, two mounting cages, and two clamping tubes. The two mounting cages are arranged below the sliding mechanism, and the two clamping tubes are respectively fixedly arranged on the inner side below the two mounting cages.

[0011] Furthermore, the sliding mechanism includes a cantilever beam, a slide rail B, a slider B and a power mechanism, the slide rail B is arranged above the cantilever beam, the slider B is movably arranged on the slide rail B, and the power mechanism is connected to the slider B.

[0012] Furthermore, the power mechanism includes a push rod and a bracket, both ends of the bracket are fixedly connected to the cantilever beam, one end of the push rod is fixedly connected to the slider B, and the other end is fixedly connected to the bracket.

[0013] Furthermore, the steel structure platform includes an upper steel structure frame, a lower steel structure frame, a walkway and a support platform, the walkway is fixedly arranged between the upper steel structure frame and the lower steel structure frame, and the support platform is fixedly arranged below the lower steel structure frame.

[0014] Furthermore, the linear motion mechanism is a slide rail, a slide table or a guide rail slider.

[0015] The present invention provides a marine photovoltaic walking robot, which has the following beneficial effects:

[0016] 1. The walking robot can realize the alternating movement of the upper mobile platform assembly and the lower mobile platform assembly on the top of the photovoltaic pile, and can complete the transportation and installation of photovoltaic installation components, effectively saving transportation and installation costs. In addition, the entire construction process will not be affected by the rising and falling tides of the mudflats and the strong winds and waves at sea, and can continue to operate, significantly improving construction efficiency.

[0017] 2. For the walking robot, when the upper mobile platform assembly walks on the top of the photovoltaic pile, the lifting mechanism of the lower mobile platform assembly is supported on the top of the photovoltaic pile, and at the same time, the head pile holding mechanism and the tail pile holding mechanism of the lower mobile platform assembly clamp the photovoltaic pile, ensuring that the offshore photovoltaic walking robot will not tip over on the top of the photovoltaic pile, so that the upper mobile platform assembly can walk stably on the top of the photovoltaic pile.

[0018] 3. For the walking robot, when the lower mobile platform assembly walks on the top of the photovoltaic pile, the arc plate of the upper mobile platform assembly clamps the photovoltaic pile, and at the same time, the pins in the extended state contact the top of the photovoltaic pile, which plays a role in supporting the offshore photovoltaic walking robot and ensures that the offshore photovoltaic walking robot will not tip over on the top of the photovoltaic pile, so that the lower mobile platform assembly can walk stably on the top of the photovoltaic pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a marine photovoltaic walking robot proposed by the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the upper mobile platform assembly;

[0021] Figure 3 It is a schematic diagram of the pile holding mechanism of the upper mobile platform assembly;

[0022] Figure 4 It is a schematic diagram of the structure of the lower mobile platform assembly;

[0023] Figure 5 It is a schematic diagram of the structure of the head pile-holding mechanism of the lower mobile platform assembly;

[0024] Figure 6 It is a top view of the head pile-holding mechanism of the lower mobile platform assembly;

[0025] Figure 7 It is a schematic diagram of the state in which the lifting mechanism of the lower mobile platform assembly is extended and the clamping tube clamps the photovoltaic pile;

[0026] Figure 8 This is a schematic diagram of the arc plate of the upper mobile platform component hugging the photovoltaic pile;

[0027] Fig. 9 It is a schematic diagram of the clamping mechanism of the upper mobile platform assembly clamping the photovoltaic pile;

[0028] Fig.10 A schematic diagram of the photovoltaic pile state when the clamping tube of the lower mobile installation platform assembly is released;

[0029] Fig.11 Schematic diagram of the movement of the lower mobile platform assembly.

[0030] In the figure: 1. upper mobile platform assembly; 11. steel structure platform; 111. upper steel structure frame; 112. lower steel structure frame; 113. walking platform; 114. supporting platform; 12. pile holding mechanism; 121. reciprocating mechanism; 1211. screw rod fixing seat; 1212. screw rod; 1213. screw rod nut; 1214. slide rail A; 1215. slider A; 122. clamping mechanism; 1221 , clamping plate; 1222, arc plate; 1223, pin; 123, motor; 13, slide; 2, lower mobile platform assembly; 21, tail pile holding mechanism; 22, main beam; 23, heavy-duty slide rail; 24, lifting mechanism; 25, head pile holding mechanism; 251, installation cage; 252, cantilever beam; 253, slide rail B; 254, slider B; 255, push rod; 256, clamping tube; 3, photovoltaic pile. DETAILED DESCRIPTION

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0032] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0033] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In addition, in the description of the present application, the terms "top", "bottom", "below", "lower inner side", "one end", "the other end", "rear end", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred mechanism or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention. Embodiment 1

[0035] Reference Figure 1-11 This embodiment provides a marine photovoltaic walking robot, such as Figure 1 The offshore photovoltaic walking robot of the present invention comprises an upper mobile platform component 1 and a lower mobile platform component 2. The lower mobile platform component 2 is arranged below the upper mobile platform component 1. A linear motion mechanism is arranged at the connection between the upper mobile platform component 1 and the lower mobile platform component 2. The linear motion mechanism is a slide rail and a slide table. The slide rail is arranged on the lower mobile platform component 2, and the slide table is arranged on the upper mobile platform component 1. When working, the slide rail and the slide table cooperate with each other to enable the upper mobile platform component 1 and the lower mobile platform component 2 to move relative to each other. Figure 2 The upper mobile platform assembly 1 includes a steel structure platform 11, a pile holding mechanism 12 and a slide 13. The steel structure platform 11 includes an upper steel structure frame 111, a lower steel structure frame 112, a walkway 113 and a support platform 114. The walkway 113 is fixedly arranged between the upper steel structure frame 111 and the lower steel structure frame 112. The support platform 114 is fixedly arranged below the lower steel structure frame 112. The pile holding mechanism 12 is arranged at both ends of the support platform 114, and the slide 13 is fixedly arranged at the bottom of the support platform 114.

[0036] like Figure 3The pile holding mechanism 12 includes two sets of reciprocating motion mechanisms 121, two sets of clamping mechanisms 122 and a power source, the power source is a motor 123, the reciprocating motion mechanism 121 includes two screw fixing seats 1211, a screw 1212, a screw nut 1213, a slide rail A1214 and a slider A1215, the two ends of the screw 1212 are respectively fixedly connected to the two screw fixing seats 1211, the slider A1215 is fixedly connected to the screw nut 1213, the screw nut 1213 is sleeved on the screw 1212, and the slider A1215 can slide back and forth on the slide rail A1214. Both ends of the rail A1214 and the screw fixing seat 1211 are fixed on the lower steel structure frame 112. The two screws 1212 on the two sets of reciprocating motion mechanisms 121 have opposite tooth shapes, and one end of each of the two screws 1212 is respectively connected to the two ends of the motor 123; the clamping mechanism 122 includes a clamping plate 1221, an arc plate 1222 and a pin 1223. One end of the clamping plate 1221 is fixedly connected to the slider A1215 and the screw nut 1213, and the other end is fixedly connected to the arc plate 1222. The pin 1223 is arranged on the arc plate 1222 in a retractable manner. When the pile-holding mechanism 12 is working, the motor 123 is energized to drive the two screws 1212 to rotate. Since the thread profiles of the two screws 1212 are opposite, the two screw nuts 1213 on the two screws 1212 move toward or away from each other, thereby driving the two clamping plates 1221 to move toward or away from each other, so as to realize the clamping and loosening operation of the circular arc plate 1222 on the photovoltaic pile 3. The shape of the circular arc plate 1222 of the present invention is designed to enable the clamping mechanism 122 to better fit the photovoltaic pile 3 when working. In addition, a retractable pin 1223 is installed on the circular arc plate 1222, which can more effectively adjust the fitting gap of the circular arc plate 1222 holding the pile. During construction, the pin 1223 also plays a role in supporting the walking robot.

[0037] It should be noted that the linear motion mechanism may also be a guide rail slider. Embodiment 2

[0038] This embodiment is basically the same as the first embodiment, and further, a specific implementation scheme of the lower mobile platform component 2 is added.

[0039] like Figure 4 The lower mobile platform assembly 2 is composed of a tail pile holding mechanism 21, a main beam 22, a heavy-duty slide rail 23, a jacking mechanism 24 and a head pile holding mechanism 25. The head pile holding mechanism 25 and the tail pile holding mechanism 21 are respectively fixed at both ends of the main beam 22, the heavy-duty slide rail 23 is arranged on the top of the main beam 22, and the jacking mechanism 24 is arranged at the bottom of the main beam 22. When working, the heavy-duty slide rail 23 and the slide 13 cooperate with each other to enable the upper mobile platform assembly 1 and the lower mobile platform assembly 2 to move relative to each other.

[0040] like Figure 5-6The head pile-holding mechanism 25 includes a sliding mechanism, two installation cages 251, and two clamping tubes 256. The two installation cages 251 are arranged below the sliding mechanism, and the two clamping tubes 256 are respectively fixedly arranged on the lower inner side of the two installation cages 251. The sliding mechanism includes a cantilever beam 252, a slide rail B253, eight sliders B254, and a power mechanism. The slide rail B253 is arranged above the cantilever beam 252, and the slider B254 is arranged on the slide rail B253 and can move on the slide rail B253. Each installation cage 251 is fixed at the lower end of four sliders B254. The power mechanism is connected to the sliders B254. Under the action of the power mechanism, the eight sliders B254 can drive the two installation cages 251 to move closer to or away from each other. The power mechanism includes four push rods 255 (the push rods here can be electric push rods or hydraulic push rods), two brackets 257, both ends of the two brackets 257 are fixedly connected to the cantilever beam 252, one end of each push rod 255 is fixedly connected to a slider B254, and the other end is fixedly connected to a bracket 257. When the four push rods 255 are working, they can drive the slider B254 connected thereto to make reciprocating motion along the slide rail B253, thereby driving the clamping tubes 256 on the two mounting cages 251 to move closer to or away from each other. When the push rod 255 increases its stroke, the two mounting cages 251 can be moved away from each other, thereby causing the two clamping tubes 256 to loosen the photovoltaic pile 3. When the push rod 255 reduces its stroke, the two mounting cages 251 can be brought closer to each other, thereby causing the two clamping tubes 256 to hold the photovoltaic pile tightly.

[0041] The tail pile holding mechanism 21 lacks the platforms for people to stand on both sides compared to the head pile holding mechanism 25 , and the other structures are basically the same. It should be pointed out that the tail pile holding mechanism 21 can also have the same structure as the head pile holding mechanism 25 . Embodiment 3

[0042] like Figure 1-11 This embodiment describes a specific implementation plan for installing photovoltaic installation components using an offshore photovoltaic walking robot. The specific steps are as follows:

[0043] S1, placing the offshore photovoltaic walking robot on the top of several photovoltaic piles in a row of photovoltaic piles, and placing the photovoltaic installation components on the walking platform 113, at this time, the bottom of the lower mobile platform component 2 is in contact with the top of the photovoltaic pile, and the human stands on the two installation cages 251;

[0044] S2, such as Figure 7, control the lifting mechanism 24 located at the lower mobile platform assembly 2 to extend, and lift the offshore photovoltaic walking robot relative to the top of the photovoltaic pile for a distance (at this time, the lifting mechanism 24 plays the role of supporting the walking robot), and then control the clamping tube 256 of the tail pile holding mechanism 21 and the head pile holding mechanism 25 to clamp the photovoltaic pile 3 (at this time, the lower mobile platform assembly 2 is fixed to the photovoltaic pile 3, and the clamping mechanism 122 of the upper mobile platform assembly 1 is in an open state), and then control the slide 13 on the upper mobile platform assembly 1 to move along the heavy-duty slide rail 23 on the lower mobile platform assembly 2 to the rear end (here the rear end refers to the end of a row of photovoltaic piles where the photovoltaic installation assembly is not installed), until the upper mobile platform assembly 1 moves to the rear end of the next photovoltaic pile 3;

[0045] S3, such as Figure 8 , the motor 123 of the upper mobile platform assembly 1 is controlled to work, driving the two clamping mechanisms 122 to approach each other until the two arc plates 1222 hold the photovoltaic pile 3. Since the arc plates 1222 are equipped with retractable pins 1223, the pins 1223 that touch the surface of the photovoltaic pile 3 are squeezed and contracted, and the pins 1223 that do not touch the surface of the photovoltaic pile 3 remain in an extended state. At this time, the clamping tubes 256 of the tail pile holding mechanism 21 and the head pile holding mechanism 25 are still in a state of clamping the photovoltaic pile 3;

[0046] S4, such as Fig. 9 , control the lifting mechanism 24 of the lower mobile platform assembly 2 to retract upward until it is completely separated from the top of the photovoltaic pile. At this time, the offshore photovoltaic walking robot begins to descend under the action of gravity until the pin 1223 in the extended state on the arc plate 1222 touches the top of the photovoltaic pile. At this time, the pin 1223 in the extended state contacts the top of the photovoltaic pile (at this time, the pin 1223 in the extended state plays a role in supporting the offshore photovoltaic walking robot), so that the offshore photovoltaic walking robot no longer continues to descend. At this time, the clamping tube 256 of the tail pile holding mechanism 21 and the head pile holding mechanism 25 is still in the state of clamping the photovoltaic pile 3;

[0047] S5, such as Fig.10 , control the push rod 255 of the tail pile-holding mechanism 21 and the head pile-holding mechanism 25 to extend, thereby driving the clamping tube 256 to release the photovoltaic pile 3. At this time, since the arc plate 1222 of the upper mobile platform assembly 1 is still in the state of clamping the photovoltaic pile 3, and the pin 1223 in the extended state is in contact with the top of the photovoltaic pile, the offshore photovoltaic walking robot will not move downward. Therefore, it is ensured that the offshore photovoltaic walking robot will not tip over after the clamping tube 256 releases the photovoltaic pile 3;

[0048] S6, such as Fig.11, when the clamping tube 256 completely releases the photovoltaic pile 3, the heavy-duty slide rail 23 on the lower mobile platform assembly 2 is controlled to move along the slide 13 until the lower mobile platform assembly 2 also moves to the rear end of the next photovoltaic pile 3 (the rear end of the photovoltaic pile 3 referred to here is the rear end of the photovoltaic pile 3 referred to in step S2);

[0049] S7, workers standing on the two installation cages 251 install the photovoltaic installation components placed on the walkway 113 on the photovoltaic pile 3;

[0050] S8. Repeat S2 to S7, so that the upper mobile platform assembly 1 and the lower mobile platform assembly 2 can continuously and alternately move on the top of the photovoltaic pile, thereby completing the transportation and installation of the photovoltaic installation assembly.

[0051] It should be noted that the photovoltaic installation components of the present invention refer to photovoltaic brackets, purlins, and photovoltaic panels; in addition to being able to walk on the tops of photovoltaic piles, the walking robot of the present invention can also be used in application scenarios with other point-shaped supports.

[0052] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. A photovoltaic walking robot at sea, characterized in that: The present invention comprises an upper mobile platform assembly and a lower mobile platform assembly, wherein the lower mobile platform assembly is arranged below the upper mobile platform assembly, and a linear motion mechanism is provided at the connection between the upper mobile platform assembly and the lower mobile platform assembly, wherein the linear motion mechanism is a slide rail and a slide table, wherein the slide rail is arranged on the lower mobile platform assembly, and the slide table is arranged on the upper mobile platform assembly, wherein the upper mobile platform assembly comprises a steel structure platform and a pile holding mechanism, wherein the pile holding mechanism is arranged at both ends of the steel structure platform, and the lower mobile platform assembly comprises a tail pile holding mechanism, a main beam, a jacking mechanism and a head pile holding mechanism, wherein the head pile holding mechanism and the tail pile holding mechanism are respectively fixedly arranged at both ends of the main beam, and the jacking mechanism is arranged at the bottom of the main beam, and when the upper mobile platform assembly walks on the top of the photovoltaic pile, the jacking mechanism of the lower mobile platform assembly is supported on the top of the photovoltaic pile.

2. The offshore photovoltaic walking robot according to claim 1, characterized in that: The pile-holding mechanism of the upper mobile platform assembly includes two sets of reciprocating motion mechanisms, two sets of clamping mechanisms and a power source. The power source is arranged between the two sets of the reciprocating motion mechanisms, and one end of the clamping mechanism is fixedly connected to the reciprocating motion mechanism.

3. The offshore photovoltaic walking robot according to claim 2, characterized in that: The clamping mechanism comprises a clamping plate and an arc plate. One end of the clamping plate is fixedly connected to the reciprocating motion mechanism, and the other end of the clamping plate is fixedly connected to the arc plate.

4. The offshore photovoltaic walking robot according to claim 3, characterized in that: The clamping mechanism further comprises a pin, and the pin is arranged on the arc plate in a telescopic manner.

5. The offshore photovoltaic walking robot according to claim 2, characterized in that: The reciprocating motion mechanism includes two screw fixing seats, a screw, a screw nut, a slide rail A and a slider A. The slider A is movably arranged on the slide rail A. The two ends of the screw are respectively fixedly connected to the two screw fixing seats. The screw nut is sleeved on the screw. The screw nut and the slider A are fixedly connected to one end of the clamping mechanism. The two ends of the slide rail A and the screw fixing seat are fixed on the steel structure platform. The slider A and the screw nut are fixedly connected.

6. The offshore photovoltaic walking robot according to claim 1, characterized in that: The head pile-holding mechanism comprises a sliding mechanism, two mounting cages, and two clamping tubes. The two mounting cages are arranged below the sliding mechanism, and the two clamping tubes are respectively fixedly arranged on the inner sides below the two mounting cages.

7. The offshore photovoltaic walking robot according to claim 6, characterized in that: The sliding mechanism includes a cantilever beam, a slide rail B, a slider B and a power mechanism. The slide rail B is arranged above the cantilever beam, the slider B is movably arranged on the slide rail B, and the power mechanism is connected to the slider B.

8. The offshore photovoltaic walking robot according to claim 7, characterized in that: The power mechanism includes a push rod and a bracket. Both ends of the bracket are fixedly connected to the cantilever beam. One end of the push rod is fixedly connected to the slider B, and the other end is fixedly connected to the bracket.

9. The offshore photovoltaic walking robot according to claim 1, characterized in that: The steel structure platform comprises an upper steel structure frame, a lower steel structure frame, a walkway and a support platform. The walkway is fixedly arranged between the upper steel structure frame and the lower steel structure frame, and the support platform is fixedly arranged below the lower steel structure frame.

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