Photovoltaic floating device with flexible centering slide rail and pose compensation

Abstract

The present application relates to offshore photovoltaic equipment technical field, disclose a kind of photovoltaic float device with flexible centering slide rail and pose compensation, comprising: single barge, the chassis trailer is installed on the single barge, four groups of hydraulic cylinders are installed on the chassis trailer, and the output end of each group of hydraulic cylinders is equipped with flexible clamping mechanism;The flexible clamping mechanism includes mounting plate, universal ball, clamping limiting plate, at least two clamping limiting blocks and multiple dampers;The present application is matched by universal ball and spring damping integrated damper, constructs passive compliant interface, in the process of butt joint, universal ball provides multi-degree-of-freedom swing compliance, damper converts the impact kinetic energy caused by wave into heat dissipation, while spring stores and releases elastic potential energy to realize automatic reset centering, flexible clamping mechanism changes traditional rigid butt joint into flexible compliant butt joint, reduces the damage risk of butt joint impact to photovoltaic module and hydraulic device.

Description

Technical Field

[0001] This invention relates to the field of marine photovoltaic equipment technology, specifically a photovoltaic floating device with a flexible centering slide rail and posture compensation. Background Technology

[0002] In the construction of offshore photovoltaic power plants, the transportation and installation of large photovoltaic module brackets is a key part of the construction. At present, the common method for installing offshore photovoltaic brackets is the floating method, which uses a barge to carry the brackets to the installation position, and then uses a hydraulic device to lift the brackets and place them on the pile legs.

[0003] However, existing floating installation systems have the following shortcomings: First, the docking interface between the hydraulic support device and the photovoltaic support is a rigid structure, such as the rigid fork engagement between the U-shaped plug and the support's load-bearing beam. In rough seas, barges will experience rolling, pitching, and heave movements, resulting in significant impact loads and misalignment at the moment of docking. The rigid interface cannot absorb such impacts, which can cause microcracks in the photovoltaic modules or damage to the hydraulic device. Second, to improve docking accuracy and reduce impact risks, existing systems have stringent requirements for sea conditions, limiting the operational window and increasing construction costs and time. Finally, in existing systems, the clamping mechanism and the centering mechanism are independent of each other. After clamping, the flexible centering function is still maintained, causing the support to sway additionally due to wave movement during transportation, affecting the stability of the transfer. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a photovoltaic floating device with a flexible centering slide rail and posture compensation, which solves the problems in existing floating installation systems where rigid docking interfaces cannot absorb wave impacts leading to damage to photovoltaic modules, limited construction window periods, and insufficient transport stability due to the flexible mechanism still swaying after clamping.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A photovoltaic floating device with flexible centering slide rail and posture compensation includes: a single barge, on which a chassis trailer is mounted, and on the chassis trailer are four sets of hydraulic cylinders. Each set of hydraulic cylinders has a flexible clamping mechanism mounted at its output end. The flexible clamping mechanism includes a mounting plate, a universal ball, a clamping limit plate, at least two clamping limit blocks, and multiple dampers. The mounting plate is fixedly connected to the output end of the hydraulic cylinders, the universal ball is rotatably connected to the middle of the mounting plate, and the clamping limit plate is hinged to the upper side of the universal ball. Multiple dampers are distributed around the upper side of the mounting plate, with the lower end connected to the mounting plate and the upper end rotatably connected to the clamping limit plate, used to absorb the impact of the clamping limit plate swinging relative to the mounting plate and provide a restoring force. The clamping limit plate has symmetrically arranged sliding grooves, and the clamping limit blocks are slidably connected in the corresponding sliding grooves for clamping and fixing the truss on the bottom side of the photovoltaic panel.

[0006] Preferably, the clamping and limiting plate has a cavity inside, and a driving mechanism is provided inside the cavity. The driving mechanism includes a drive motor and a rotating rod. The drive motor drives the rotating rod to rotate around the axis of the drive motor. The two ends of the rotating rod are respectively hinged to hinge rods. The end of the hinge rod away from the rotating rod is hinged to the corresponding clamping and limiting block. When the rotating rod rotates along a first direction, it drives the clamping and limiting blocks to move towards each other through the hinge rods to clamp the truss. When the rotating rod rotates along a second direction opposite to the first direction, it drives the clamping and limiting blocks to move away from each other to release the truss.

[0007] Preferably, an adaptive clamping mechanism is provided at the end of the clamping limiting block away from the clamping limiting plate. The adaptive clamping mechanism includes a horizontal plate, which is rotatably connected to the clamping limiting block via a rotating shaft. The horizontal plate is provided with a wedge-shaped surface, and a torsion spring is installed on the rotating shaft. When the horizontal plate is subjected to the resistance of the truss, it can flip downward to avoid it. After the resistance disappears, the torsion spring drives the horizontal plate to return to its initial position.

[0008] Preferably, the horizontal plate and the clamping limiting block are respectively fixedly connected to limiting connecting blocks, and the two limiting connecting blocks engage with each other to restrict the horizontal plate from flipping upward, so that the horizontal plate can overlap the upper surface of the truss and apply an upward supporting force to the truss.

[0009] Preferably, the damper includes a damping cylinder, a piston rod, and a piston plate. The damping cylinder is fixedly connected to the mounting plate. The upper end of the piston rod is rotatably connected to the clamping and limiting plate. The lower end of the piston rod extends into the damping cylinder and is fixedly connected to the piston plate. The piston plate is slidably engaged with the inner wall of the damping cylinder. A first spring is sleeved on the piston rod. A baffle is fixedly connected inside the damping cylinder. The baffle is located below the piston plate and has multiple oil passage holes.

[0010] Preferably, the oil passage hole extends in a tortuous shape. When the piston rod moves down and squeezes the hydraulic oil, the hydraulic oil flows through the oil passage hole and generates a damping force, which converts the impact kinetic energy into heat dissipation.

[0011] Preferably, a fixed box is provided on one side of the damping cylinder, and a sliding plate is slidably connected inside the fixed box. The fixed box is connected to the cavity located below the baffle in the damping cylinder. When the piston rod drives the piston plate to move down, hydraulic oil passes through the oil passage hole on the baffle and enters the fixed box, pushing the sliding plate to slide.

[0012] Preferably, a sliding rod is fixedly connected to the side of the sliding plate away from the damping cylinder, a second spring is sleeved on the sliding rod, the sliding rod passes through the side wall of the fixed box and slides therewith; the outer end of the sliding rod is connected to a limit cover through a connecting rod, and the connecting rod and the sliding rod are adjustable.

[0013] Preferably, the limiting cover is disposed on one side of the universal ball, and the limiting cover has a concave surface that matches the curvature of the universal ball's spherical surface; when the sliding rod moves outward under the push of hydraulic oil, it drives the limiting cover to move closer to the universal ball, so that the concave surface engages with the surface of the universal ball, thereby limiting the rotation angle of the universal ball.

[0014] Preferably, when the clamping limiting plate is subjected to downward pressure, the clamping limiting plate transmits the pressure to the piston rod, driving the piston rod to move the piston plate downward, thereby linking the limiting cover to engage the universal ball, so that the universal ball is automatically restricted from rotating when subjected to load; when the load disappears, the piston rod resets under the action of the first spring, the limiting cover separates from the universal ball, and the universal ball resumes free rotation.

[0015] This invention provides a photovoltaic floating device with a flexible centering slide rail and posture compensation. It has the following beneficial effects: 1. This invention constructs a passive compliant interface by combining a universal ball and a spring-damped integrated damper. During the docking process, the universal ball provides multi-degree-of-freedom swing compliance capability, the damper converts the impact kinetic energy caused by waves into heat dissipation, and the spring stores and releases elastic potential energy to achieve automatic reset and centering. The flexible clamping mechanism transforms the traditional rigid docking into a flexible compliant docking, reducing the risk of damage to photovoltaic modules and hydraulic devices caused by docking impact.

[0016] 2. This invention achieves passive avoidance of collisions during clamping and automatic overlapping and fixing of photovoltaic brackets through the passive introduction of the wedge surface, the downward flipping of the horizontal plate to avoid collisions, the automatic reset of the torsion spring, and the one-way locking of the limiting connecting block in the adaptive clamping mechanism. When there is misalignment during docking, the adaptive clamping mechanism can adaptively avoid and reset, reducing the requirements for the positioning accuracy of the hydraulic cylinder and the dependence on low sea state operating conditions, expanding the construction window period, and the whole process does not require sensor detection and active control. The structure is simple and the operation is reliable.

[0017] 3. This invention achieves automatic switching between flexible alignment and rigid locking states through a load-linked limiting structure. When unloaded, the universal ball rotates freely, and the flexible mechanism maintains its compliant capability. After being loaded, the gravity of the bracket drives the limiting cover to engage the universal ball, locking the flexible mechanism and making the device a rigid connection, ensuring stability during transportation and installation. After the load disappears, the limiting cover automatically separates, and the flexible mechanism resumes its function. The entire process is automatically completed by the mechanical structure according to the load state, without the need for additional electrical control components or manual intervention, balancing compliance during alignment and stability during transportation. Attached Figure Description

[0018] Figure 1 This is an overall perspective view of the present invention; Figure 2 This is a schematic diagram of the monohull barge of the present invention; Figure 3 This is a schematic diagram of the photovoltaic panel of the present invention; Figure 4 This is a schematic diagram of the flexible clamping mechanism of the present invention; Figure 5 This is a schematic diagram of the universal ball of the present invention; Figure 6 This is a schematic diagram of the clamping and limiting plate of the present invention; Figure 7 This is a schematic diagram of the driving mechanism of the present invention; Figure 8 This is a schematic diagram of the inside of the damping cylinder of the present invention.

[0019] Among them, 1. Single barge; 2. Chassis trailer; 201. Hydraulic cylinder; 3. Flexible clamping mechanism; 301. Mounting plate; 302. Damper; 3021. Damping cylinder; 3022. Piston rod; 3023. Piston plate; 3024. Baffle; 3025. Oil passage hole; 3026. Fixing box; 3027. Sliding plate; 3028. Sliding rod; 3029. Limiting cover; 303. Universal ball; 304. Clamping limiting plate; 305. Clamping limiting block; 306. Sliding groove; 307. Drive mechanism; 308. Rotating rod; 309. Hinge rod; 4. Photovoltaic panel; 401. Truss; 5. Adaptive clamping mechanism; 501. Horizontal plate; 502. Wedge surface; 503. Limiting connecting block. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will now be clearly and completely described in conjunction with the accompanying drawings. Example 1

[0021] Please see the appendix Figure 1 -Appendix Figure 8 This invention provides a photovoltaic floating device with a flexible centering slide rail and posture compensation, including a single barge 1, a chassis trailer 2, four sets of hydraulic cylinders 201 and a flexible clamping mechanism 3.

[0022] like Figure 1 As shown, a chassis trailer 2 is installed on the single barge 1. The chassis trailer 2 can travel on the slide rails on the barge deck. Four sets of hydraulic cylinders 201 are installed on the chassis trailer 2. The four sets of hydraulic cylinders 201 are distributed in a rectangular shape. Each set of hydraulic cylinders 201 is a vertically arranged direct-acting hydraulic cylinder 201. Each set of hydraulic cylinders 201 has a set of flexible clamping mechanism 3 installed at the output end for clamping the truss 401 on the bottom side of the photovoltaic panel 4.

[0023] like Figure 5 As shown, the flexible clamping mechanism 3 includes a mounting plate 301, a universal ball 303, a clamping limiting plate 304, at least two clamping limiting blocks 305, and multiple dampers 302. The mounting plate 301 is fixedly connected to the top of the piston rod 3022 of the hydraulic cylinder 201 by flange bolts. The universal ball 303 is rotatably connected to the middle of the upper surface of the mounting plate 301. The ball seat of the universal ball 303 is fixed on the mounting plate 301, and the ball head can rotate freely. The middle of the lower surface of the clamping limiting plate 304 is hinged to the top of the ball head of the universal ball 303, so that the clamping limiting plate 304 can swing around the center of the universal ball 303 with multiple degrees of freedom.

[0024] Specifically, multiple dampers 302 are distributed around the upper surface of the mounting plate 301. In this embodiment, four dampers 302 are arranged at the four corners of the mounting plate 301 as an example. The lower end of the damper 302 is fixedly connected to the mounting plate 301, and the upper end is rotatably connected to the clamping and limiting plate 304. The damper 302 is a spring-damped integrated structure, including a damping cylinder 3021, a piston rod 3022, and a piston plate 3023. The bottom of the damping cylinder 3021 is fixedly connected to the mounting plate 301 by bolts. The upper end of the piston rod 3022 is rotatably connected to the lower surface of the clamping and limiting plate 304 by a ball joint. The lower end of the piston rod 3022 extends into the interior of the damping cylinder 3021 and is fixedly connected to the piston plate 3023. The piston plate 3023 slides against the inner wall of the damping cylinder 3021.

[0025] like Figure 8 As shown, the damping cylinder 3021 is filled with hydraulic oil. A baffle 3024 is fixedly connected inside the damping cylinder 3021. The baffle 3024 is located below the piston plate 3023. Multiple oil passage holes 3025 are provided on the baffle 3024. The oil passage holes 3025 extend in a tortuous shape to increase the resistance when the hydraulic oil flows. A first spring is sleeved on the piston rod 3022. The upper end of the first spring abuts against the lower surface of the clamping and limiting plate 304, and the lower end abuts against the top of the damping cylinder 3021.

[0026] Furthermore, the upper surface of the clamping and limiting plate 304 is provided with two symmetrically arranged sliding grooves 306. Each sliding groove 306 is slidably connected to a clamping and limiting block 305. The clamping and limiting plate 304 has a cavity inside, and a driving mechanism 307 is provided in the cavity. The driving mechanism 307 includes a driving motor and a rotating rod 308. The driving motor drives the rotating rod 308 to rotate around the axis of the driving motor. The two ends of the rotating rod 308 are respectively hinged to hinge rods 309. The end of the hinge rod 309 away from the rotating rod 308 is hinged to the corresponding clamping and limiting block 305. When the rotating rod 308 rotates in the first direction, the two clamping and limiting blocks 305 are driven to move towards each other along the sliding grooves 306 through the hinge rods 309 to clamp and fix the truss 401 on the bottom side of the photovoltaic panel 4. When the rotating rod 308 rotates in the opposite second direction, the two clamping and limiting blocks 305 are driven to move away from each other to release the truss 401.

[0027] The working principle of this embodiment is as follows: During the loading stage, the chassis trailer 2 moves to below the photovoltaic panel 4, and four sets of hydraulic cylinders 201 lift simultaneously, transporting the flexible clamping mechanism 3 upward to the vicinity of the truss 401. During the lifting process, if the clamping limit plate 304 is misaligned with the truss 401 due to barge swaying or positioning deviation, the clamping limit plate 304 will first contact the truss 401. The lateral force and impact force generated by the contact will force the clamping limit plate 304 to swing around the universal ball 303. The dampers 30 at the four corners... 2. Subsequently, varying degrees of compression or stretching occur. The piston plate 3023 inside the damping cylinder 3021 moves with the piston rod 3022, squeezing the hydraulic oil through the oil passage 3025 on the baffle 3024, generating damping force, which converts the impact kinetic energy into heat dissipation. At the same time, the first spring sleeved on the piston rod 3022 is compressed and stores elastic potential energy. When the impact force disappears, the first spring releases the elastic potential energy, driving the piston rod 3022 to reset, and causing the clamping limit plate 304 to return to the horizontal centering position.

[0028] Specifically, after the clamping limit plate 304 returns to a horizontal position, the drive mechanism 307 drives the two clamping limit blocks 305 to move towards each other, clamping the truss 401. Then, the hydraulic cylinder 201 continues to lift, raising the photovoltaic panel 4. The chassis trailer 2 then transfers the photovoltaic panel 4 to the single barge 1. During the offshore installation phase, the hydraulic cylinder 201 adjusts the height and attitude of the photovoltaic panel 4. In this embodiment, through the cooperation of the universal ball 303 and the damper 302, the passive absorption and automatic reset of multi-degree-of-freedom misalignment and impact are achieved, transforming the traditional rigid docking into a flexible compliant docking, reducing the risk of impact damage during the docking process. Example 2

[0029] like Figure 4 and Figure 5 As shown: This embodiment is based on Embodiment 1, and further adds an adaptive clamping mechanism 5. Except for the following description, the rest of the structure is the same as that of Embodiment 1.

[0030] Specifically, each clamping limit block 305 has an adaptive clamping mechanism 5 at its upper end, away from the clamping limit plate 304. The adaptive clamping mechanism 5 includes a horizontal plate 501, which extends horizontally and is perpendicular to the vertical direction of the clamping limit block 305. The horizontal plate 501 is rotatably connected to the upper end of the clamping limit block 305 via a rotating shaft. The rotating shaft is horizontally arranged, allowing the horizontal plate 501 to rotate downwards around the rotating shaft. A wedge-shaped surface 502 is provided on the side of the horizontal plate 501 facing the truss 401. A torsion spring is installed on the rotating shaft, with one end of the torsion spring abutting against the horizontal plate 501. The plate 501 has one end abutting against the clamping limit block 305. In its natural state, the torsion spring keeps the plate 501 in a horizontal position. The lower surface of the plate 501 and the corresponding position of the clamping limit block 305 are respectively fixedly connected to the limit connecting blocks 503. The two limit connecting blocks 503 are located below the rotating shaft. When the plate 501 is in a horizontal position, the two limit connecting blocks 503 are engaged with each other, restricting the plate 501 from flipping upward. When the plate 501 is subjected to a downward external force, the two limit connecting blocks 503 are separated from each other, and the plate 501 can flip downward.

[0031] The working principle of the adaptive clamping mechanism 5 added in this embodiment is as follows: When the hydraulic cylinder 201 lifts the flexible clamping mechanism 3 close to the truss 401, the two clamping limit blocks 305 are in the open state. If the height of the horizontal plate 501 overlaps with the upper surface of the truss 401, the wedge-shaped surface 502 at the front end of the horizontal plate 501 first contacts the edge of the truss 401. The truss 401 applies a downward pushing force to the wedge-shaped surface 502, forcing the horizontal plate 501 to overcome the elastic force of the torsion spring and flip downward to avoid it. As the hydraulic cylinder 201 continues to lift, the horizontal plate 501 slides past the edge of the truss 401 and enters the upper region of the truss 401. When the horizontal plate 501 has completely passed the edge of the truss 401, the resistance of the truss 401 to the horizontal plate 501 disappears, the torsion spring releases its elastic potential energy, and drives the horizontal plate 501. Returning to the horizontal position, the lower surface of the horizontal plate 501 is attached to the upper surface of the truss 401. Due to the locking action of the limiting connecting block 503, the horizontal plate 501 cannot be flipped upward. Subsequently, the driving mechanism 307 drives the two clamping limiting blocks 305 to move towards each other, clamping the truss 401. At this time, the truss 401 is clamped from above by the horizontal plate 501 and from the side by the clamping limiting blocks 305, forming a stable multi-point fixation. The adaptive clamping mechanism 5 of this embodiment achieves passive avoidance of collisions during clamping and automatic overlapping and fixing of the truss 401 through the passive introduction of the wedge surface 502, the downward flipping of the horizontal plate 501 to avoid collisions, the automatic reset of the torsion spring, and the one-way locking of the limiting connecting block 503. It does not require sensor detection and control and has a simple and reliable structure. Example 3

[0032] like Figure 5 and Figure 8As shown, this embodiment adds a load linkage limiting structure based on embodiment two. Except for the following description, the rest of the structure is the same as that in embodiment two.

[0033] Specifically, a fixed box 3026 is provided on one side of the damping cylinder 3021. The fixed box 3026 is fixed and connected to the outer wall of the damping cylinder 3021. A sliding plate 3027 is slidably connected inside the fixed box 3026. The fixed box 3026 and the cavity below the baffle 3024 in the damping cylinder 3021 are connected through a connecting hole. When the piston rod 3022 drives the piston plate 3023 to move down, the hydraulic oil passes through the oil passage hole 3025 on the baffle 3024 and enters the cavity below the baffle 3024. It then enters the fixed box 3026 through the connecting hole, pushing the sliding plate 3027 to slide away from the damping cylinder 3021.

[0034] Furthermore, a sliding rod 3028 is fixedly connected to the side of the sliding plate 3027 away from the damping cylinder 3021. A second spring is sleeved on the sliding rod 3028, with one end of the second spring abutting against the sliding plate 3027 and the other end abutting against the inner wall of the fixed box 3026. The sliding rod 3028 passes through the side wall of the fixed box 3026 and slides therewith. The outer end of the sliding rod 3028 is connected to a limit cover 3029 via a connecting rod. The connecting rod and the sliding rod 3028 are connected by an adjustable thread, used to adjust the initial distance between the limit cover 3029 and the universal ball 303; the limit... Cover 3029 is disposed on one side of universal ball 303. The side of limit cover 3029 facing universal ball 303 is concave. The curvature of the concave surface matches the curvature of the spherical surface of universal ball 303. When sliding rod 3028 moves outward under the push of hydraulic oil, it drives limit cover 3029 to move closer to universal ball 303, so that the concave surface is engaged with the spherical surface of universal ball 303, limiting the rotation angle of universal ball 303. When the hydraulic oil pressure disappears, the second spring sleeved on sliding rod 3028 pushes sliding plate 3027 to reset, causing limit cover 3029 to separate from universal ball 303.

[0035] The working principle of the added structure in this embodiment is as follows: After the flexible clamping mechanism 3 completes the clamping of the truss 401, during the process of the hydraulic cylinder 201 lifting or transferring the photovoltaic panel 4, the gravity of the truss 401 is transmitted to each damper 302 through the clamping limit plate 304, applying continuous downward pressure to the piston rod 3022. When the pressure generated by the truss 401 drives the piston rod 3022 to move the piston plate 3023 downward, the hydraulic oil in the damping cylinder 3021 is squeezed through the oil passage hole 3025 on the baffle 3024 and enters the solid... The fixed box 3026 pushes the sliding plate 3027 to slide outward. The sliding of the sliding plate 3027 causes the sliding rod 3028 and the limiting cover 3029 to move towards the universal ball 303, so that the concave surface of the limiting cover 3029 is engaged with the spherical surface of the universal ball 303. At this time, the universal ball 303 is pressed by the limiting cover 3029 and cannot rotate freely. The entire flexible clamping mechanism 3 switches from a flexible connection state to a rigid connection state. The photovoltaic panel 4 remains stable during transportation and installation and will not sway additionally due to wave swaying.

[0036] After the installation of the photovoltaic panel 4 is completed and the hydraulic cylinder 201 is unloaded, the pressure of the truss 401 on the clamping limit plate 304 disappears. The piston rod 3022 returns to its original position under the action of the first spring, and the piston plate 3023 moves upward accordingly. The hydraulic oil in the fixed box 3026 is drawn back to the damping cylinder 3021. The sliding plate 3027 returns to its original position under the action of the second spring on the sliding rod 3028, which drives the limit cover 3029 to separate from the universal ball 303. The universal ball 303 returns to its free rotation state, ready for the next clamping operation.

[0037] The technical effects achieved by this embodiment are as follows: When not under load, the universal ball 303 rotates freely, and the flexible clamping mechanism 3 maintains its flexible compliance capability, which can absorb misalignment and impact during the docking process; after being under load, the gravity of the truss 401 automatically triggers the limit cover 3029 to fasten the universal ball 303, locking the flexible mechanism and making the entire device a rigid connection, ensuring the stability of transportation and installation; after the load disappears, the limit cover 3029 automatically separates, and the flexible mechanism restores its function. The entire process does not require additional sensors, electronic control components or manual intervention, and the mechanical structure automatically completes the switching between the two states of flexible alignment and rigid locking according to the load state.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art 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 appended description and its equivalents.

Claims

1. A photovoltaic floating device with a flexible centering slide rail and posture compensation, characterized in that, include: A single barge (1) is provided on the upper side of the single barge (1), and a chassis trailer (2) is provided on the upper side of the chassis trailer (2). Four sets of hydraulic cylinders (201) are provided on the upper side of the chassis trailer (2), and a flexible clamping mechanism (3) is installed at the output end of each set of hydraulic cylinders (201). The flexible clamping mechanism (3) includes a mounting plate (301), a universal ball (303), a clamping limiting plate (304), at least two clamping limiting blocks (305), and multiple dampers (302). The mounting plate (301) is fixedly connected to the output end of the hydraulic cylinder (201), the universal ball (303) is rotatably connected to the middle part of the mounting plate (301), and the clamping limiting plate (304) is hinged to the upper side of the universal ball (303). Multiple dampers (302) are distributed around the upper side of the mounting plate (301). The lower end of the damper (302) is connected to the mounting plate (301), and the upper end is rotatably connected to the clamping limiting plate (304). They are used to absorb the impact when the clamping limiting plate (304) swings relative to the mounting plate (301) and provide a restoring force. The clamping limiting plate (304) has symmetrically arranged sliding grooves (306), and the clamping limiting block (305) is slidably connected in the corresponding sliding groove (306) to clamp and fix the truss (401) on the bottom side of the photovoltaic panel (4).

2. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 1, characterized in that, The clamping and limiting plate (304) has a cavity inside, and a driving mechanism (307) is provided inside the cavity. The driving mechanism (307) includes a driving motor and a rotating rod (308). The drive motor drives the rotating rod (308) to rotate around the axis of the drive motor. The two ends of the rotating rod (308) are respectively hinged to the hinge rod (309). The end of the hinge rod (309) away from the rotating rod (308) is hinged to the corresponding clamping limit block (305). When the rotating rod (308) rotates in the first direction, it drives the clamping limit block (305) to move in opposite directions through the hinge rod (309) to clamp the truss (401). When the rotating rod (308) rotates in a second direction opposite to the first direction, it drives the clamping limit block (305) to move in the opposite direction to release the truss (401).

3. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 1, characterized in that, An adaptive clamping mechanism (5) is provided at one end of the clamping limiting block (305) away from the clamping limiting plate (304). The adaptive clamping mechanism (5) includes a horizontal plate (501), which is rotatably connected to the clamping limiting block (305) via a rotating shaft. The horizontal plate (501) is provided with a wedge-shaped surface (502), and torsion springs are provided at both ends of the rotating shaft. When the horizontal plate (501) is subjected to the resistance of the truss (401), it can flip downward to avoid it. After the resistance disappears, the torsion spring drives the horizontal plate (501) to return to the initial position.

4. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 3, characterized in that, The horizontal plate (501) and the clamping limiting block (305) are respectively fixedly connected to the limiting connecting block (503). The two limiting connecting blocks (503) engage with each other to restrict the horizontal plate (501) from flipping upward, so that the horizontal plate (501) can overlap the upper surface of the truss (401) and apply an upward supporting force to the truss (401).

5. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 1, characterized in that, The damper (302) includes a damping cylinder (3021), a piston rod (3022), and a piston plate (3023). The damping cylinder (3021) is fixedly connected to the mounting plate (301). The upper end of the piston rod (3022) is rotatably connected to the clamping and limiting plate (304). The lower end of the piston rod (3022) extends into the damping cylinder (3021) and is fixedly connected to the piston plate (3023). The piston plate (3023) slides against the inner wall of the damping cylinder (3021). The piston rod (3022) is fitted with a first spring, and the damping cylinder (3021) is fixedly connected with a baffle (3024). The baffle (3024) is located below the piston plate (3023), and the baffle (3024) is provided with multiple oil passage holes (3025).

6. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 5, characterized in that, The oil passage (3025) extends in a tortuous shape. When the piston rod (3022) moves down to squeeze the hydraulic oil, the hydraulic oil flows through the oil passage (3025) to generate a damping force, which converts the impact kinetic energy into heat dissipation.

7. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 5, characterized in that, A fixing box (3026) is provided on one side of the damping cylinder (3021), and a sliding plate (3027) is slidably connected inside the fixing box (3026). The fixing box (3026) is connected to the cavity located below the baffle (3024) inside the damping cylinder (3021). When the piston rod (3022) drives the piston plate (3023) to move downward, the hydraulic oil passes through the oil passage hole (3025) on the baffle (3024) and enters the fixed box (3026), pushing the sliding plate (3027) to slide.

8. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 7, characterized in that, A sliding rod (3028) is fixedly connected to the side of the sliding plate (3027) away from the damping cylinder (3021). A second spring is sleeved on the outside of the sliding rod (3028). The sliding rod (3028) passes through the side wall of the fixed box (3026) and slides therewith. The outer end of the sliding rod (3028) is connected to the limit cover (3029) via a connecting rod, and the connecting rod and the sliding rod (3028) are adjustable.

9. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 8, characterized in that, The limiting cover (3029) is disposed on one side of the universal ball (303), and the limiting cover (3029) has a concave surface that matches the spherical curvature of the universal ball (303); When the sliding rod (3028) moves outward under the push of hydraulic oil, it drives the limiting cover (3029) to move closer to the universal ball (303), so that the concave surface is engaged with the surface of the universal ball (303) to limit the rotation angle of the universal ball (303).

10. The photovoltaic floating device with flexible centering slide rail and posture compensation according to claim 9, characterized in that, When the clamping limiting plate (304) is subjected to downward pressure, the clamping limiting plate (304) transmits the pressure to the piston rod (3022), driving the piston rod (3022) to move the piston plate (3023) downward, thereby linking the limiting cover (3029) to engage the universal ball (303), so that the universal ball (303) is automatically restricted from rotating when subjected to load; When the load is removed, the piston rod (3022) is reset under the action of the first spring, the limit cover (3029) separates from the universal ball (303), and the universal ball (303) resumes free rotation.

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