CN106741261A - A kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control - Google Patents
A kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control Download PDFInfo
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- CN106741261A CN106741261A CN201611154053.4A CN201611154053A CN106741261A CN 106741261 A CN106741261 A CN 106741261A CN 201611154053 A CN201611154053 A CN 201611154053A CN 106741261 A CN106741261 A CN 106741261A
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- directive wheel
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- motor
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 238000006073 displacement reaction Methods 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 230000009194 climbing Effects 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 241000935985 Certhiidae Species 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2063—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for creeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Photovoltaic Devices (AREA)
Abstract
A kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control, including crossbeam, drive mechanism, traction climbing mechanism, guiding mechanism and feedback adjustment mechanism, drive mechanism include controller, driver, motor and power transmission shaft；Traction climbing mechanism includes driving wheel, directive wheel and pull rope band, and traction climbing mechanism is symmetrically fixed on below the crossbeam；Guiding mechanism is fixed on support frame lower section by two support bars；Feedback adjustment mechanism includes two displacement transducers, two groups of limit switches and two groups of clearance measurement sensors, and displacement transducer and clearance measurement sensor all connect with controller.The present apparatus detects two displacements of pull rope band using displacement transducer, and the rotating speed of motor is controlled by controller, it is ensured that cleaning brush unbiased is run；Whether present apparatus arranged on left and right sides being detected respectively while reach the edge of same row's photovoltaic module using two groups of clearance measurement sensors, and motor speed being adjusted by controller, cleaning brush can clean photovoltaic module edge.
Description
Technical field
The present invention relates to photovoltaic art, the flexibility of specifically a kind of Based Intelligent Control suitable for photovoltaic module purging system is led
To photovoltaic plant running gear.
Background technology
Photovoltaic generation is a kind of clean energy resource, is found broad application in the whole world.Photovoltaic module is solar power station electricity
The root that can be produced, the efficiency of photovoltaic module directly decides the generated energy of solar power station.If dust is attached to photovoltaic group
Part surface, have impact on the transmissivity of light, and then the amount of radiation that influence assembly surface is received, and will influence generating efficiency, also
Have because dust it is close apart from the distance of cell piece, shade can be formed, will photovoltaic module be partially formed hot spot effect and then
The generating efficiency of component is reduced, or even burns component, therefore, it is to ensure photovoltaic plant maximum generation energy to keep photovoltaic module cleaning
The effective way of power.
The transmission mechanism of existing photovoltaic module purging system is to set traction climbing mechanism and guiding branch in below the crossbeam
Support mechanism, traction climbing mechanism and guiding mechanism are driven by a double-axis motor, if two electricity of double-axis motor
Arbor output is different, then can cause entirely to draw climbing mechanism generation sideslip, and can not in time find and adjust during sideslip, holds
Easily photovoltaic module is caused to damage.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of flexible guiding photovoltaic plant of Based Intelligent Control
Running gear, this device drives two traction climbing mechanisms to run respectively using two motor, and utilizes two displacements
Sensor detects two displacements of pull rope band respectively, and controls two rotating speeds of motor by controller；Using two groups of surveys
Gap sensor detect respectively device left side with right side whether while reach the edge of same row's photovoltaic module, and by controller
Adjustment motor speed, makes the device arranged on left and right sides reach photovoltaic module edge simultaneously.The device had both ensured that cleaning brush unbiased was transported
OK, it is ensured that cleaning brush can clean photovoltaic module edge, photovoltaic module is avoided to contact scratch with the device again.
In order to solve the above technical problems, the present invention provides a kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control,
Including crossbeam, drive mechanism, two groups of traction climbing mechanisms, two groups of guiding mechanisms and feedback adjustment mechanisms, described traction
Climbing mechanism and guiding mechanism are all symmetrically disposed in crossbeam two ends；
Described drive mechanism includes battery, controller, two drivers, two motor and two power transmission shafts, two
Individual motor symmetrically is suspended on below the crossbeam, and two motor are connected by two universal joints and two power transmission shafts respectively
Connect, described battery is electrically connected with the controller, controller is electrically connected with two drivers simultaneously again, two drivers respectively with
Two motor are connected；
Described traction climbing mechanism symmetrically is fixed on below the crossbeam by two support frames, and every group of traction is creeped
Mechanism all includes driving wheel, directive wheel and pull rope band, and the motor shaft of motor is connected by universal joint with driving wheel, driving wheel
It is connected with directive wheel by pull rope band, described driving wheel and directive wheel is all fixed on support frame；Every group of described traction
The directive wheel of climbing mechanism respectively has six, and six directive wheels are distributed in the both sides of the driving wheel with group；
Described guiding mechanism is fixed on support frame lower section by support bar, and two supports are fixed on each support frame
Bar, fixes a U-shaped wheel carrier on every support bar, two supporting and positioning wheels, described support positioning are installed on each U-shaped wheel carrier
Take turns and walked along the gap of photovoltaic module；
Described feedback adjustment mechanism includes two displacement transducers, two groups of limit switches and two groups of clearance measurement sensors, two
Individual displacement transducer is separately mounted on two pull rope bands, before two groups of limit switches are arranged on crossbeam two ends with being respectively symmetrically
Both sides afterwards, two groups of described clearance measurement sensors are arranged on the front and rear both sides at crossbeam two ends with being also respectively symmetrically, and described displacement is passed
Sensor and clearance measurement sensor all connect with controller.
For the sake of for simple declaration problem, below to the flexible guiding photovoltaic plant walking dress of Based Intelligent Control of the present invention
Put and be referred to as the present apparatus.
The present apparatus detects two displacements of pull rope band respectively using two displacement transducers, and gives control by signal
Device, by controlling two speed of motor more respectively, the displacement for making present apparatus arranged on left and right sides is identical to controller.Two
It is accurate to present apparatus arranged on left and right sides position when up to position and home position that group limit switch is used for determination, it is ensured that transports next time
Row benchmark reliability.Whether two groups of clearance measurement sensors are used to detect present apparatus left side with right side while reaching same row's photovoltaic module
Edge, if do not reached, transmits a signal to controller, and the rotating speed of one of motor is adjusted by controller, makes this
Device arranged on left and right sides displacement is identical, and two groups of clearance measurement sensors could pass through control only when the synchronizing information for detecting is identical
Device is adjusted to the rotating speed of two motor, if the synchronizing information that two groups of clearance measurement sensors are detected is differed, can be with position
The signal that displacement sensor is detected is defined and is controlled.
The operation principle of the present apparatus：Guiding mechanism supports whole device, and is responsible for guiding, and traction climbing mechanism is responsible for
The operation of whole device.Two motor start to rotate all from battery power taking under same controller action, drive two
Individual driving wheel synchronous axial system, driving wheel drives two traction climbing mechanism motions, so that whole device is moved, by two displacements
Sensor provides two displacement informations of pull rope band respectively, under the control of the controller, it is ensured that the displacement one of arranged on left and right sides
Cause, the present apparatus is parallel to travel forward；Position is reached the limit of, signal is provided by limit switch, and it is simultaneously strong by clearance measurement sensor
The in-position of the positive present apparatus, controller stops motor movement after signal is connected to, and limit switch has two groups, and two groups spacing to open
Close the left and right sides respectively with photovoltaic module, head and the tail two ends baffle plate it is corresponding, for detecting the distance between crossbeam and baffle plate,
Limitation present apparatus left side and right side starting and the in-position for terminating；Clearance measurement sensor also has two groups, detect respectively the present apparatus it is left,
Whether right both sides reach the edge of same row's photovoltaic module simultaneously, to prevent the generation of error detection, set two groups of clearance measurement sensors,
The signal that only two groups clearance measurement sensors are detected is identical, just can be used as control signal；Battery is in original position and stop bit
Putting to be charged, and the power supply of charging is provided by civil power, can also be provided by photovoltaic module, and the photovoltaic module for powering is arranged on this
On device, equivalent to carrying small-sized independent electric power system.
Specifically, described support frame is made up of in " E " font left branch leg, middle supporting leg and right supporting leg, and driving wheel is located at
Middle supporting leg bottom, the first directive wheel is located at left branch leg bottom, and the second directive wheel is located at the upper right corner of left branch leg, and the 3rd is oriented to
Positioned at the upper left side of driving wheel, the 4th directive wheel is located at the upper right side of driving wheel to wheel, and the 5th directive wheel is located at the upper left of right supporting leg
Angle, the 6th directive wheel is located at the bottom of right supporting leg；The first described directive wheel and the center of the 6th directive wheel are conllinear, and second leads
Center to wheel, the 3rd directive wheel, the 4th directive wheel and the 5th directive wheel is conllinear, and described pull rope band is oriented to from first successively
Bypassed on wheel, the second directive wheel, the 3rd directive wheel, driving wheel, the 4th directive wheel, the 5th directive wheel and the 6th directive wheel, drawn
One end of rope band is fixed, and the other end is connected with spring, and pull rope end of tape keeps level, so as to reduce pull rope band and directive wheel
Between frictional force, extend pull rope band service life；The bottommost of described supporting and positioning wheel less than the 5th directive wheel and
The bottommost of the 6th directive wheel.
Brief description of the drawings
Fig. 1 is one of schematic diagram of flexible guiding photovoltaic plant running gear of Based Intelligent Control of the present invention.
Fig. 2 is the two of the schematic diagram of the flexible guiding photovoltaic plant running gear of Based Intelligent Control of the present invention.
Fig. 3 is that the pull rope band of the flexible guiding photovoltaic plant running gear of Based Intelligent Control of the present invention moves towards schematic diagram.
Specific embodiment
Invention is described further below by the drawings and specific embodiments.Specific embodiment described herein
Only to explain invention, the protection domain being not intended to limit the present invention.
The flexible guiding photovoltaic plant running gear of Based Intelligent Control, sets as shown in Fig. 1-Fig. 3, including on crossbeam 1, crossbeam 1
It is equipped with drive mechanism, two groups of symmetrical traction climbing mechanism, two groups of symmetrical guiding mechanisms and feedback adjustment
Mechanism.
Drive mechanism includes battery 16,15, two driver 14A of controller, 14B, two motor 13A, 13B and two
Root power transmission shaft 12A, 12B, two motor 13A, 13B symmetrically are suspended on the lower section of crossbeam 1, two motor 13A, 13B
It is connected with two power transmission shafts 12A, 12B by two universal joints 11A, 11B respectively, described battery 16 is electrically connected with controller 15
Connect, controller 15 is electrically connected with two drivers 14A, 14B simultaneously again, and driver 14A is electrically connected with motor 13A, driver
14B is electrically connected with motor 13B；
Two groups of traction climbing mechanisms are symmetrically fixed on the lower section of crossbeam 1, the present embodiment by two support frames 5A, 5B respectively
It is illustrated by taking the traction climbing mechanism in left side as an example, the traction climbing mechanism structure and the traction climbing mechanism knot in left side on right side
Structure is identical, and positional symmetry.The traction climbing mechanism in left side includes driving wheel 9A, six directive wheel 10A and a traction
Rope band 6A, driving wheel 9A and six directive wheel 10A are fixed on support frame 5A, support frame 5A in fall " E " font, by left branch leg
5A-a, middle supporting leg 5A-b and right supporting leg 5A- are constituted, and wherein driving wheel 9A is located at middle supporting leg 5A-b bottoms, the first directive wheel
10A-a is located at left branch leg 5A-a bottoms, and the second directive wheel 10A-b is located at the upper right corner of left branch leg 5A-a, the 3rd directive wheel
10A-c is located at the upper left side of driving wheel 9A, and the 4th directive wheel 10A-d is located at the upper right side of driving wheel 9A, the 5th directive wheel 10A-e
Positioned at the upper left corner of right supporting leg 5A-c, the 6th directive wheel 10A-f is located at the bottom of right supporting leg 5A-c；Wherein the first directive wheel
The center of 10A-a and the 6th directive wheel 10A-f is conllinear, the second directive wheel 10A-b, the 3rd directive wheel 10A-c, the 4th directive wheel
The center of 10A-d and the 5th directive wheel 10A-e is conllinear.The motor shaft of motor 13A is connected by universal joint 11A and driving wheel 9A
Connect, described pull rope band 6A is successively from the first directive wheel 10A-a, the second directive wheel 10A-b, the 3rd directive wheel 10A-c, driving
Bypassed on wheel 9A, the 4th directive wheel 10A-d, the 5th directive wheel 10A-e and the 6th directive wheel 10A-f, the one end of pull rope with 6A
Fixed, the other end is connected with spring 17A, implements pretension.
Two groups of guiding mechanisms are separately fixed at two support frame 5A, 5B lower sections, and the present embodiment is with the guiding branch in left side
It is illustrated as a example by support mechanism, the guiding mechanism in left side is fixed on support frame 5A lower sections by two support bar 8A, described
Two support bar 8A respectively positioned at support frame 5A left branch leg 5A-a and middle supporting leg 5A-b and middle supporting leg 5A-b and right supporting leg 5A-
Between c, a U-shaped wheel carrier 18A is fixed with every support bar 8A, two support positioning are installed on each U-shaped wheel carrier 18A
The bottommost of wheel 7A, described supporting and positioning wheel 7A is less than the bottommost of the first directive wheel 10A-a and the 6th directive wheel 10A-f,
Supporting and positioning wheel 7A walks along the gap of photovoltaic module M；
Described feedback adjustment mechanism includes two displacement transducer 4A, 4B, two groups of limit switches 2A-1,2B-1 and 2A-
2nd, 2B-2, two groups of clearance measurement sensor 3A-1,3B-1 and 3A-2,3B-2, described displacement transducer 4A, 4B and clearance measurement sensor
3A-1,3B-1,3A-2,3B-2 connect with controller 15.Two displacement transducers 4A, 4B are separately mounted to two pull rope bands
On 6A, 6B, displacement transducer 4A detection displacements of the left tractive lines with 6A, displacement transducer 4B detects right tractive lines with 6B's
Displacement, the signal that displacement transducer 4A, 4B will be detected each gives controller 15, and controller 15 is by comparing, and difference
The speed that control motor 13A or 13B are rotated, it is ensured that the displacement of device arranged on left and right sides is identical.Limit switch 2A-1 and limit
Bit switch 2B-1 is one group, is symmetrically disposed in the front side at the two ends of crossbeam 1, determines that present apparatus crossbeam 1 at in-position is left and right
Two side positions are accurate；Limit switch 2A-2 and limit switch 2B-2 is one group, is symmetrically disposed in the rear side at the two ends of crossbeam 1, really
Determine the present apparatus return when the arranged on left and right sides position of crossbeam 1 it is accurate, it is ensured that device runs benchmark reliability next time.Clearance measurement sensor 3A-
1 and clearance measurement sensor 3B-1 is one group, is symmetrically disposed in the front side at the two ends of crossbeam 1, and clearance measurement sensor 3A-2 and clearance measurement are sensed
Device 3B-2 is one group, is symmetrically disposed in the rear side at the two ends of crossbeam 1, for detecting whether present apparatus left side reaches with right side simultaneously
The edge of same row's photovoltaic module M, if do not reached, transmits a signal to controller 15, adjusts electronic by controller 15
The rotating speed of machine 9A or motor 9B, makes the phase shift of present apparatus arranged on left and right sides holding position same, and two groups of clearance measurement sensors are only being detected
Synchronizing information it is identical when, the ability of controller 15 is adjusted to the rotating speed of motor 9A or motor 9B, two groups of clearance measurement sensors
When the synchronizing information for detecting is different, then the signal for being detected by displacement transducer 4A, 4B is defined and is controlled.
Above-described is only one embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, under the premise without departing from the principles of the invention, some variations and modifications can also be made, these also should be regarded as belonging to this hair
Bright protection domain.
Claims (2)
1. a kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control, including crossbeam, drive mechanism, two groups of traction creepers
Structure, two groups of guiding mechanisms and feedback adjustment mechanism, described traction climbing mechanism and guiding mechanism all symmetrically set
Put at crossbeam two ends, it is characterised in that：
Described drive mechanism includes battery, controller, two drivers, two motor and two power transmission shafts, two electricity
Motivation symmetrically is suspended on below the crossbeam, and two motor are connected by two universal joints with two power transmission shafts respectively, institute
The battery stated is electrically connected with the controller, and controller is electrically connected with two drivers simultaneously again, two drivers respectively with two
Motor is connected；
Described traction climbing mechanism symmetrically is fixed on below the crossbeam, every group of traction climbing mechanism by two support frames
All include driving wheel, directive wheel and pull rope band, cleaning brush be set on pull rope band, the motor shaft of motor by universal joint with
Driving wheel is connected, and driving wheel is connected by pull rope band with directive wheel, and described driving wheel and directive wheel is all fixed on support frame
On；The directive wheel of every group of described traction climbing mechanism has six, and six directive wheels are distributed in the both sides of driving wheel；
Described guiding mechanism is fixed on support frame lower section by support bar, and two support bars are fixed on each support frame,
A U-shaped wheel carrier is fixed on every support bar, two supporting and positioning wheels, described supporting and positioning wheel are installed on each U-shaped wheel carrier
Walked along the gap of photovoltaic module；
Described feedback adjustment mechanism includes two displacement transducers, two groups of limit switches and two groups of clearance measurement sensors, two positions
Displacement sensor is separately mounted on two pull rope bands, and two groups of limit switches are arranged on front and rear the two of crossbeam two ends with being respectively symmetrically
Side, two groups of described clearance measurement sensors are arranged on the front and rear both sides at crossbeam two ends, described displacement transducer with being also respectively symmetrically
All connect with controller with clearance measurement sensor.
2. the flexible guiding photovoltaic plant running gear of the Based Intelligent Control according to claim l, it is characterised in that：Described
Support frame is made up of in " E " font left branch leg, middle supporting leg and right supporting leg, and driving wheel is located at middle supporting leg bottom, and first is oriented to
Wheel is located at left branch leg bottom, and the second directive wheel is located at the upper right corner of left branch leg, and the 3rd directive wheel is located at the upper left side of driving wheel,
4th directive wheel is located at the upper right side of driving wheel, and the 5th directive wheel is located at the upper left corner of right supporting leg, and the 6th directive wheel is located at right branch
The bottom of leg；The first described directive wheel and the center of the 6th directive wheel are conllinear, the second directive wheel, the 3rd directive wheel, the 4th
The center of directive wheel and the 5th directive wheel is conllinear, and described pull rope band is led from the first directive wheel, the second directive wheel, the 3rd successively
To being bypassed on wheel, driving wheel, the 4th directive wheel, the 5th directive wheel and the 6th directive wheel, one end of pull rope band is fixed, the other end
It is connected with spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611154053.4A CN106741261A (en) | 2016-12-14 | 2016-12-14 | A kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611154053.4A CN106741261A (en) | 2016-12-14 | 2016-12-14 | A kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control |
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| Publication Number | Publication Date |
|---|---|
| CN106741261A true CN106741261A (en) | 2017-05-31 |
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| CN201611154053.4A Pending CN106741261A (en) | 2016-12-14 | 2016-12-14 | A kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control |
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| WO2016101325A1 (en) * | 2014-12-23 | 2016-06-30 | 张意铃 | Photovoltaic module automatic cleaning device |
| CN106184431A (en) * | 2016-07-22 | 2016-12-07 | 江苏高科物流科技股份有限公司 | A kind of self-navigation pulling equipment |
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2016
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| US20140100723A1 (en) * | 2012-10-04 | 2014-04-10 | Toyota Motor Engineering & Manufacturing North America, Inc. | Automated guided vehicle sidestep motion apparatus and method |
| CN103406292A (en) * | 2013-08-12 | 2013-11-27 | 国家电网公司 | Photovoltaic module cleaning robot |
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