CN111262518A

CN111262518A - Base structure and transition device

Info

Publication number: CN111262518A
Application number: CN202010152072.3A
Authority: CN
Inventors: 王观宇; 胡宝兴; 余大强
Original assignee: Boson Robotics Ltd
Current assignee: Boson Robotics Ltd
Priority date: 2020-03-06
Filing date: 2020-03-06
Publication date: 2020-06-09

Abstract

The invention relates to the technical field of accessories of automatic cleaning equipment for photovoltaic panels, and particularly provides a base structure and a transition device. The base mechanism comprises a first base and a second base, the second base is stacked on the first base and is connected with the first base in a sliding mode, and the second base is used for bearing the photovoltaic panel cleaning robot; still including set up in flexible track and first actuating mechanism on the second base, first actuating mechanism with flexible track drive is connected, flexible track is used for connecting the photovoltaic board. The transition device comprises a lifting frame and the base structure. The invention has convenient and efficient use, does not need to strictly limit the parking position of the transition device, can also realize the effective connection of the transition device and the photovoltaic panel, and is convenient for operation.

Description

Base structure and transition device

Technical Field

The invention relates to the technical field of accessories of automatic cleaning equipment for photovoltaic panels, in particular to a base structure and a transition device.

Background

The photovoltaic panel cleaning robot is used for automatically cleaning a photovoltaic panel array. The existing photovoltaic panel cleaning robot can basically clean sand and dust on the surface of a photovoltaic panel while walking on the photovoltaic panel, and manual intervention is not needed in the whole process. However, when the photovoltaic panel array operated by the photovoltaic panel robot needs to be transferred (which means that the photovoltaic panel array is far away and cannot be connected in a transition manner), the photovoltaic panel cleaning robot needs to be moved down or up from the surface of the photovoltaic panel. Because the photovoltaic board has a certain height, so the manual work is moved not only inefficiency but also operation inconvenience. Therefore, it is necessary to help the cleaning robot go onto or off the photovoltaic panel by means of the auxiliary moving device.

However, the conventional auxiliary moving device is inconvenient to use, especially has strict requirements on the placement position, and not only needs to be strictly aligned with the front and back positions of the photovoltaic panel, but also has strict requirements on the distance between the auxiliary moving device and the photovoltaic panel, so that the position of the auxiliary moving device needs to be adjusted for many times in actual use, and the operation efficiency is reduced.

Disclosure of Invention

To solve at least one aspect of the above technical problems, the present invention provides a base structure and a transition device.

The base mechanism comprises a first base and a second base, the second base is stacked on the first base and is connected with the first base in a sliding mode, and the second base is used for bearing the photovoltaic panel cleaning robot; still including set up in flexible track and first actuating mechanism on the second base, first actuating mechanism with flexible track drive is connected, flexible track is used for connecting the photovoltaic board.

Optionally, a sliding rod is arranged on the bottom surface of the second base, a sliding groove is arranged on the first base, and the sliding rod is located in the sliding groove;

the sliding groove comprises a sliding hole and a notch, and the minimum width of the notch is smaller than the diameter of the sliding hole;

the sliding rod comprises a sliding part and a limiting part which are fixedly connected, the sliding part is positioned in the sliding hole, and the width of the joint of the sliding part and the limiting part is smaller than the diameter of the sliding part.

Optionally, a second driving mechanism is arranged on the second base, the second driving mechanism is in driving connection with the first base, and the second driving mechanism is used for driving the second base to slide relative to the first base.

Optionally, a first connecting piece is arranged on the first base, a second connecting piece is arranged on the second base, the fixed end of the second driving mechanism is fixedly connected or hinged with the second connecting piece, and the output end of the second driving mechanism is fixedly connected or hinged with the first connecting piece.

Optionally, a limiting plate is arranged on the first base, a bending structure is arranged at the top of the limiting plate, and the bending structure covers the upper portion of the frame of the second base.

Optionally, the telescopic rail type solar water heater further comprises a fixed shell, the fixed shell is fixedly arranged on the second base, and the telescopic rail is sleeved in the fixed shell.

Optionally, flexible track includes pars contractilis and fixed connection be in the connector of pars contractilis tip, the pars contractilis cover is established in the stationary casing, the connector is used for connecting the photovoltaic board.

Optionally, the connector is provided with a clamping groove, and the clamping groove is used for clamping the edge of the photovoltaic panel.

Optionally, the first driving mechanism is disposed in the fixed casing, a fixed end of the first driving mechanism is fixedly connected to the fixed casing, and the first driving mechanism is drivingly connected to the connector.

Another object of the present invention is to provide a transfer device, which comprises a lifting frame and the above base structure, wherein the base structure is connected with the top of the lifting frame, and the lifting frame is used for driving the base mechanism to lift and/or tilt.

Compared with the prior art, the invention has the beneficial effects that: 1. the base structure is provided with the slidable second base and the telescopic track, so that the transition device is more convenient and efficient to use, the front and back positions of the transition device relative to the photovoltaic panel and the distance between the transition device and the photovoltaic panel are not required to be strictly limited, the transition device can be effectively connected with the photovoltaic panel, and the operation is convenient; 2. the matching structures of the sliding rods and the sliding grooves of the first base and the second base can effectively guide and guarantee the correct sliding direction of the second base, and can also guarantee that the second base and the first base are connected with each other and cannot be separated; 3. the fixed shell limits the telescopic rail from four directions, so that the accuracy of the telescopic direction of the telescopic rail is guaranteed, and meanwhile, the support is provided for the telescopic rail; 4. the invention has simple structure, low cost and convenient maintenance.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a base structure according to an embodiment of the present invention;

FIG. 2 is an exploded view of a first base and a second base in accordance with an embodiment of the present invention;

FIG. 3 is a block diagram of a first base according to an embodiment of the present invention;

FIG. 4 is a structural view of a chute according to an embodiment of the invention;

FIG. 5 is a block diagram of a second base according to an embodiment of the present invention;

FIG. 6 is a block diagram of a slide bar according to an embodiment of the present invention;

FIG. 7 is a diagram of a connection structure of a second driving structure according to an embodiment of the present invention;

FIG. 8 is a completed assembled view of the stationary housing and the telescoping rail of the embodiment of the present invention;

FIG. 9 is an exploded view of a stationary housing and telescoping rail of an embodiment of the invention;

FIG. 10 is a cross-sectional view taken along line B-B of FIG. 8;

FIG. 11 is an enlarged view of a portion of FIG. 10 at C;

FIG. 12 is an enlarged view of a portion of FIG. 10 at D;

fig. 13 is a cross-sectional view taken along the line a-a in fig. 8.

Description of reference numerals:

1-a first base; 11-a first long rim; 12-a first short border; 13-a first mounting beam; 14-a limiting plate; 15-a first connector; 2-a second base; 21-a second long frame; 22-a second short border; 23-a second mounting beam; 24-a stationary housing; 241-a stop assembly; 242-end coaming; 243-first side enclosing plate; 244-a second side panel; 245-upper coaming; 25-a second connector; 3-a telescopic rail; 31-a telescoping section; 311-a first sidewall plate; 312-a second sidewall plate; 313-an upper wall panel; 32-a connector; 321-a card slot; 4-a first drive mechanism; 41-a first output; 5-a second drive mechanism; 52-second output; 6-a chute; 61-a slide hole; 62-notch; 7-a slide bar; 71-a sliding part; 72-limiting part.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

If there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

The transition device of the photovoltaic panel cleaning robot is used for assisting the photovoltaic panel cleaning robot in transition. When the photovoltaic board cleaning robot is used, the transfer device needs to be stopped at one side of the photovoltaic board, the transfer device is connected with the photovoltaic board through the connecting structure, and the photovoltaic board cleaning robot can walk on the photovoltaic board or the photovoltaic board can walk on the transfer device.

As shown in fig. 1, 2, 8 and 9, a base structure according to an embodiment of the present invention may be used for a transition device of a photovoltaic panel cleaning robot. For example, the transfer device comprises a crane with a lift tilt function, and the base structure can be assembled on the top of the crane and used for bearing the photovoltaic panel cleaning robot and assisting the photovoltaic panel cleaning robot to walk on or leave the photovoltaic panel. The photovoltaic panel cleaning robot can clean the photovoltaic panel by walking on the surface of the photovoltaic panel. It should be noted that although the present invention is primarily designed for use in a transfer device of a photovoltaic panel cleaning robot, the base structure of the present invention may be used in other fields or applications. For example, the handling device of any other robot.

The base structure of the present embodiment includes a first base 1 and a second base 2. The first base 1 and the second base 2 are both rectangular frame-like structures. The second base 2 is stacked above the first base 1, i.e. the second base 2 is placed parallel above the first base 1, so that the plane of the second base 2 is parallel to the plane of the first base 1. A photovoltaic panel cleaning robot may be moored on the second base 2. The first base 1 can be used for attaching a crane or a similar structure to a crane. The second base 2 is connected with the first base 1 in a sliding manner, that is, the second base 2 can slide on the plane of the second base relative to the first base 1, and the sliding direction is along the extending direction of the long side of the rectangular frame of the first base 1.

The second base 2 is provided with a telescopic rail 3 and a first driving mechanism 4. First actuating mechanism 4 and second base 2 fixed connection, the output of first actuating mechanism 4 and flexible track 3 fixed connection. The first driving mechanism 4 can be an electric cylinder, an air cylinder, an electric push rod and the like, and the output end of the first driving mechanism 4 has a telescopic function. The telescopic rail 3 can be driven by the first driving mechanism 4 to be telescopic in the direction between the second base 2 and the photovoltaic panel and is connected with the photovoltaic panel. After 3 tip of flexible track are connected with the photovoltaic board, flexible track 3 can supply the walking of photovoltaic board cleaning machines people.

When the transfer device is used for transferring the photovoltaic panel cleaning robot, the transfer device needs to be stopped at one side of the photovoltaic panel, and the front and back positions of the transfer device and the side edge of the photovoltaic panel and the distance between the transfer device and the photovoltaic panel need to be strictly controlled so as to ensure that the cleaning robot can walk between the transfer device and the photovoltaic panel. However, this is very difficult to achieve in practice, requiring repeated adjustment of the position of the transition device.

The base structure of the embodiment of the invention is provided with the slidable second base 2 and the telescopic track 3, thereby perfectly solving the technical problems. Even when the cleaning robot transition device does not correspond to the front-back position of the photovoltaic panel, the front-back alignment with the photovoltaic panel can be realized by sliding the second base 2; even if the distance between the transition device and the photovoltaic panel is too large, the distance can be compensated by the telescopic guide rail 3. On the other hand, when the downside border of photovoltaic board was comparatively close ground, the crane can't satisfy and reduce the base structure to the condition of low enough, can make it satisfy with the alignment requirement of photovoltaic board through sliding second base 2. Therefore, the base structure of the embodiment of the invention enables the transition device to be more convenient and efficient when in use, does not need to strictly limit the parking position of the transition device, can also realize the effective connection of the transition device and the photovoltaic panel, and is convenient to operate.

As shown in fig. 2 to 7, the first base 1 includes two first long rims 11 arranged in opposite parallel and two first short rims 12 arranged in opposite parallel. Two ends of the first long frame 13 are respectively fixedly connected with a short frame 14, so that the first base 1 is in a rectangular frame structure.

The second base 2 comprises two second long rims 21 arranged in opposite parallel and two second short rims 22 arranged in opposite parallel. Two short frames 22 are fixedly connected between the two second long frames 21, so that the first base 1 is in a frame structure. The second long frame 21 is parallel to the first long frame 11, and the second short frame 22 is parallel to the first short frame 12.

Of course, the first base 1 and the second base 2 may also be in other forms, such as an i-shaped or # -shaped frame, a combined structure of a frame and a flat plate, and the like.

Every 11 upper surfaces of first long frame are two spouts 6 of equal fixed connection, and the opening direction of spout 6 is towards second base 2. The axes of the sliding chutes 6 distributed on the same first long frame 13 are parallel to the first long frame 11.

The bottom surface of the second long frame 21 is fixedly connected with the sliding rods 7, the arrangement positions of the sliding rods 7 correspond to the arrangement positions of the sliding grooves 6 one by one, and the number of the sliding rods 7 is the same as that of the sliding grooves 6. The slide bar 7 is parallel to the second long frame 21, and the slide bar 7 is arranged in the slide groove 6. When the second base 2 is pushed by an external force in the direction of the second long frame 21, the sliding rod 7 slides in the sliding groove 6, and simultaneously the second base 2 slides relative to the first base 1.

Preferably, the slide groove 6 includes a slide hole 61 and a notch 62, and the slide hole 61 and the notch 62 communicate. The side wall of the sliding hole 61 is in a non-closed barrel shape, the two side walls of the notch 62 are inclined surfaces, and the distance between the lower parts of the two side walls is smaller than the distance between the upper parts of the two side walls of the notch 62.

The slide rod 7 includes a slide portion 71 and a stopper portion 72 integrally formed or fixedly connected. The shape of the slide portion 71 matches the shape of the slide hole 61, and the slide portion 71 is located inside the slide hole 61. The shape of the stop portion 72 matches the shape of the notch 62. The top of the limiting part 72 is fixedly connected with the second long frame 21. The width of the joint of the sliding portion 71 and the stopper portion 72 is smaller than the diameter of the sliding portion 71.

The minimum width of the notch 62 is smaller than the diameter of the slide hole 61 and the slide portion 71. Referring to fig. 4 and 6, assuming that the diameter of the slide hole 61 is phi and the minimum width of the notch 62 is a, a < phi, and a is smaller than the diameter of the slide portion 71. Therefore, when the sliding rod 7 slides relative to the sliding groove 6, the sliding part 71 is always positioned in the sliding hole 61, so that the vertical distance between the second base 2 and the first base 1 is unchanged.

The above embodiment only shows one embodiment of the matching structure of the sliding chute 6 and the sliding rod 7, and the shapes of the sliding chute 6 and the sliding rod 7 can be changed in various ways. Illustratively, the sliding groove 6 is a T-shaped groove, and the sliding rod 7 is an inverted T-shaped piece matched with the T-shaped groove, and the inverted T-shaped piece is connected with the T-shaped groove in a sliding mode.

The second base 2 and the first base 1 are provided with a sliding chute 6 and a sliding rod 7 which are matched with each other, so that the sliding direction of the second base 2 is effectively guided and guaranteed to be correct; and the structures of the sliding rod 7 and the sliding groove 6 are beneficial to limiting the sliding part 71 of the sliding rod 7 in the sliding hole 61, and on the premise of realizing the relative sliding of the first base 1 and the second base 2, the mutual connection of the first base 1 and the second base 2 is ensured without separation.

Preferably, the second base 2 is provided with a second driving mechanism 5, and the second driving mechanism 5 may be an air cylinder, an electric cylinder, a hydraulic cylinder, an electric push rod, and the like. In this embodiment, the second driving mechanism 5 is an electric push rod. The electric push rod is used as a second driving mechanism 5 for driving the second base 2 to slide, the size is small, and the stroke control is accurate.

The second mounting beam 23 is fixedly bridged between the two second long frames 21 of the second base 2. The second mounting beam 23 is parallel to the second short rim 22. The second mounting beam 23 is fixedly mounted with a fixed end of the second driving mechanism 5, wherein the fixed end refers to a host portion or a motor portion where the second driving mechanism 5 cannot move telescopically. Since the second driving mechanism 5 is an electric push rod, a motor portion of the electric push rod is fixedly mounted on the second mounting beam 23. The first mounting beam 13 is bridged between the two first long rims 11 of the first base 1. The first mounting beam 13 is parallel to the first short rim 12. And the first mounting beam 13 is at a distance from the second mounting beam 23 in the horizontal direction.

The second output end 51 of the second driving mechanism 5 (the output end is the shaft head of the electric push rod, and is distinguished from the output end of the first driving mechanism 4, so that the output end of the first driving mechanism 4 is defined as the first output end 41, and the output end of the second driving mechanism 5 is the second output end 51) is fixedly connected with the first mounting beam 13. Thus, when the second driving mechanism 5 drives the output end to extend and retract, the second base 2 can be driven to slide relative to the first base 1.

Of course, the main body of the second driving mechanism 5 may be attached to the first base 1, and the second output port 51 of the second driving mechanism 5 may be fixedly connected to the second base 2, and in this case, when the second driving mechanism 5 drives the output port to extend and contract, the second base 2 may be driven to slide with respect to the first base 1.

Preferably, a second connecting member 25 is disposed on a side surface of the second mounting beam 23 facing the first mounting beam 13, and the second connecting member 25 is attached and fixedly connected to the second mounting beam 23 in a back-to-back manner. The rear part of the second drive 5 (the rear part refers to the end of the second drive 5 opposite the second output 51) is fixedly connected to the second connecting element 25.

A first connecting piece 15 is arranged on the side of the first mounting beam 13 facing the second mounting beam 23. The first connecting piece 15 is fixedly connected with the first mounting beam 13 in a back-to-back fit mode. The second output 51 of the second drive 5 is fixedly connected to the first connecting element 15.

The second connecting member 25 extends for a certain length to the plane of the first base 1, and the first connecting member 15 extends for a certain height to the plane of the second base 2, so that after the second driving mechanism 5 is assembled with the first base 1 and the second base 2, the axis of the second output end 51 of the second driving mechanism 5 is parallel to the plane of the first base 1 and the plane of the second base 2, respectively, that is, the extending and retracting direction of the second output end 51 is parallel to the plane of the first base 1 or the plane of the second base 2. Thereby ensuring that the second driving mechanism 5 drives the second base 2 to slide in parallel relative to the first base 1.

In other embodiments, the tail of the second driving mechanism 5 may be hinged to the second connecting member 25, and/or the second output end 51 of the second driving mechanism 5 may be hinged to the first connecting member 15, where the hinge axis is perpendicular to the extending and retracting direction of the second output end 51 and parallel to the plane of the first base 1 or the second base 2. Therefore, even if the axis of the second output end 51 has a certain angle with the plane where the first base 1 and the second base 2 are located, the angle can be corrected through hinging, and the second base 2 can still be ensured to slide in parallel relative to the first base 1 by combining the limiting structures of the sliding rod 7 and the sliding groove 6.

The top of the second driving mechanism 5 is provided with a cover plate, and one side edge of the cover plate is fixedly connected to the second long frame 21. The cover plate covers the top of the second driving mechanism 5, so that dust can be reduced from falling onto the second driving mechanism 5, and the interference between the bottom structure of the photovoltaic panel cleaning robot and the second driving mechanism 5 when the photovoltaic panel cleaning robot is parked on the second base 2 is avoided.

As shown in fig. 1 to 3, at least one limiting plate 14 is attached to an outer side surface of each first long frame 11 of the first base 1. The top of the limiting plate 14 is provided with an opposite bent structure, or the top of the limiting plate 14 is bent inwards (the inner side refers to the inside of the rectangular frame of the first base 1). The bent structure at least partially covers the second base 2. In this embodiment, the bending structure is located above the second long frame 21, and when the second base 2 slides relative to the first base 1, the limiting plate 14 can limit the position above the second base 2. Limiting plate 14 on first base 1 has realized further spacing to second base 2, and the relative position of further guarantee second base 2 and first base 1 in upper and lower direction is correct.

For example, the structure of the limit plate 14 may also be expanded into other forms. For example, the bent structures at the tops of two opposite limiting plates 14 are connected with each other to form a flat plate; or a groove is formed on the outer side wall of the second long frame 21 of the second base 2, and the bent structure can extend into the groove and can slide relative to the groove.

As shown in fig. 8-13, preferably, a stationary housing 24 is fixedly mounted on the second base 2. The fixed housing 24 is fixedly mounted on the two second long rims 21. The telescopic rail 3 is sleeved in the fixed shell 24, and the first output end 41 of the first driving mechanism 4 is fixedly connected with the telescopic rail 3, so that the first driving mechanism 4 can drive the telescopic rail 3 to move. The first driving mechanism 4 may be an electric cylinder, an air cylinder, an electric push rod, or the like. The telescopic rail 3 is telescopic or slidable relative to the stationary housing 24 during movement. When flexible track 3 stretches out for fixed casing 24, the photovoltaic board can be connected to flexible track 3's tip, realizes being connected of transition device and photovoltaic board to supply the walking of photovoltaic board cleaning machines people.

Illustratively, the fixed housing 24 has a rectangular parallelepiped shape as viewed from the outside. The top of the fixed shell 24 is a plane, and walking wheels of the photovoltaic panel cleaning robot can be anchored. Two fixed housings 24 are typically arranged parallel to each other on the second base 2, since a photovoltaic panel cleaning robot typically has an upper running wheel and a lower running wheel.

At least one side end face of the fixed shell 24 is provided with an opening for allowing part of the telescopic guide rail 3 to enter the fixed shell 24. The telescopic rail 3 comprises a telescopic part 31 and a connecting head 32 fixedly connected to the end of the telescopic part 31. The telescopic part 31 is partially or completely sleeved in the fixed shell 24, and when the first driving mechanism 4 drives the telescopic rail 3 to extend out, the telescopic part 31 moves outwards from an opening on the side surface of the fixed shell 24 to extend out, so that the connector 32 moves towards the photovoltaic panel until the connector 32 is lapped on the edge of the photovoltaic panel. The walking wheel of photovoltaic board cleaning machines people moves to the photovoltaic board from the surface of fixed casing 24, moves to connector 32 behind pars contractilis 31, and then moves on the photovoltaic board. Of course, the photovoltaic panel cleaning robot may also walk from the photovoltaic panel to the connector 32, and then walk to the fixed housing 24 through the expansion part 31.

The telescopic rail 3 of the embodiment can be driven by the first driving mechanism 4 to be telescopic, the distance between the transition device and the photovoltaic panel is not required to be strictly controlled, and the effective connection between the transition device and the photovoltaic panel can be realized by controlling the telescopic length of the telescopic rail 3. In the actual operation, the operation difficulty is simplified, the efficiency is improved, and the applicability and the use flexibility of the transition device are improved.

Preferably, a stopping component 241 is arranged on the outer side wall of the fixed casing 24, and the stopping component 241 is used for stopping the photovoltaic panel cleaning robot from moving over. The stop member 241 is a projection relative to the surface of the stationary housing 24. Specifically, when the photovoltaic panel cleaning robot returns to the position above the fixed housing 24 from the photovoltaic panel, the traveling wheels travel on the upper surface of the fixed housing 24, and the hanging wheel of the photovoltaic panel cleaning robot travels along the outer side wall of the fixed housing 24 (the outer side wall of the fixed housing 24 refers to a side wall of the fixed housing 24 away from the center of the transition device), and when the hanging wheel touches the stopping component 241, the photovoltaic panel cleaning robot cannot continue traveling. Therefore, the existence of the stopping component 241 can prevent the photovoltaic panel cleaning robot from transitively walking and from falling off the transition device.

For the photovoltaic panel cleaning robot without the change gear, the stop component 241 can be arranged above the fixed shell 24 to limit the walking wheels, and the photovoltaic panel cleaning robot can be prevented from falling off from the transfer device.

Additionally, in other embodiments, the stop assembly 241 may also employ a magnetic proximity switch or other proximity sensor. Taking the stopping component 241 as a magnetic proximity switch as an example, namely, the magnetic proximity switch is arranged on the outer wall of the fixed shell 24, when the photovoltaic panel cleaning robot walks to be close to the magnetic proximity switch, the photovoltaic panel cleaning robot automatically brakes, and the robot can be prevented from falling off from the transition device.

Preferably, the connecting head 32 includes a first clamping plate and a second clamping plate, the first clamping plate is located above the second clamping plate, and the length of the first clamping plate along the moving direction of the connecting head 32 is greater than the length of the second clamping plate along the moving direction of the connecting head 32, a slot 321 is provided between the first clamping plate and the second clamping plate, that is, the first clamping plate and the second clamping plate form an upper slot wall and a lower slot wall of the slot 321, respectively. When the connector 32 is connected with the photovoltaic panel, the edge of the photovoltaic panel is clamped into the clamping groove 321, the first clamping plate is attached to the upper surface of the photovoltaic panel, and the second clamping plate is attached to the lower surface of the photovoltaic panel.

In other embodiments, there may be a gap between the first and second clip panels and the photovoltaic panel, but the gap does not result in a large height difference between the first clip panel and the surface of the photovoltaic panel; in another embodiment, only the first clamping plate can be arranged, and the first clamping plate is used for being lapped on the upper surface of the photovoltaic panel.

Optionally, the stationary housing 24 includes a top shroud 245, a first side shroud 243, a second side shroud 244, and an end shroud 242. The upper surrounding plate 245 is a rectangular flat plate, and the outer wall of the upper surrounding plate 245 is used for walking wheels of the photovoltaic panel cleaning robot. The first side enclosing plate 243 and the second side enclosing plate 244 are parallel to each other, and the tops of the first side enclosing plate 243 and the second side enclosing plate 244 are respectively and fixedly connected with a group of opposite edges of the upper enclosing plate 245, and the group of opposite edges of the upper enclosing plate 245 are parallel to the moving direction of the telescopic rail 3. The first side shroud 243 and the second side shroud 244 are both perpendicular to the top shroud 245.

The bottom portions of the first side enclosing plate 243 and the second side enclosing plate 244 are respectively bent toward each other. The upper enclosing plate 245, the first side enclosing plate 243, the second side enclosing plate 244 and the bent structures at the bottoms of the first side enclosing plate 243 and the second side enclosing plate 244 respectively form upper, left, right and lower limit positions for the telescopic rail 3.

The end portion enclosing plates 242 are fixedly connected to the end portions (i.e. the ends far away from the connecting head 32) of the first side enclosing plate 243 and the second side enclosing plate 244, and the opposite sides of the end portion enclosing plate 242 are fixedly connected to the first side enclosing plate 243 and the second side enclosing plate 244 respectively. Of course, the upper edge of end panel 242 may be fixedly attached to upper panel 245.

Optionally, the structure of the telescopic portion 31 of the telescopic rail 3 matches the structure of the stationary housing 24, and all or part of the telescopic portion 31 is located in the inner cavity of the stationary housing 24. Telescoping portion 31 includes an upper wall panel 313, a first side wall panel 311 and a second side wall panel 312. The upper wall plate 313 is a rectangular plate parallel to the upper surrounding plate 245 of the stationary case 24. The top edges of first side wall panel 311 and second side wall panel 312 are respectively connected to a set of opposing edges of upper wall panel 313, and first side wall panel 311 and second side wall panel 312 are parallel to each other and perpendicular to upper wall panel 313. The first side wall plate 311 is parallel to the first side wall plate 243 of the fixed case 24, and the second side wall plate 312 is parallel to the second side wall plate 244 of the fixed case 2.

That is, the outer wall of the top wall panel 313 opposes the inner wall of the top shroud 245, the outer wall of the first side wall panel 311 opposes the inner wall of the first side shroud 243, and the outer wall of the second side wall panel 312 opposes the inner wall of the second side shroud 244. And, the bottom portions of the first side wall plate 311 and the second side wall plate 312 are bent toward each other, and the bent portions are parallel to the bent structure of the bottom portions of the first side enclosing plate 243 and the second side enclosing plate 244.

Preferably, the first drive mechanism 4 is disposed inside the stationary housing 24. Illustratively, the first drive mechanism 4 is an electric push rod. The tail of the first driving mechanism 4 (i.e. the end of the main body of the electric putter away from the connector 32) is fixedly connected to the inner wall of the end enclosure 242 of the fixed housing 24, and the first output end 41 of the first driving mechanism 4 (i.e. the end of the electric putter) is fixedly connected to the connector 32. The connector 32 includes a slot 321, and a slot bottom of the slot 321 is fixedly connected to the first output end 41 of the first driving mechanism 4.

The fixing connection described in the above embodiments may include any feasible fixing connection manner, such as welding, integrally formed connection, screw connection, riveting, and the like. In addition, the above embodiment only shows a preferred specific structure of the fixed housing 24 and the telescopic rail 3, and in fact, other matching structures of the fixed housing 24 and the telescopic rail 3 can be expanded under the guidance of the inventive concept. Illustratively, the fixed housing 24 is an elongated slot, the slot bottom is fixedly connected to the second base 2, and the telescopic rail 3 is a long plate with a certain area, and the long plate is located in the slot. The first driving mechanism 4 is arranged at one end of the groove, the first driving mechanism 4 is fixedly connected with one end of the long plate, the other end of the long plate is overlapped with the photovoltaic plate, and the long plate can slide relative to the groove under the driving of the first driving mechanism 4.

Another embodiment of the present invention provides a transition device, which includes the base structure described in the above embodiment, and further includes a lifting frame. The base structure is arranged on the top of the lifting frame. The lifting frame comprises a lifting mechanism and a tilting mechanism. The tilting mechanism is fixedly connected to the top of the lifting mechanism, and the base structure is fixedly connected to the top of the tilting mechanism. Elevating system can realize the raising and lowering functions, and tilt mechanism can realize the slope function, therefore the crane can realize the lift and the slope to base mechanism for ensure that base structure is parallel with the photovoltaic board.

Illustratively, when the transfer device is used for transferring the photovoltaic panel cleaning robot, the transfer device is firstly parked at one side of the photovoltaic panel, and then the lifting frame is adjusted to enable the base structure to be parallel to and opposite to the photovoltaic panel; then, according to the relative position of the base structure and the photovoltaic panel, the position of the second base 2 relative to the first base 1 and the extension length of the telescopic rail 3 relative to the fixed shell 24 are adjusted until the connector 32 of the telescopic rail 3 is overlapped with the edge of the photovoltaic panel; and finally, controlling the photovoltaic panel cleaning robot to walk onto the photovoltaic panel from the transition device or walk onto the transition device from the photovoltaic panel.

The transfer device of the above embodiment can also be applied to the transfer of other devices or apparatuses having an automatic traveling function. For example, the movement of equipment such as snow robots, Automated Guided Vehicles (AGVs), etc.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims

1. A base structure, characterized by comprising a first base (1) and a second base (2), wherein the second base (2) is stacked on the first base (1), the second base (2) is connected with the first base (1) in a sliding way, and the second base (2) is used for bearing a photovoltaic panel cleaning robot; still including set up in flexible track (3) and first actuating mechanism (4) on second base (2), first actuating mechanism (4) with flexible track (3) drive is connected, flexible track (3) are used for connecting the photovoltaic board.

2. The base structure according to claim 1, characterized in that the bottom surface of the second base (2) is provided with a sliding rod (7), the first base (1) is provided with a sliding groove (6), and the sliding rod (7) is positioned in the sliding groove (6);

the sliding chute (6) comprises a sliding hole (61) and a notch (62), and the minimum width of the notch (62) is smaller than the diameter of the sliding hole (61);

the sliding rod (7) comprises a sliding portion (71) and a limiting portion (72) which are fixedly connected, the sliding portion (71) is located in the sliding hole (61), and the width of the connecting position of the sliding portion (71) and the limiting portion (72) is smaller than the diameter of the sliding portion (71).

3. The base structure according to claim 2, characterized in that a second driving mechanism (5) is arranged on the second base (2), the second driving mechanism (5) is in driving connection with the first base (1), and the second driving mechanism (5) is used for driving the second base (2) to slide relative to the first base (1).

4. The base structure of claim 3, characterized in that a first connecting piece (15) is arranged on the first base (1), a second connecting piece (25) is arranged on the second base (2), the fixed end of the second driving mechanism (5) is fixedly connected or hinged with the second connecting piece (25), and the output end of the second driving mechanism (5) is fixedly connected or hinged with the first connecting piece (15).

5. The base structure according to any one of claims 1 to 4, characterized in that a limiting plate (14) is arranged on the first base (1), and a bent structure is arranged on the top of the limiting plate (14) and covers the rim of the second base (2).

6. The base structure according to claim 1, characterized in that it further comprises a fixed housing (24), said fixed housing (24) being fixedly arranged on said second base (2), said telescopic rail (3) being nested in said fixed housing (24).

7. The base structure of claim 6, characterized in that the telescopic rail (3) comprises a telescopic part (31) and a connector (32) fixedly connected to the end of the telescopic part (31), the telescopic part (31) is sleeved in the fixed shell (21), and the connector (32) is used for connecting the photovoltaic panel.

8. The base structure of claim 7, characterized in that the connector (32) is provided with a clamping groove (321), and the clamping groove (321) is used for clamping with the edge of the photovoltaic panel.

9. The substructure according to claim 7, characterized in that the first driving mechanism (4) is arranged in the stationary housing (24), a fixed end of the first driving mechanism (4) is fixedly connected to the stationary housing (24), and the first driving mechanism (4) is drivingly connected to the connection head (32).

10. A transfer device comprising a crane and a base structure according to any of claims 1-9, said base structure being connected to the top of said crane, said crane being adapted to drive the lifting and/or tilting of said base structure.