CN206180954U - Solar cell panel service equipment and running gear thereof - Google Patents

Abstract

The utility model provides a solar cell panel service equipment and running gear thereof, wherein, this running gear includes a walking unit and the 2nd walking unit, connects through at least a set of linkage unit between a walking unit and the 2nd walking unit, is connected through the subassembly that moves about between linkage unit and a walking unit and the 2nd walking unit, running gear strides and locates on one or the polylith solar cell panel to it does exercises on one or polylith solar cell panel to be used for driving solar cell panel service equipment. This running gear is through setting up the flexible connection structure between a linkage unit and a walking unit and the 2nd walking unit, and messenger solar cell panel service equipment can be through the more complicated track structure who sets up the form to solar cell panel service equipment can adapt to more solar cell panel structures and set up the form, and then improves solar cell panel service equipment's utilization efficiency and application range.

Description

Solar panel maintained equipment and its running gear

Technical field

This utility model is related to the technical field of solar panel maintenance, is specifically related to a kind of solar panel dimension Shield equipment and its running gear.

Background technology

Solar energy is the huge energy of a kind of cleaning, the amount of containing, and the recent years development utilized to solar energy is fast Suddenly, one kind main to solar energy at present is exactly to be generated electricity by solar panel using form.

It is well known that solar panel is a kind of by Surface absorption sunlight, then solar radiant energy is passed through into light Electrical effect or Photochemical effects are converted directly or indirectly into the device of electric energy.But when solaode plate surface by dust, When debris etc. are blocked, the efficiency that solar panel receives sunlight can be substantially reduced, according to photovoltaic plant solaode The data statisticss of plate power generation situation, if long-time is not cleaned to solaode plate surface, the light of solar panel Transformation efficiency can reduce by more than 35%, so the generating efficiency of solar panel can be produced and had a strong impact on.Therefore, Jing is often right Solaode plate surface is cleaned becomes extremely important.

Photovoltaic plant mostly carries out large-area laying using the solar panel of same specification, wherein, in advance The solar panel of fixed number amount can be laid on together as a big cell plate group, and photovoltaic plant can be in large area Multiple cell plate groups are sequentially laid, so as to realize solar electrical energy generation.In the application, each cell plate group can respectively by independent Support support, and between adjacent cell plate group arrange certain distance interval.Maintained equipment of the prior art can be complete Into walking and cleaning in single cell plate group, but, this prior art is needed in each cell plate group Arrange a maintained equipment separately to clean corresponding cell plate group, its is relatively costly, and also easily causes resource Waste.

Also the technology for having part company is that adjacent cell plate or cell plate group are linked together by track, and maintenance sets It is standby by track motion to another cell plate group, and then the continuous cleaning to adjacent cell plate to be realized, improve dimension The utilization ratio of shield equipment.But it is existing it is this connected in adjacent cell plate or cell plate group technology by track, due to The structure of maintained equipment is limited, and maintained equipment can only be by projecting in the horizontal plane weight with the centrage of the maintained equipment direction of motion Track between the adjacent cell plate group of conjunction.Therefore, this prior art compares for the requirement of the exhaust position of cell plate group Height, if solar panels have the situation of irregular arrangement, dislocation and difference in height, maintained equipment of the prior art then cannot be from One piece of (group) solar panels moves to another piece of (group) solar panels, causes the utilization rate of maintained equipment not high.

Specifically, Fig. 1 and Fig. 2 is seen also, wherein, Fig. 1 is the battery that maintained equipment can pass through in prior art The top view of the attachment structure of track between plate (group), Fig. 2 is the cell panel (group) that maintained equipment cannot pass through in prior art Between track attachment structure top view.Label 1,2 is respectively the cell panel or cell plate group being disposed adjacent, label 3 in figure The connection track being expressed as between cell panel (group), the label 10 and 20 in figure is expressed as adjacent cell plate (group) (1,2) Project in the horizontal plane in the centrage of the maintained equipment direction of motion, maintained equipment of the prior art 4 can only be by institute in Fig. 1 Show that relative position arranges the track connected between relation solar panel (group), i.e. adjacent cell plate (group) (1,2) and safeguarding The centrage in equipment moving direction projects in the horizontal plane the situation of coincidence；And cannot be arranged by relative position shown in Fig. 2 The track connected between relation solar panel (group), i.e., adjacent cell plate (group) (1,2) is in the maintained equipment direction of motion Centrage projects in the horizontal plane misaligned situation.Certainly, the adjacent solar battery plate (group) in Fig. 1 and Fig. 2 is vertical Rational height on direction is also possible to difference, then the cleaning device of prior art also cannot be the adjacent solar energy for so arranging Cell panel (group) provides cleaning.

Utility model content

This utility model embodiment provides a kind of solar panel maintained equipment and its running gear, to solve existing skill Solar panel maintained equipment cannot be moved arranging between irregular or presence dislocation and difference in height cell plate group in art Technical problem.

To solve the above problems, this utility model embodiment provides a kind of row for solar panel maintained equipment Walking apparatus, the running gear includes the first walking unit and the second walking unit, first walking unit and described second Connected by least one set connection unit between walking unit, the connection unit and first walking unit and described second Connected by moving component between walking unit；The running gear is located on one or more solar panel, is used in combination Move on one or more solar panel in the solar panel maintained equipment is driven.

According to the preferred embodiment of this utility model one, first walking unit include the first driving arm, at least one Runner and at least one motor, the runner is rotated with first driving arm and is connected, and the motor is fixed In first driving arm, the motor drives the runner to rotate, and then sets the solar panel maintenance It is standby to move on one or more solar panel.

According to the preferred embodiment of this utility model one, second walking unit includes the second driving arm and at least Individual runner, the runner and second driving arm are rotated and are connected, wherein, the runner of first walking unit and described the Connected by connecting shaft component between the runner of two walking units, so that motor drives first walking unit and described the Runner synchronous axial system in two walking units.

According to the preferred embodiment of this utility model one, second walking unit include the second driving arm, at least one Runner and at least one motor, the runner is rotated with second driving arm and is connected, and the motor is fixed In second driving arm, the motor drives the runner to rotate, and then sets the solar panel maintenance It is standby to move on one or more solar panel.

According to the preferred embodiment of this utility model one, first walking unit includes at least two groups runners, described two groups One group in runner along the first plane rolling, another group along the second plane rolling, wherein, motor at least be used for drive wherein One group of runner.

According to the preferred embodiment of this utility model one, second walking unit includes at least two groups runners, described two groups One group in runner is along first plane rolling.

According to the preferred embodiment of this utility model one, the runner arranged along the first plane rolling in second walking unit It is connected by connecting shaft component between the runner arranged along the first plane rolling in first walking unit, so that motor Drive the runner synchronous axial system arranged along the first plane rolling in first walking unit and second walking unit.

According to the preferred embodiment of this utility model one, the connecting shaft component includes connecting shaft and flexible drive parts, described The two ends of connecting shaft are passed by flexible drive parts with the runner of first walking unit and the runner of second walking unit Dynamic connection.

According to the preferred embodiment of this utility model one, the connecting shaft component also include telescopic shaft, the telescopic shaft with it is described Connecting shaft is concatenated, and connecting shaft component is adjusted when the centre distance of two groups of runners for connecting in connecting shaft component changes and is integrally tied The length of structure, to adapt to the centre distance of two groups of runners.

According to the preferred embodiment of this utility model one, pass through between first walking unit and second walking unit Two groups of connection unit connections, are respectively adopted between two groups of connection units and first walking unit and second walking unit Moving component connects.

According to the preferred embodiment of this utility model one, the moving component includes bearing and fixed seat, the connection unit It is fixedly connected with the side auxiliary section of the bearing, the opposite side auxiliary section of the bearing is by fixed seat and the described first walking Unit or second walking unit connect, and connection is rotated between the both sides auxiliary section of the bearing, wherein, the two of the bearing At least have in the rotational freedom in bearing axis plane between the auxiliary section of side.

To solve above-mentioned technical problem, this utility model also provides a kind of maintained equipment of solar panel, it is described too The maintained equipment of positive energy cell panel includes the running gear any one of above-described embodiment.

The solar panel maintained equipment provided relative to prior art, this utility model embodiment and its walking dress Put, the running gear passes through to arrange connection unit and the movable connection structure between the first walking unit and the second walking unit, Solar panel maintained equipment is set to pass through centrage of the adjacent solar battery plate (group) in the maintained equipment direction of motion Misaligned situation is projected in the horizontal plane.So that solar panel maintained equipment is adapted to more solar panels Structure setting form, and then improve the utilization ratio of solar panel maintained equipment.

Description of the drawings

Technical scheme in order to be illustrated more clearly that this utility model embodiment, below will be to needed for embodiment description The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to these accompanying drawings Obtain other accompanying drawings.

Fig. 1 is the vertical view of the attachment structure of track between the cell panel (group) that maintained equipment can pass through in prior art Figure；

Fig. 2 is the attachment structure top view of track between the cell panel (group) that maintained equipment cannot pass through in prior art；

Fig. 3 is the structure top surface axis side view of the preferred embodiment of this utility model solar panel maintained equipment one；

Fig. 4 is the structure floor axis side view of solar panel maintained equipment in Fig. 3 embodiments；

Fig. 5 is the top surface axis side view of running gear in Fig. 3 embodiments；

Fig. 6 is the bottom surface axis side view of running gear in Fig. 3 embodiments；

Fig. 7 is the end view of running gear in Fig. 3 embodiments；

Fig. 8 is the top view of running gear in Fig. 3 embodiments；

Fig. 9 is the top view of " four-bar linkage structure " the first change of shape state in running gear walking process；

Figure 10 is the top view of " four-bar linkage structure " second change of shape state in running gear walking process；

Figure 11 is the partial enlarged drawing of the walking unit of running gear first in Fig. 3 embodiments；

Figure 12 is the view at another visual angle of partial enlarged drawing in Figure 11；

Figure 13 is the partial enlarged drawing of the second walking unit of running gear one end in Fig. 3 embodiments；

Figure 14 is the fragmentary bottom enlarged drawing of first walking unit one end of maintained equipment in Fig. 3 embodiments；

Figure 15 is the internal structure top view of maintained equipment in Fig. 3 embodiments；

Figure 16 is the partial enlarged drawing in Figure 15 at A；

Figure 17 be in this utility model maintenance system maintained equipment by being erected at rail between adjacent solar battery plate group The structural representation in road；

Figure 18 is that the connection between each control unit and motor of the preferred embodiment of cleaning device control module one is closed It is block diagram；And

Figure 19 is the structural representation of another embodiment of running gear.

Specific embodiment

With reference to the accompanying drawings and examples, this utility model is described in further detail.It is emphasized that following Embodiment is merely to illustrate this utility model, but scope of the present utility model is not defined.Likewise, following examples are only The not all embodiments for section Example of the present utility model, those of ordinary skill in the art are not making creative work Under the premise of all other embodiment for being obtained, belong to the scope of this utility model protection.

It is the preferred embodiment of this utility model solar panel maintained equipment one to see also Fig. 3 and Fig. 4, Fig. 3 Structure top surface axis side view, Fig. 4 is the structure floor axis side view of solar panel maintained equipment in Fig. 3 embodiments, is such as schemed Shown in 3-4, the maintained equipment includes but is not limited to running gear 100 and attending device 200.

Specifically, see also Fig. 5 and Fig. 6, Fig. 5 be running gear in Fig. 3 embodiments top surface axis side view, figure 6 is the bottom surface axis side view of running gear in Fig. 3 embodiments.Running gear 100 is located at one or more solar panel On, and for driving solar panel maintained equipment in one or more solaode plate surface or being erected at solar energy Moved on track on cell panel.Wherein, solar panel is also known as photovoltaic module, photovoltaic battery panel, solar panels etc.. The running gear 100 includes the first walking unit 110 and the second walking unit 120；First walking unit 110 and second is walked Connected by least one set connection unit between unit 120, in this embodiment, the first walking unit 110 and the second walking are single Connected by two groups of connection units 102 between unit 120.Certainly, in other embodiments, the first walking unit 110 and the second row To walk connect by one group, three groups or multigroup connection unit between unit 120, exist with regard to the setting quantity of connection unit In the range of the understanding of those skilled in the art, no longer describe in detail herein.Preferably, in the present embodiment, connection unit 102 can be Beam rail.

Further, Fig. 7 is referred to, Fig. 7 is the end view of running gear in Fig. 3 embodiments.Connection unit 102 and Connected by moving component 130 between one walking unit 110 and the second walking unit 120.

Two groups of companies between the first walking unit 110 and the second walking unit 120 in the embodiment by being parallel to each other Order unit 102 connects, and activity group is adopted between two groups of walking units 110 of connection unit 102 and first and the second walking unit 120 Part 130 connects；Wherein, the four-bar linkage structure shape that first, second walking unit and two groups of connection units are constituted can be according to the First, the change of the second walking unit track route and be adjusted to " four-bar linkage structure " shape of rectangle or parallelogram.

Fig. 8-Figure 10 is seen also, Fig. 8 is the top view of running gear in Fig. 3 embodiments, and Fig. 9 and Figure 10 respectively goes The top view of " four-bar linkage structure " change of shape state in walking apparatus walking process, wherein, first, second walking unit in Fig. 8 And " four-bar linkage structure " of two groups of connection unit compositions is shaped as rectangular shape, it can be understood as the normal work of maintained equipment State or the situation by Fig. 1 example middle orbit setting structures, and work as rail of the maintained equipment walking by setting structure in Fig. 2 During road, " four-bar linkage structure " then can be deformed upon, and become two kinds of parallelogram sturcutres in Fig. 9 or Figure 10.

Wherein, moving component 130 is used to be flexibly connected between connection unit 102 and walking unit.It should be noted that this Component described in utility model embodiment can be structure as a whole, or including multiple unit constructions knot together Structure, for example moving component, connecting shaft component etc. in text.

The moving component 130 can include bearing 131 and fixed seat 132.Connection unit 102 is matched somebody with somebody with the side of bearing 131 Conjunction portion (not indicating in figure) is fixedly connected, and the opposite side auxiliary section of bearing 131 is by the walking unit of fixed seat 132 and first or the Two walking units connect, and specifically, the side of bearing 131 can be connected with the driving arm of the first or second walking unit (referring to the detailed description of aft section with regard to the concrete structure of the first walking unit and the second walking unit).

Coordinate between the both sides auxiliary section of bearing 131 and rotate connection, wherein, between the both sides auxiliary section of bearing 131 at least With in the rotational freedom in the axial plane of bearing 131.That is between the both sides auxiliary section of bearing 131 at least Can planar realize rotating at " four-bar linkage structure " so that " four-bar linkage structure " can rectangle and parallelogram it Between there is change of shape.

And the species of bearing 131 can include sliding bearing and rolling bearing, for example：Self-aligning roller bearing, taper roller Bearing, biserial deep groove ball bearing, deep groove ball bearing, angular contact ball bearing, cylinder roller bearing, needle bearing, axle sleeve etc..

Due to during the solar panel (group) that photovoltaic power plant is arranged, inevitably there is solar energy There is (towards between the plane of the sun) uneven situation between cell panel (group), although this uneven difference in general Not smaller, but in order to solve this technical problem, it is preferable that the both sides auxiliary section of the bearing 131 in the present embodiment with Link position between connection unit 102 and walking unit (driving arm) is additionally provided with connection and installs elastic allowance, so that axle Hold 131 both sides auxiliary section can occur between the connection unit 102 or walking unit being attached thereto respectively it is low-angle Elastic connection deformation, so that the moving component 130 has in " four-bar linkage structure " out-of-plane degree of freedom, the i.e. moving component 130 can produce certain deformation with the vertical direction.

To solve above-mentioned technical problem, it is further preferred that the bearing 131 can be ball bearing, ball bearing can have The rotational freedom of three planes, makes the connection degree of freedom between walking unit and connection unit 102 more, and then can make dimension Shield equipment adapts to the more complicated walking track of shape or run trace.Certainly, it is to meet connection unit 102 and walking unit Rotation connection, those skilled in the art can also design choose other structures moving component structure, herein also no longer one by one Enumerate.

See also Figure 11 and Figure 12, Figure 11 be the walking unit of running gear first in Fig. 3 embodiments partial enlargement Figure, Figure 12 is the view at another visual angle of partial enlarged drawing in Figure 11.Preferably, the first walking unit 110 includes in the present embodiment First 111, two groups of driving arm runner (112,113) and motor 114.Wherein, two groups of runners (112,113) respectively with First driving arm 111 rotates connection, and motor 114 is fixedly arranged on the first driving arm 111, and motor 114 drives and turns Wheel is rotated, and then solar panel maintained equipment is moved on one or more solar panel.

Preferably, in the present embodiment, a group (label 112 in figure) in two groups of runners is another along the first plane rolling Group (label 113 in figure) is along the second plane rolling；The first plane in the present embodiment can be solar panel top surface, by The constituted plane of polylith cell panel splicing or the plane parallel to solaode plate top surface, and the second plane can be for too The side of positive energy cell panel or the plane parallel to solar panel side, two groups of runners are respectively along solar panel Top surface edge and side roll.

Preferably, every group of runner includes two runners in the present embodiment, and motor 114 (is not marked by gear in figure Show) and the drive mechanism of chain 1141 drive two runner synchronous axial systems along the first plane rolling, and along the second plane rolling Two runners are used as driven runner.Certainly, along the second plane rolling two runners can also by connection driving structure or Multiple motors and as active runner, which runner those skilled in the art can as needed choose is entered as power wheel Row design.As long as one group of runner for ensureing motor at least one plane rolling of drives edge is rotated.In addition, in other realities In applying example, every group of runner can also include one or more runner, and as each runner in the light-emitting window of active runner Can be driven by single motor, likewise, other structures form can be designed in those skilled in the art The connected mode of motor and active runner.

Further, each walking unit in the present embodiment is provided with along solaode plate top surface (the first plane) With the runner rolled in solar panel side (second or the 3rd plane)；In other embodiments, can also be further The runner rolled along the bottom surface of solar panel is set, or is only arranged along turning that solaode plate top surface and bottom surface are rolled Wheel, and it is not provided with the runner rolled along solar panel side.For in other words, those skilled in the art are in design roller position When putting with structure, unilateral walking unit (the first walking unit or the second walking unit) can arbitrarily at one, two or Three solaode plate surfaces of person (top surface, certain one side or bottom surface) arrange roller, with regard to this technical characteristic, herein not Describe in detail again.

Figure 13 is referred to, Figure 13 is the partial enlarged drawing of the second walking unit of running gear one end in Fig. 3 embodiments, at this In embodiment, the second walking unit 120 includes the second driving arm 121 and two groups of runners (122,123), two groups of runners point Do not rotate with the second driving arm 121 and be connected, a group (label 122 in figure) in two groups of runners along the first plane rolling, separately One group (label 123 in figure) is along the 3rd plane rolling.The 3rd plane in the present embodiment can be the side of solar panel, That is the second plane is respectively two relative sides of solar panel with the 3rd plane.

Preferably, the second walking unit 120 and the first walking unit 110 adopt symmetrical structure, second walking unit 120 every group of light-emitting window also includes two runners.Likewise, in other embodiments, per group of the second walking unit 120 turns Wheel can also be the structure for including one or more runner.

Further, two runners and the of light-emitting window 122 are set along the first plane rolling in second walking unit 120 Connected by connecting shaft component 140 respectively between two runners that light-emitting window 112 is set in one walking unit 110 along the first plane rolling Connect, so that the motor 114 in the first walking unit 110 drives edge in the first walking unit 110 and the second walking unit 120 Light-emitting window (the 112 and 122) synchronous axial system that first plane rolling is arranged.

In addition to using said structure, second walking unit 120 again may be by arranging independent motor and Drive mechanism (diagram embodiment in do not show) (is arranged driving active light-emitting window to rotate in the present embodiment along the first plane rolling Light-emitting window 122 is used as active light-emitting window).In the present embodiment light-emitting window 123 is same as driven light-emitting window, certainly, according to setting Meter needs, and light-emitting window 123 can also be as active light-emitting window, when it is used as active light-emitting window, and its specific driving structure is special Levy in the range of the understanding of those skilled in the art, also no longer describe in detail herein.

Figure 11 and Figure 13 is seen also, the connecting shaft component 140 includes connecting shaft 141, flexible drive parts 142 and stretches Axle 143.

Specifically, the active runner that the two ends of connecting shaft 141 pass through the walking unit 110 of flexible drive parts 142 and first It is connected with the active runner of the second walking unit 120.Wherein, the flexible drive parts 142 can be driving universal joint etc..

Telescopic shaft 143 is concatenated with connecting shaft 141, and the centre distance of two runners for connecting in connecting shaft component 140 occurs The integrally-built length of connecting shaft component 140 is adjusted during change, to adapt to the centre distance of two runners.It should be noted that conduct The variant embodiment of the present embodiment, can also use the connecting shaft component 140 between runner as connection unit 102, i.e. connecting shaft The one side of component 140 is used for being connected between runner, on the other hand can also substitute the walking unit of connection unit 102 and two Collectively form " four-bar linkage structure ", and then can be without arranging connection unit 102, it is also possible to realize original function.

Refer to Fig. 4, attending device 200 is located between the first walking unit 110 and the second walking unit 120, for Solaode plate surface is cleaned in the motor process of running gear 100.

Figure 14 is specifically seen also, Figure 14 is the fragmentary bottom enlarged drawing of first walking unit one end of maintained equipment, The attending device 200 can be cleaning device, and it includes central shaft 210 and around the cleaning brush located at the periphery of central shaft 210 220；Wherein, central shaft 210 and cleaning brush 220 can also be structure as a whole.

The two ends of central shaft 210 are by the walking unit 110 of flexible drive parts 230 and first and the (figure of the second walking unit 120 Second walking unit end does not show in 14) connection.In the working condition of maintained equipment, the outside of cleaning brush 220 and solar-electricity Pond plate contact.

Preferably, in the present embodiment, central shaft 210 drives clearly under the driving of the motor 114 of the first walking unit 110 Clean brush 220 is rotated, i.e., the walking unit (or perhaps running gear) of attending device 200 and first shares same motor and drives It is dynamic；The cleaning brush 220 of rotation is pointed to solaode plate surface below and is cleaned.Certainly, in other embodiments, Attending device 200 can also be separately provided motor to drive.No longer describe in detail herein.

It is further preferred that please continue to refer to Fig. 3, the maintained equipment also includes shell 300, the shell 300 is covered on row The top of walking apparatus 100 and attending device 200, specifically, shell 300 can pass through the walking unit 110 of support beam 301 and first Rotate with the second walking unit 120 and connect, the two ends of support beam 301 and the first walking unit 110 and the second walking unit 120 Driving arm top rotates connection, please Fig. 5 and Fig. 7 in the lump.Wherein, the two ends of support beam 301 are driven with first, second walking unit Rotation connection structure 302 at the top of dynamic support (111,121) can be designed to the version similar with moving component 130, tool Body refers to the structure description for being previously with regard to moving component 130, and here is omitted.

Shell 300 can be fixedly connected with the top of support beam 301, and shell 300 also can be rotated with the top of support beam 301 and connected Connect.It is further preferred that referring to Figure 15, Figure 15 is the internal structure top view of maintained equipment, shell 300 and support beam 301 Between by it is multiple connection trailing arms 303 connect.Certainly, shell 300 is not limited to this enforcement with the connected mode of running gear 100 Being attached by support beam 301 in example, can also realize connecting with the activity of running gear 100 by other supporting structures Connect, or even shell 300 directly can be flexibly connected with connection unit 102, with regard to shell 300 and the connection shape of running gear 100 Will not enumerate in formula the present embodiment.

Figure 16 is seen also, Figure 16 is the partial enlarged drawing in Figure 15 at A, due to connecting shaft component 140 and attending device 200 overall structure is longer, therefore preferably sets in the medium position of each connecting shaft 141 and central shaft 210 in the present embodiment One or more supporting construction frame 1410 is equipped with, supporting construction frame 1410 is provided with axis hole 1411, central shaft 210 and connecting shaft 141 are each passed through each upper shaft hole of correspondence supporting construction frame 1410, and by axis hole 1411 and the activity of supporting construction frame 1410 Support connection, is supported at middle part by adding, and can prevent from being occured bending and deformation because axle is long.

Preferably, connecting shaft 141 can be for multi-segment structure, similarly, the central shaft 210 of attending device 200 and clear Clean brush 220 can also be multi-segment structure；Wherein, the supporting construction frame 1410 of connecting shaft 141 connects with trailing arm 303 is connected, and in The supporting construction frame 1410 of heart axle 210 then can be directly anchored in support beam 301.

Supporting construction frame 1410 is additionally provided with Flexible Transmission with the two ends at the link position of connecting shaft 141 and central shaft 210 Part (is not indicated) in figure, to adapt to the flexural deformation of connecting shaft 141 and central shaft 210.

Figure 19 is referred to, Figure 19 is the structural representation of another embodiment of running gear, the connecting shaft 141 in the embodiment With the structure that attending device 200 is all a whole piece, centre is also not provided with supporting construction frame, in the embodiment without segmentation In the process of walking, its four-bar linkage structure deformation is capable of achieving two kinds of illustrated cases in Fig. 9 and Figure 10 to running gear.

Preferably, please continue to refer to Fig. 3, the maintained equipment further includes control device 400 and electric supply installation 500. Control device 400 is fixedly connected with shell 300 in the present embodiment, is fixedly arranged on the top of shell 300.Control device 400 and walking The motor electrical connection of device 100 and attending device 200, for controlling running gear 100 and the operating shape of attending device 200 State.

Wherein, the control device 400 includes the attending device control module for being controlled to attending device 200.Please Refering to Figure 18, Figure 18 is closed for the connection between each control unit and motor of the preferred embodiment of attending device control module one It is block diagram.In this embodiment, the attending device control module can include Power Management Unit 411, motion controller 412 with And motor driver 413 etc..

Motion controller 412 can be motion control card or programmable logic controller (PLC) PLC (Programmable Logic Controller, programmable logic controller (PLC)) etc. other control circuits (hereinafter referred to as " controller "), mainly complete attending device Motion planning；Motor driver 413 and motor can be Inverter Drive System, servo drive system or stepper drive System etc. (hereinafter referred to as " drive system "), for performing fortune control instruction driving mechanical part (this enforcement that controller 412 sends Axle 210 and cleaning brush 220 centered in example) action；Controller 412 and drive system (motor and motor driver 413) Between by the communication protocol such as Ether CAT, CANOpen, MODBUS, or can be transmitted by way of digital quantity with analog quantity Fortune control instruction and feedback status information.Certainly, in other implementations being controlled to motor, it is also possible to be not provided with Motor driver 413, is also capable of achieving the control to electrode and is driven, in people in the art by other simple control circuits Member it will be appreciated that within the scope of, will not enumerate herein.

Motion control card is preferably used in the embodiment carries out planning fortune control instruction as controller 412, and by numeral Amount and Analog control motor driver 413；Motor driver 413 controls order-driven motor rotation, and then band motivation according to fortune Tool component actuation.

This utility model can be using opened loop control or closed loop control.Using close-loop control mode, on the one hand control can be improved Robustness (transliteration of Robust, that is, the healthy and strong and strong meaning of system.It is the system life under exception and dangerous situation The key deposited), on the other hand the motor process information of device 200 is maintained by closed loop feedback signal, it is of the present utility model Expanded function (the such as hot spot detection function of solar panel) provides technical foundation.Wherein, the solid line in Figure 18 is represented out The signal connecting line of ring control, and dotted portion is expressed as optional closed loop command signal connecting line.

Electric supply installation 500 is used to be powered for running gear 100, attending device 200 and control device 400.Wherein, power Device 500 can include accumulator (not shown) and solar panel 510, in the present embodiment preferably, for Denso Putting 500 includes being located at the solar panel 510 and accumulator of the upper surface of shell 300, and the solar panel 510 is used to send out Electricity and can also charge the battery, and battery then can be for lead battery, fuel cell, lithium battery etc..Power Management Unit 411 are connected with the electric control of electric supply installation 500, for realizing the functions such as the electric power detection to electric supply installation 500 and temperature detection.When So, it is to be divided in control device 400 using Power Management Unit 411 as a control circuit part in the present embodiment Row description, it will be understood by those skilled in the art that the actual control circuit for electric supply installation 500 of Power Management Unit 411, Therefore, the definition of Power Management Unit 411 does not substantially interfere with electric supply installation 500 pairs in the embodiment of the present application with dividing The functional requirement of maintained equipment bulk supply.

Please continue to refer to Fig. 3, Figure 14 and Figure 15, the maintained equipment also includes being based in spacing the opening in the outside of shell 300 600 and communication module (not indicating in figure) are closed, limit switch 600 is located at the both sides of maintained equipment and electric with control device 400 Signal connects.In maintained equipment motor process, when limit switch 600 is triggered, represents and run in maintained equipment motor process Obstacle moves to defined position, and trigger is sent to control device 400 by limit switch 600, so as to control device 400 Corresponding control instruction is sent to running gear 100.

And communication module is connected with the signal of telecommunication of control device 400, for solar panel maintained equipment and external equipment Between communication connection, the external equipment includes but is not limited to remote control, mobile phone, panel computer (such as ipad), remote service The Handling device of device and maintained equipment etc. one or more.And communication module and control device are in the circuit structure of physics For same module or can be structure as a whole for upper.Communication module is used to provide and the wired or nothing between external equipment Line communicates to connect function.And with regard to the particular technique feature of communication module, in the range of the understanding of those skilled in the art, herein Repeat no more.

The solar panel maintained equipment that this utility model embodiment is provided, its running gear is by arranging connection unit With the rotation connection structure between the first walking unit and the second walking unit, pass through solar panel maintained equipment The track structure of more complicated setting form, so that solar panel maintained equipment is adapted to more solar panels Structure setting form, and then improve the utilization ratio of solar panel maintained equipment.

Further, this utility model embodiment also provides a kind of maintenance system of solar panel, refers to Figure 17, Figure 17 be in this utility model maintenance system maintained equipment by being erected at the structure of track between adjacent solar battery plate group Schematic diagram.The maintenance system includes maintained equipment 1000 and track 2000.Wherein, track 2000 sets up and is connected to solar-electricity Between pond plate group 3000.It should be noted that the maintained equipment in the present embodiment is preferably in solar panel group 3000 Walk at both sides edge.Certainly, in other embodiments, can with the independent erection bracket in solar panel group 3000 or Track, i.e. solar panel track, make maintained equipment walk on the independent support for setting up or track.Solar panel Track can be the structure of the top surface laying in solar panel group 3000, can specifically be laid on solar panel group At the side of 3000 top surfaces or the position at edge, it is also possible to be layed in the adjacent place of solar panel.And with regard in the sun The technical characteristic of independent erection bracket or track in energy cell plate group 3000, in the range of the understanding of those skilled in the art, No longer describe in detail herein.When solar panel track is individually set up, track 2000 can set up and be connected to solar panel Between track, it is also possible to and solar panel track is integrated mechanism.And it is special with regard to the technology in solar panel track Levy, in the range of the understanding of those skilled in the art, no longer describe in detail herein, also the not signal in figure.

Solar panel can be configured as overall one group using several pieces of solar panels, the then frame of track 2000 If between adjacent solar battery plate group 3000, being specifically provided in the solaode at the walking position of maintained equipment 1000 place Between the respective side of plate group 3000.Certainly, if solar panel is the structure of independent one piece of setting, track 2000 then also may be used To be arranged between corresponding two side of adjacent solar battery plate.

Maintained equipment 1000 after maintenance completes one piece of solar panel or a solar panel group, by rail From current solar panel, either solar panel track is moved to and current solar panel or the sun in road 2000 On another solar panel or solar panel track of the track connection of energy cell panel, to realize to by track 2000 The maintenance work of solar panel or solar panel group that erection links together.

Detailed description above is referred to regard to the architectural feature of maintained equipment 1000, is not repeated herein.And track 2000 can be two, be connected to adjacent cell plate group 3000 the corresponding side of the walking position of maintained equipment 1000 it Between.

The maintenance system of the solar panel, is connected adjacent solar battery plate group by arranging track, and maintenance sets It is standby to be moved between the solar panel group being interconnected by track, and then realize being connected to one to setting up by track The maintenance work of the solar panel or solar panel group that rise.

The cleaning to solar panel, inspection are included but is not limited to the maintenance of solar panel in this utility model Survey, monitor, keeping in repair etc..

Section Example of the present utility model is the foregoing is only, protection domain of the present utility model is not thereby limited, Equivalent device or equivalent flow conversion that every utilization this utility model description and accompanying drawing content are made, or directly or indirectly fortune Used in other related technical fields, it is included in the same manner in scope of patent protection of the present utility model.

Claims (12)

1. a kind of running gear for solar panel maintained equipment, it is characterised in that the running gear includes first Walking unit and the second walking unit, are connected between first walking unit and second walking unit by least one set Unit connects, and is connected by moving component between the connection unit and first walking unit and second walking unit Connect；The running gear is located on one or more solar panel, and for driving the solar panel to safeguard Equipment is moved on one or more solar panel.

2. a running gear according to claim 1, it is characterised in that first walking unit includes that first drives Frame, at least one runner and at least one motor, the runner is rotated with first driving arm and is connected, the drive Galvanic electricity machine is fixedly arranged on first driving arm, and the motor drives the runner to rotate, and then makes the solar-electricity Pond plate maintained equipment is moved on one or more solar panel.

3. running gear according to claim 2, it is characterised in that second walking unit includes the second driving arm And at least one runner, the runner rotates with second driving arm and be connected, wherein, first walking unit turn Connected by connecting shaft component between wheel and the runner of second walking unit, so that motor drives first walking single Runner synchronous axial system in first and described second walking unit.

4. a running gear according to claim 2, it is characterised in that second walking unit includes that second drives Frame, at least one runner and at least one motor, the runner is rotated with second driving arm and is connected, the drive Galvanic electricity machine is fixedly arranged on second driving arm, and the motor drives the runner to rotate, and then makes the solar-electricity Pond plate maintained equipment is moved on one or more solar panel.

5. running gear according to claim 2, it is characterised in that first walking unit includes that at least two groups turn Wheel, a group in two groups of runners along the first plane rolling, another group along the second plane rolling, wherein, motor is at least For driving one of which runner.

6. the running gear according to claim 3 or 4, it is characterised in that second walking unit includes at least two groups Runner, along the first plane rolling, another group along the 3rd plane rolling for a group in two groups of runners.

7. running gear according to claim 6, it is characterised in that along the first plane rolling in second walking unit Connected by connecting shaft component between the runner arranged along the first plane rolling in the runner of setting and first walking unit, with Motor is set to drive the runner in first walking unit and second walking unit along the setting of the first plane rolling same Step is rotated.

8. running gear according to claim 7, it is characterised in that the connecting shaft component includes connecting shaft and flexible passes Moving part, the two ends of the connecting shaft pass through the runner and second walking unit of flexible drive parts and first walking unit Runner be connected.

9. running gear according to claim 8, it is characterised in that the connecting shaft component also includes telescopic shaft, described to stretch Contracting axle is concatenated with the connecting shaft, and the centre distance of two groups of runners for connecting in connecting shaft component adjusts connecting shaft when changing The integrally-built length of component, to adapt to the centre distance of two groups of runners.

10. running gear according to claim 1, it is characterised in that first walking unit and second walking By two groups of connection unit connections, two groups of connection units and first walking unit and second walking unit between unit Between be respectively adopted moving component connection.

11. running gears according to claim 1, it is characterised in that the moving component includes bearing and fixed seat, institute State connection unit to be fixedly connected with the side auxiliary section of the bearing, the opposite side auxiliary section of the bearing is by fixed seat and institute The first walking unit or second walking unit connection are stated, connection is rotated between the both sides auxiliary section of the bearing, wherein, institute State and at least have in the rotational freedom in bearing axis plane between the both sides auxiliary section of bearing.

12. a kind of maintained equipments of solar panel, it is characterised in that the maintained equipment of the solar panel includes power Profit requires the running gear described in any one of 1-11.