CN210518193U

CN210518193U - Clean running gear and photovoltaic array

Info

Publication number: CN210518193U
Application number: CN201920929028.1U
Authority: CN
Inventors: 崔正磊
Original assignee: Zhuhai Siluo Intelligent Technology Co ltd
Current assignee: Zhuhai Siluo Intelligent Technology Co ltd
Priority date: 2019-06-19
Filing date: 2019-06-19
Publication date: 2020-05-12
Anticipated expiration: 2029-06-19

Abstract

The utility model provides a clean running gear and photovoltaic array, the photovoltaic array includes clean running gear, clean running gear includes fuselage, walking wheel subassembly and clean subassembly, the walking wheel subassembly includes first walking wheel and second walking wheel, first walking wheel and second walking wheel set up respectively on fuselage along the length direction's of fuselage both ends, clean subassembly includes connecting rod subassembly and brush subassembly, the connecting rod subassembly includes the head rod, the brush subassembly sets up on the head rod, clean running gear includes the connecting piece, be provided with the flex point on the connecting piece, the head rod articulates respectively in the flex point of connecting piece along the axial both ends of head rod, the head rod is located between first walking wheel and the second walking wheel, adopt above structure, the first connecting rod and the photovoltaic panel are kept at a fixed distance, and the condition that the crossing capacity and the cleaning capacity of the cleaning walking device are limited due to improper installation position of the hairbrush is avoided.

Description

Clean running gear and photovoltaic array

Technical Field

The utility model relates to a solar facilities field specifically is a clean running gear and photovoltaic array is related to.

Background

At present, in a photovoltaic array, the photovoltaic panels are arranged obliquely, and there is a height difference between two adjacent photovoltaic panels and a front-back misalignment condition, so that there are convex corners 124 and concave corners 125 on the connecting bridge 12 connected with the two photovoltaic panels at the same time (see fig. 1). For improving clean efficiency, use self-cleaning running gear to clean the photovoltaic board, self-cleaning running gear includes a plurality of walking wheels and brush, self-cleaning running gear is at clear in-process, self-cleaning running gear 2 spanes photovoltaic board 11 (see fig. 2) along self-cleaning running gear 2's length direction X, a plurality of walking wheels 4 set up respectively at self-cleaning running gear 2 along self-cleaning running gear 2's length direction's both ends, and when brush 61 is the linear type, the axial of brush 61 is the same with self-cleaning running gear 2's length direction. However, in the present automatic cleaning running gear 2, the brush 61 is mostly installed between the two running wheels 4 in the width direction of the automatic cleaning running gear 2 (see fig. 3), or on the side of the two running wheels 4 on the same side in the length direction of the cleaning running gear 2 (see fig. 4); in the process of walking of the automatic cleaning walking device 2, the brush 61 is clamped by the edge of the photovoltaic panel 11 collinear with the convex angle 124 or easily touches the connecting bridge 12 at the two mounting positions, or even the brush 61 is tilted (see fig. 5), so that the crossing capability of the cleaning walking device 2 on the connecting bridge 12 is limited, and the cleaning effect is poor.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a first purpose provides an improve clean running gear of strideing across ability and clean effect.

A second object of the present invention is to provide a photovoltaic array with improved spanning capability and cleaning effect.

In order to achieve the first object, the utility model provides a clean running gear includes the fuselage, walking wheel subassembly and clean subassembly, walking wheel subassembly includes first walking wheel and second walking wheel, first walking wheel and second walking wheel set up respectively on the fuselage along the length direction's of fuselage both ends, clean subassembly includes the connecting rod subassembly, the brush subassembly and clean drive arrangement, clean drive arrangement is used for driving the brush subassembly to rotate, the connecting rod subassembly includes the first connecting rod, the brush subassembly sets up on the first connecting rod, the axial of first connecting rod is the same with the length direction of fuselage, clean running gear includes the connecting piece, be provided with the flex point on the connecting piece, the both ends of first connecting rod along length direction are connected with first walking wheel, the second walking wheel through the connecting piece respectively, the first connecting rod articulates the flex point of connecting piece respectively along the axial both ends of first connecting rod, the first connecting rod is positioned between the first walking wheel and the second walking wheel.

Therefore, as the brush component is arranged on the first connecting rod in the connecting rod component, the first travelling wheel and the second travelling wheel are respectively arranged at two ends of the machine body in the length direction, the first connecting rod is respectively connected with the first travelling wheel and the second travelling wheel, and the first connecting rod is arranged between the first travelling wheel and the second travelling wheel, the movement of the first connecting rod, the movement of the first travelling wheel and the movement of the second travelling wheel are synchronous at the same time, the movement of the brush component arranged on the first connecting rod is also synchronous with the movement of the first travelling wheel and the movement of the second travelling wheel at the same time, in the process of climbing the bridge, the first connecting rod is arranged between the first travelling wheel and the second travelling wheel, so that a fixed distance is kept between the first connecting rod and the photovoltaic panel, when the travelling wheels pass through the connecting bridge, the first connecting rod can not contact with the edge of the photovoltaic panel, in a similar way, the situation of tilting of the brush arranged on the first connecting rod can not occur, so that the situation that the crossing capacity and the cleaning capacity of the cleaning walking device are limited due to improper installation position of the brush is avoided, and the two ends of the first connecting rod are respectively connected with the first walking wheel and the second walking wheel through the connecting piece with the inflection point, so that the walking wheels are movably connected with the first connecting rod, and the rotation of the walking wheels and the rotation of the brush component are not interfered with each other and not influenced by each other.

The cleaning walking device comprises at least two first walking wheel sets and at least two second walking wheel sets, the at least two first walking wheel sets are arranged at the first end of the machine body in the length direction of the machine body, the at least two second walking wheel sets are arranged at the second end of the machine body in the length direction of the machine body, the first walking wheel sets and the second walking wheel sets are arranged in the length direction of the machine body in a one-to-one opposite mode, each first walking wheel set comprises at least two first walking wheels, each second walking wheel set comprises at least two second walking wheels, and a first connecting rod is arranged between the first walking wheel sets and the second walking wheel sets which are arranged oppositely.

Therefore, when the first connecting rod is arranged between the first travelling wheel group and the second travelling wheel group, the moving position of the brush component is synchronous with the moving positions of the first travelling wheel group and the second travelling wheel group, and the brush can be prevented from touching the edge of the photovoltaic panel.

The further scheme is that the first walking wheel and the second walking wheel are arranged on the same side of the machine body in the length direction of the machine body, and the first connecting rod is arranged in a collinear mode with the rotating axis of the first walking wheel and the rotating axis of the second walking wheel.

Therefore, the first connecting rod is arranged with the rotating axes of the first walking wheel and the second walking wheel in a collinear manner, so that the moving degree of the brush assembly on the first connecting rod is better than the moving degree of the first walking wheel and the moving degree of the second walking wheel.

The further scheme is that one side of the first travelling wheel, which faces the second travelling wheel, is provided with a first hollow part, one side of the second travelling wheel, which faces the first travelling wheel, is provided with a second hollow part, inflection points are respectively arranged in the first hollow part and the first hollow part, the center line of the first travelling wheel passes through the inflection point in the first hollow part, and the center line of the second travelling wheel passes through the inflection point in the second hollow part.

It can be seen that the inflection point sets up in the hollow portion of walking wheel to the central line of walking wheel passes through the inflection point, makes the length of first connecting rod be applicable to the deformation that clean running gear probably produced in the walking process.

The further scheme is that the inflection point in the first hollow part is not on the central line of the first travelling wheel, the inflection point in the second hollow part is not on the central line of the second travelling wheel, and the first connecting rod is telescopic.

It can be seen that the inflection point is provided with outside first walking wheel, the second walking wheel to the head rod is scalable, and the length of the first connecting rod of being convenient for is applicable to the deformation that clean running gear probably produced in the walking process.

The cleaning driving device is a bidirectional motor, the bidirectional motor is connected with the machine body, the connecting rod assembly further comprises a second connecting rod, the brush assembly can be arranged on the second connecting rod, the bidirectional motor is located between the first connecting rod and the second connecting rod, the bidirectional motor is respectively connected with the first connecting rod and the second connecting rod, the first connecting rod is connected with the first travelling wheel, and the second connecting rod is connected with the second travelling wheel.

Therefore, the bidirectional motor for driving the brush component to rotate is arranged between the first connecting rod and the second connecting rod, the bidirectional motor is also arranged between the first travelling wheel and the second travelling wheel, and the installation space of the cleaning travelling device is more reasonably used.

The cleaning walking device comprises a walking wheel driving device assembly, a first walking wheel and a second walking wheel, wherein the walking wheel driving device assembly is used for driving the first walking wheel and the second walking wheel to move; the fixed component comprises an encircling fastening component, the cleaning walking device comprises a walking wheel mounting seat, the encircling fastening component is arranged on the walking wheel mounting seat, a protruding block is arranged on one side, facing the fixed component, of the first walking wheel, a first hollow portion is arranged on the encircling fastening component, the protruding block is connected in the first hollow portion, and a walking wheel driving device is arranged on the walking wheel mounting seat.

Therefore, the travelling wheel driving device and the first travelling wheel are arranged on the fixed assembly at the same time, so that the parts are more compactly mounted, and the hollow part on the encircling fastening assembly is used for being matched and connected with the convex block on the first travelling wheel, so that the connection between the first travelling wheel and the encircling fastening assembly is more stable.

The walking wheel mounting seat comprises a first side plate and a second side plate, the first side plate is vertically connected with the second side plate, the first side plate is horizontally arranged, the encircling fastening assembly is arranged below the first side plate, and the encircling fastening assembly is mounted on one side of the first side plate, which is far away from the machine body;

the second side plate is provided with a second hollow part, and a driving rod of the traveling wheel driving device sequentially penetrates through the second hollow part and the first hollow part to be connected with the first traveling wheel.

Therefore, the fastening assembly is encircled below the first side plate, the electrode is arranged on the second side plate, and the mounting position on the travelling wheel mounting seat is more reasonable.

The further scheme is that the connecting rod assembly comprises a bearing, and the first connecting rod is connected with the first traveling wheel and the second traveling wheel through the bearing respectively.

Therefore, the bearing can be used as a rotating speed separator, the first connecting rod is respectively connected with the first travelling wheel and the second travelling wheel through the bearing, and the working state of the first connecting rod and the working state of the travelling wheels can not interfere with each other.

For realizing foretell second purpose, the utility model provides a photovoltaic array includes multiseriate photovoltaic board and clean running gear, and clean running gear moves on the photovoltaic board, and clean running gear is foretell clean running gear.

Drawings

Fig. 1 is a schematic view of a connecting bridge in the background art of the embodiment of the clean walking device of the present invention.

Fig. 2 is a schematic view of the traveling of the clean traveling device on the photovoltaic panel in the background art of the embodiment of the clean traveling device of the present invention.

Fig. 3 is a schematic diagram of the brush touching and convex angle collineation disposed on the edge of the photovoltaic panel in the background art of the embodiment of the cleaning and walking device of the present invention.

Fig. 4 is a schematic view of a brush touching connection bridge in the background art of the embodiment of the cleaning and walking device of the present invention.

Fig. 5 is a schematic view of a tilted brush in the background art of the embodiment of the cleaning and traveling device of the present invention.

Fig. 6 is a structural diagram of an embodiment of a slope control assembly for a clean walking device in an embodiment of a photovoltaic array of the present invention.

Fig. 7 is an enlarged view at B in fig. 6.

Fig. 8 is a schematic view of the connection between the photovoltaic panel and the connecting bridge, which is obtained by using the driving surface of the connecting bridge as the horizontal plane in the slope control assembly of the clean walking device in the embodiment of the photovoltaic array.

Fig. 9 is a schematic diagram of the calculation of the included angle Z in the slope control assembly of the clean walking device in the embodiment of the photovoltaic array of the present invention.

Fig. 10 is a schematic view of the installation of one of the photovoltaic units in the clean running gear hill-crossing control assembly according to the embodiment of the present invention.

Fig. 11 is a schematic view of the installation of another embodiment of the photovoltaic unit in the control assembly for the uphill crossing of the clean walking device in the embodiment of the photovoltaic array of the present invention.

Fig. 12 is a side view of a clean running gear hill-crossing control assembly in an embodiment of the photovoltaic array of the present invention.

Fig. 13 is a perspective view of the cleaning and running device of the present invention.

Fig. 14 is an exploded view of the light cleaning walking device of the present invention.

Fig. 15 is a schematic view of another embodiment of the hinge portion of the clean running gear of the present invention.

Fig. 16 is a view showing the structure of the cleaning/running device of the present invention after the body is removed.

Fig. 17 is a structural view of the cleaning traveling device of the present invention after the body and the second swing member are removed.

Fig. 18 is a perspective view of another embodiment of the cleaning running gear of the present invention.

Fig. 19 is a sectional view of the cleaning assembly of the cleaning device of the present invention when it is mounted on the traveling wheel.

Fig. 20 is an exploded view of the cleaning assembly of the cleaning device of the present invention when it is mounted on the traveling wheel.

Fig. 21 is a schematic side view of the cleaning and traveling apparatus of the present invention when climbing a slope.

Fig. 22 is a schematic side view of a cleaning running gear according to another embodiment of the present invention when climbing a slope.

Fig. 23 is a schematic perspective view of the cleaning and traveling device of the present invention when climbing a slope.

The present invention will be further explained with reference to the drawings and examples.

Detailed Description

The utility model discloses a photovoltaic array includes a plurality of photovoltaic boards and climbing control assembly, and a plurality of photovoltaic boards constitute multirow photovoltaic board and are listed as, and climbing control assembly includes photovoltaic unit and clean running gear, can include a plurality of photovoltaic unit among one row of photovoltaic array, and photovoltaic unit includes two adjacent photovoltaic boards and connects the bridge, connects the bridge setting between two adjacent photovoltaic boards. Be provided with the driving track on the photovoltaic board, clean running gear goes on the driving track of photovoltaic board and on connecting the bridge.

Referring to fig. 6, the photovoltaic unit 1 includes a first photovoltaic panel 11, a second photovoltaic panel 13 and a connecting bridge 12, in this embodiment, the first photovoltaic panel 11 and the second photovoltaic panel 13 are respectively disposed in an inclined manner and at the same angle, and the first photovoltaic panel 11 and the second photovoltaic panel 13 are along the length direction Y of the first photovoltaic panel 11₃Are arranged side by side. The connecting bridge 12 is disposed between the first photovoltaic panel 11 and the second photovoltaic panel 13, and in this embodiment, the mounting manner of the connecting bridge 12 is: the first connecting end and the second connecting end of the connecting bridge 12 are connected with the first photovoltaic panel 11 and the second photovoltaic panel 13 in a one-to-one correspondence manner. Referring to fig. 7, the traveling surface of the connecting bridge 12 has a width direction X₁And the width direction Y of the photovoltaic surface of the first photovoltaic panel 11₁Is provided with an included angle Z therebetween₁Similarly, an included angle Z is formed between the width direction of the traveling surface of the connecting bridge 12 and the width direction of the photovoltaic surface of the second photovoltaic panel 13₂Angle Z of inclination₁Equal to the included angle Z₂Angle Z of inclination₁And an included angle Z₂Are not equal to 0. As a further embodiment, there may be a gap at the connection between the connecting bridge 12 and the photovoltaic panel, which gap must be sufficient for the clean runner to be able to pass from the photovoltaic panel to the connecting bridge 12 or from the connecting bridge 12 to the photovoltaic panel.

In the present embodiment, the connecting bridge 12 includes a first connecting section 121, a bridge section 122 andand a second connection section 123, the bridge connection section 123 is formed between the first connection section 121 and the second connection section 123, the first connection section 121 is connected with the first photovoltaic panel 11, the second connection section 123 is connected with the second photovoltaic panel 13, the bridge connection section 122 is located between the first photovoltaic panel 11 and the second photovoltaic panel 13, the first connection end of the connection bridge 12 is on the first connection section 121, and the second connection end of the connection bridge 12 is located on the second connection section 123. In the present embodiment, an included angle Z exists between the driving surface of the first connecting segment 121 and the photovoltaic surface of the first photovoltaic panel 11₁(Z₁Not equal to 0), there is an angle Z between the running surface of the second connecting section 123 and the photovoltaic surface of the second photovoltaic panel 13₂Angle Z of inclination₁Equal to the included angle Z₂Angle Z of inclination₁And an included angle Z₂The setting mode is the same. A first end of the bridge section 122 is connected to the first connecting section 121 along the width direction of the first connecting section 121, and a second end of the bridge section 122 is connected to the second connecting section 123 along the width direction of the second connecting section 123. Connecting bridge 12 is connected with first photovoltaic board 11 through first linkage segment 121, and connecting bridge 12 is connected with second photovoltaic board 13 through second linkage segment 123, and first linkage segment 121 and second linkage segment 123 set up respectively on two photovoltaic boards, make clean running gear advance on photovoltaic board lifts into connecting bridge 12, the connecting bridge 12 of quick adaptation perk. In a photovoltaic array comprising a plurality of rows of photovoltaic cells, two photovoltaic panels in each photovoltaic cell can be continuously adjacent to the photovoltaic panel, so that the photovoltaic panels in each row of photovoltaic cells extend along one direction, and the first connecting section 121 and the second connecting section 123 of the connecting bridge 12 can also be arranged in an extending manner in the photovoltaic cells. The traveling surface of the connecting bridge 12 may be a plane, a convex surface, a concave surface, or the like, and the connecting bridge 12 may have another shape such as an S-shape, a step-shape, or the like in a side projection.

Because an included angle Z exists between the width direction of the walking surface of the connecting bridge 12 and the width direction of the photovoltaic surface of the photovoltaic panel, and the included angle is not equal to 0, see fig. 8, when the photovoltaic surface of the photovoltaic panel is used as the projection surface, and the included angle between the projection direction and the projection surface is a difference value between 90 degrees and the included angle Z, the mounting positions of the connecting bridge 12 on the first photovoltaic panel 11 and the mounting positions of the connecting bridges on the connecting bridge 12 and the second photovoltaic panel 13 are located on the same straight line, that is, the first connecting section 121, the bridging section 122 and the second connecting section 123 are located on the same straight line, the condition of a bent angle between the first photovoltaic panel 11 and the second photovoltaic panel 13 is avoided, the cleaning walking device is prevented from turning on the connecting bridge 12, and the condition of unbalanced walking of the cleaning walking device caused by turning is avoided.

Referring to fig. 9, in one embodiment of the present embodiment, the first connection end of the connection bridge 12 is located on the first connection section 121, the first connection section 121 is connected to the first photovoltaic panel 11, the second connection end of the connection bridge 12 is located on the second connection section 123, the second connection section 123 is connected to the second photovoltaic panel 13, the first photovoltaic panel 11 is disposed at a height lower than the second photovoltaic panel 13, in the present embodiment, the first connection section 121 of the connection bridge 12 is disposed at a height lower than the second connection section 123 of the connection bridge 12, in a side view projection of the photovoltaic unit 1, there is a vertical line N passing through the highest point of the first photovoltaic panel 11, the left side of the vertical line N is the front of the first photovoltaic panel 11, and the right side of the vertical line N is the rear of the first photovoltaic panel, in the present embodiment, the vertical line N passes through the highest point of the first photovoltaic panel 11 and the highest point of the second photovoltaic panel 13 simultaneously, the first photovoltaic panel 11 has a vertical line α facing the second photovoltaic panel 13, and there is a connecting line β between the highest point of the first photovoltaic panel 11 and the second photovoltaic panel 13₁Perpendicular α and line β₁With an included angle theta₁Running surface P of connecting bridge₁And line β₁Perpendicular, angle Z₁₁Equal to the angle theta₁. Referring to fig. 10, in this embodiment, the mounting position of the first connection segment 121 or the second connection segment on the photovoltaic panel 11 may be on the photovoltaic surface of the photovoltaic panel 11 or on a sidewall of one side of the photovoltaic surface of the photovoltaic panel 11. The calculation of the angle Z is also as described above when the highest point of the second photovoltaic panel 13 is located in front of the vertical line N.

As another embodiment, the first photovoltaic panel 11 is disposed at a height lower than that of the second photovoltaic panel 14, and in this embodiment, the first connection segment 121 of the connection bridge 12 is disposed at a height lower than that of the second connection segment of the connection bridge 12. In side view projection of the photovoltaic unit 1, the second lightThe highest point of the photovoltaic panel 14 is located behind the highest point of the first photovoltaic panel 11, the first photovoltaic panel 11 has a vertical line α facing the second photovoltaic panel 14, and a line β is formed between the highest point of the first photovoltaic panel 11 and the highest point of the second photovoltaic panel 14₂Perpendicular α and line β₂With an included angle theta₂Running surface P of connecting bridge 12₂And line β₂Perpendicular, angle Z₁₂And angle theta₂The sum is 180 °. Referring to fig. 11, in this embodiment, the mounting position of the first connection segment 121 or the second connection segment on the photovoltaic panel 11 may be on the photovoltaic surface of the photovoltaic panel 11 or on a sidewall of one side of the photovoltaic surface of the photovoltaic panel 11.

Referring to fig. 12, during the travel of the cleaning traveling device 2 on the photovoltaic panel 11, the cleaning traveling device 2 is along the length direction (X) of the cleaning traveling device 2₂) Across the width direction (Y) of the photovoltaic panel 11₁)。

Referring to fig. 13 and 14, the cleaning and traveling device 2 includes a body 3, a traveling wheel assembly 4, a traveling wheel swing driving assembly 5, a cleaning assembly 6 and a hanging wheel assembly 7, the traveling wheel assembly 4, the traveling wheel swing driving assembly 5, the cleaning assembly 6 and the hanging wheel assembly 7 are disposed on the body 3, the traveling wheel assembly 4, the traveling wheel swing driving assembly 5 and the hanging wheel assembly 7 are in one-to-one correspondence, in this embodiment, there are four sets of the traveling wheel assembly 4, and there are also four sets of the traveling wheel swing driving assembly 5 and the hanging wheel assembly 7 correspondingly.

When the cleaning traveling device 2 goes up and down a slope on the connecting bridge 12, the body 3 of the cleaning traveling device 2 can be deformed and can be applied to various shapes of the connecting bridge 12. In this embodiment, the machine body 3 is a quadrilateral, the machine body 3 includes two first cross bars 31 and two second cross bars 32, the length of the first cross bar 31 is greater than the length of the second cross bar 32, the two first cross bars 31 are arranged in parallel, and the two second cross bars 32 are arranged in parallel. The two second cross bars 32 are respectively disposed between the two first cross bars 31. Every adjacent first horizontal pole 31 is connected with second horizontal pole 32 is articulated, in this embodiment, second horizontal pole 32 is provided with mounting bracket 33 respectively along the axial both ends of second horizontal pole 32, and mounting bracket 33 is the hollow cuboid, and mounting bracket 33 is passed through to the one end of first horizontal pole 31. The hinged columns penetrate through the first cross rod 31, the two ends of the hinged columns are respectively connected with the bottoms of the second cross rod 32 and the mounting rack 33, the hinged columns can rotate in the mounting rack 33, and therefore the included angle between the adjacent first cross rod 31 and the second cross rod 32 is variable, and the machine body 3 of the cleaning walking device 2 can deform.

The walking wheel assembly 4 is arranged on one side of the machine body 3 facing the photovoltaic panel, in the embodiment, the walking wheel assembly 4 comprises four walking wheels 41, four walking wheel mounting seats 43 and four walking wheel driving devices 43, the walking wheel driving devices 42 are motors, the walking wheel driving devices 42, the walking wheels 41 and the walking wheel mounting seats 43 are in one-to-one correspondence, and the walking wheel driving devices 42 drive the walking wheels 41 to rotate, so that the cleaning walking device runs on the photovoltaic panel; the road wheels 41 are provided on the road wheel mounting base 43 simultaneously with the road wheel drive unit 42.

The walking wheel swing driving assembly 5 is arranged between the machine body 3 and the walking wheel assembly 4, and the walking wheel 41 swing assembly is used for driving a walking surface of the walking wheel 41 to perform bell-type swing around the machine body 3. Because articulated connection between first horizontal pole 31 and the second horizontal pole 32 in the fuselage 3, when clean running gear traveles to connecting the bridge on, the contained angle between adjacent first horizontal pole 31 and the second horizontal pole 32 can change, make the fuselage 3 adapt to the shape of connecting the bridge 12 in the photovoltaic array, walking wheel 41 in clean running gear 2 can swing around fuselage 3 simultaneously, it adapts to the position of the driving surface of connecting the bridge 12 to be convenient for walking wheel 41, the driving surface of connecting the bridge 12 of being convenient for supports the driving surface of walking wheel 41, thereby make clean running gear 2 can adapt to the "bent angle" in connecting the bridge 12 in the photovoltaic array, avoid clean running gear 2 need through the condition that "bent angle" appears and clean running gear 2 walking wheel 41 is not enough.

In this embodiment, the machine body 3 further includes two third cross bars 35 and two fourth cross bars 36, the third cross bars 35 and the fourth cross bars 36 are respectively disposed between the two first cross bars 31, the second cross bars 32, the third cross bars 35 and the fourth cross bars 36 are parallel to each other, and one second cross bar 32, one third cross bar 35 and one fourth cross bar 36 are simultaneously disposed on the same side of the machine body 3. The road wheel assembly 4 further comprises a swinging member 44 and a swinging member fixing seat 45, and the swinging member fixing seat 45 is fixed on the fourth cross bar 36. The swinging piece 44 is connected with the traveling wheels 41, a hinge part 441 is arranged on the swinging piece 44, and the hinge part 441 is hinged with the body 3. In the embodiment, the swinging member 44 is cross-shaped, the swinging member 44 includes a vertical segment 442 and a horizontal segment 441, the hinge portion 441 is the horizontal segment 441 of the swinging member 44, the hinge portion 441 of the swinging member 44 is hinged to the swinging member fixing seat 45, and the hinge portion 441 of the swinging member 44 can rotate in the swinging member fixing seat 45. As another embodiment, referring to fig. 15, the hinge portion 441 may be disposed on the traveling wheel mounting base 43, in which case the hinge portion 441 may be a rotating shaft, the rotating shaft 441 is connected to the traveling wheel mounting base 43, and the rotating shaft 441 is hinged between the lowest point of the traveling surface of the traveling wheel 41 and the body 3, so that the lowest point of the traveling wheel 41 performs a bell-type swing motion around the rotating shaft.

Walking wheel swing drive assembly 5 includes first swing subassembly 8 and second swing subassembly 9, and walking wheel swing drive assembly 5 is used for driving walking wheel 41 and swings around fuselage 3, and in this embodiment, clean running gear 2 includes four groups of walking wheel swing drive assemblies 5, and four groups of walking wheel swing drive assemblies 5 correspond respectively and set up four angles at fuselage 3, and a set of walking wheel swing drive assembly 5 includes a set of first swing subassembly 8 and a set of second swing subassembly 9.

In the present embodiment, referring to fig. 14 and 16, the first swing assembly 8 includes a fixed seat 81, a swing driving device 82, a screw 83, and a sliding table 84, the first swing assembly 8 is arranged on the first cross rod 31, the swing driving device 82 is a motor, the swing driving device 82 and the lead screw 83 are arranged on the fixed seat 81, the swing driving device 82 is connected with the lead screw 83, the lead screw 83 is connected with the sliding table 84, the sliding table 84 is connected with the connecting block 85, two ends of the connecting block 85 are respectively connected with the two pull rods 86 in a one-to-one correspondence manner, the two pull rods 86 are respectively connected with the two sleeves 87 in a one-to-one correspondence manner, two ends of the first connecting rod 88 in the axial direction respectively penetrate through the two sleeves 87 in a one-to-one correspondence manner, the sleeves 87 can move in the axial direction of the first connecting rod 88, and the first connecting rod 88 is connected with the vertical section 442 of the swing piece 44. The motor drives the screw 83 to rotate, so as to drive the sliding table 84 to move, the movement of the sliding table 84 drives the connection 85, the pull rod 86 and the sleeve 87 to move, so as to drive the first connection rod 88 and the vertical section 442 of the swinging piece 44 connected with the first connection rod 88 to move, and the hinge part 441 is hinged to the swinging piece fixing seat 45, so that the movement of the vertical section 442 of the swinging piece 44 drives the hinge part 441 to rotate, and the swinging of the traveling wheel 41 is realized. Referring to fig. 14 and 17, in this embodiment, the set of second swing assemblies 9 includes two second connecting rods 91, four limiting blocks 92 and two connecting members 93, the four limiting blocks 92 are disposed on the fourth cross bar 36 through the two connecting members 93 parallel to each other, the two second connecting rods 91 are simultaneously and fixedly connected to the first connecting rod 88, one second connecting rod 91 corresponds to the two limiting blocks 92, each limiting block 92 is provided with a guide hole 921, two ends of one second connecting rod 91 along the axial direction of the second connecting rod 91 penetrate through the guide holes 921 in the two limiting blocks 92, and the second connecting rod 91 can move in the guide hole 921 of the limiting block 92. In this embodiment, two second connecting rods 91 are located between the two sleeves 87. When the traveling wheel 41 close to the connecting bridge in the cleaning traveling device 2 travels to the first connecting section 121 of the connecting bridge 12 in the traveling process of the cleaning traveling device 2, the traveling wheel 41 swings under the driving action of the swing driving device 82 and the transmission action of the first swing assembly 8; when the cleaning and traveling device 2 travels to the bridge section of the connecting bridge, the body 3 of the cleaning and traveling device 2 begins to deform, the first cross bar 31 deflects toward or away from the second cross bar 32, the included angle between the first cross bar 31 and the second cross bar 32 changes, since the fixing seat 81 of the first swing assembly 8 is disposed on the first cross bar 31, thereby driving the sleeve 87 to move along the axial direction of the first connecting rod 88, and simultaneously pushing the second connecting rod 91 to move in the guiding hole 921 in the limiting block 92, since the second connecting rod 91 is vertically and fixedly connected with the first connecting rod 88, the movement of the second connecting rod 91 is accompanied by the movement of the first connecting rod 88, the movement of the first connecting rod 88 drives the movement of the vertical section 442 of the swinging member 44 connected with the first connecting rod 88, thereby driving the hinge portion 442 of the swing member 44 to rotate in the swing member fixing seat 45, and driving the traveling wheels 41 to swing. In this embodiment, the third cross bar 35 is connected between the connecting blocks 85 of the two sets of first swing assemblies 8, and the fourth cross bar 36 is connected between the connecting pieces 93 of the two sets of second swing assemblies 9.

As another embodiment, referring to fig. 18, the trolley swing driving assembly 5 includes a torque output assembly 51, an angle sensor 52 and a control unit 53, in this embodiment, the torque output assembly 51 is used for driving the rotation of the hinge portion 441 of the swing member 44, the torque output assembly 51 includes a stepping motor 54 and a worm gear reducer 55, the stepping motor 54 is connected with the worm gear reducer 55, the worm gear reducer 55 is connected with the horizontal section 441 of the swing member 44, the angle sensor 52 is disposed on the trolley wheel assembly 4, in this embodiment, the trolley 41 is disposed on the trolley wheel mounting seat 43, the angle sensor 52 is also disposed on the trolley wheel mounting seat 43, the control unit 53 is connected with the angle sensor 52, and the control unit 53 is connected with the torque output assembly 51. In the present embodiment, each of the four worm gear reducers 55 is provided with one hinge column 56, the first crossbar 31 is hinged to the hinge column 56, and the first crossbar 31 is connected between the two hinge columns 56. The second cross bar 32 has fixed sleeves 57 connected to both ends thereof, respectively, and the horizontal section 441 of the swinging member 44 passes through the fixed sleeves 57. When the cleaning walking device 2 does not run on the connecting bridge 12, the control unit 53 can preset a driving numerical value of the torque output assembly 51 and an initial numerical value of the angle sensor 52 according to a relative angle between a running surface of the connecting bridge 12 and a photovoltaic surface of a photovoltaic panel, in the process that the cleaning walking device 2 passes through the connecting bridge 12, the angle sensor 52 detects the self angle and outputs the angle information changed by the self to the control unit 53, the control unit 53 sends a control signal to the torque output assembly 51, so that the torque output assembly 51 drives the walking wheel 41 to swing by a corresponding angle until the angle sensor 52 detects the angle and recovers the initial numerical value, and therefore in the process of loading the bridge, the walking wheel 41 swings by different angles.

The cleaning walking device 2 further comprises a hanging wheel assembly 7, and the hanging wheel assembly 7 is used for preventing the cleaning walking device 2 from sliding off the photovoltaic panel. The hanging wheel assembly 7 includes a plurality of hanging wheels 71 and a hanging wheel moving assembly, the hanging wheel moving assembly drives the hanging wheels 71 to swing, referring to fig. 12, in the moving process of the cleaning walking device 2, the hanging wheels 71 can be always attached to the side surfaces of the photovoltaic panel, and the hanging wheels 71 move along the side surfaces of the photovoltaic panel, thereby preventing the cleaning walking device 2 from falling off the photovoltaic panel. In this embodiment, the hanging wheels 71 are respectively disposed at two ends of the body 3 along the length direction of the body 3, and two sets of hanging wheel assemblies 7 are disposed at the highest point of the photovoltaic panel due to the inclined arrangement of the photovoltaic panel, so as to prevent the cleaning and traveling device 2 from sliding off the photovoltaic panel under the action of gravity. Two groups of hanging wheel assemblies can be arranged at the lowest point of the photovoltaic panel, the hanging wheel assemblies comprise two hanging wheels 71, and the hanging wheels 71 are fixedly connected with the walking wheel mounting seats 43, so that the cleaning and walking device 2 is prevented from moving towards the highest point of the photovoltaic panel in the running process. In the embodiment, in the process that the cleaning and walking device 2 walks on the photovoltaic panel, the hanging wheel 71 located at the highest point of the photovoltaic panel is attached to the side wall of one side of the photovoltaic panel.

The change gear moving assembly comprises a plurality of hooks 72, a first fixing rod 73, a moving rod 74, a sliding block 75 and a second fixing rod 76, and is connected with a connecting piece 93 on the fourth cross bar 36 through a plurality of hooks 72 and change gears 71. The first fixing rod 73 is connected with the hanging wheel 71, the first fixing rod 73 is connected with the traveling wheel 41, in this embodiment, the first fixing rod 73 is arranged below the traveling wheel assembly 4, in this embodiment, the first fixing rod 73 is connected with the traveling wheel 41, the first fixing rod 73 is arranged below the traveling wheel 41, the moving rod 74 is connected with the hanging wheel 71, in this embodiment, two inner holes are formed in the sliding block 75, the moving rod 74 is perpendicularly connected with the second fixing rod 76, and the moving rod 74 and the second fixing rod 76 respectively penetrate through the two inner holes 751 in the sliding block 75. The moving rod 74 moves in the slider 75, and the slider 75 moves in the axial direction of the second fixing rod 76. In the process of swinging the travelling wheel 41, the change gear moving assembly drives the change gear 71 to swing, so that the change gear 71 is always attached to the side surface of the photovoltaic panel in a surface-to-surface manner, and the stability of the cleaning travelling device 2 in the travelling process is kept.

As another embodiment, the hanging wheel 71 located at the highest point of the photovoltaic panel is fixedly connected with the walking wheel assembly 4, the walking wheel mounting seat 43 in the walking wheel assembly 4 is fixedly connected with the hanging wheel 71, and in this embodiment, the connecting rod 711 connected with the hanging wheel 71 is perpendicular to the rotation center line of the walking wheel 41. When the change gear 71 in the cleaning walking device 2 is fixedly connected with the walking wheel assembly 4, an included angle between the change gear 71 and the walking wheel 41 is kept unchanged, that is, the relative position between the change gear 71 and the walking wheel 41 is unchanged, the position of the photovoltaic panel connected with the connecting bridge 12 needs to be moved downwards at the moment, but the position of the connecting bridge 12 is unchanged, so that the relative position between the connecting bridge and the photovoltaic panel is changed, and when the walking wheel 41 drives the change gear 71 to swing in the swinging process, the photovoltaic panel moves downwards to make space for the swinging change gear 71 after adjustment, and the side face of the photovoltaic panel at the bridge joint is prevented from blocking the swinging of the change gear 71.

In the present embodiment, the four traveling wheels 41 include a first traveling wheel 46 and a second traveling wheel 47, the first traveling wheel 46 and the second traveling wheel 47 are respectively disposed at two ends of the body 3 along the length direction of the body 3, and the first traveling wheel 46 and the second traveling wheel 47 are disposed at the same side of the body 3 along the width direction of the body 3.

The cleaning chassis 2 comprises a cleaning assembly 6, the cleaning assembly 6 being arranged between a first running wheel 46 and a second running wheel 47. The cleaning assembly 6 comprises a connecting rod assembly, a brush assembly 61, a cleaning driving device 62 and a fixing assembly, wherein the cleaning driving device 62 is used for driving the brush assembly 61 to rotate, and the brush assembly 61 is used for cleaning the photovoltaic surface of the photovoltaic panel. In this embodiment, the connecting rod assembly includes a first connecting rod 63 and a second connecting rod 64, the brush assembly 61 is respectively disposed on the first connecting rod 63 and the second connecting rod 64, the first connecting rod 63 and the second connecting rod 64 are disposed in a collinear manner, and an axial direction of the first connecting rod 63 and an axial direction of the second connecting rod 64 are the same as a length direction of the body 3. Referring to fig. 19 and 20, the fixing assembly is used for connecting the cleaning assembly 6 with the road wheel assembly 4, the fixing assembly includes a connecting member 65, an inflection point 66 is disposed on the connecting member 65, one end of the first connecting rod 63 in the axial direction of the first connecting rod 63 is connected with the first road wheel 46 or the second road wheel 47 through the connecting member 65, and one end of the second connecting rod 64 in the axial direction of the second connecting rod 64 is connected with the first road wheel 46 or the second road wheel 47 through the connecting member 65. The first and second connecting

rods

63 and 64 may be located between the first and

second road wheels

46 and 47, respectively. In this embodiment, the cleaning driving device 62 is a two-way motor, the other end of the first connecting rod 63 along the axial direction of the first connecting rod 63 and the other end of the second connecting rod 64 along the axial direction of the second connecting rod 64 are respectively connected to the two-way motor 62, the two-way motor 62 is located between the first connecting rod 63 and the second connecting rod 64, the first connecting rod 63 and the second connecting rod 64 are simultaneously located between the first traveling wheel 46 and the second traveling wheel 47, and the first connecting rod 63 and the second connecting rod are connected in a collinear manner.

As another embodiment, two ends of the first connecting rod 63 along the axial direction of the first connecting rod 63 are respectively connected to the first traveling wheel 46 and the second traveling wheel 47 through a connecting member 65, the first connecting rod 63 can be located between the first traveling wheel 46 and the second traveling wheel 47, at this time, the cleaning driving device 62 is no longer a bidirectional motor, and a unidirectional motor can be used to drive the first connecting rod 63 to rotate, so as to drive the brush assembly on the first connecting rod 63 to rotate.

Because the brush assembly 61 is arranged on the first connecting rod 63 and the second connecting rod 64 in the connecting rod assembly, the first traveling wheel 46 and the second traveling wheel 47 are respectively arranged at two ends of the body 3 along the length direction of the body 3, the first connecting rod 63 and the second connecting rod 64 are respectively connected with the first traveling wheel 46 and the second traveling wheel 47, the first connecting rod 63 is arranged between the first traveling wheel 46 and the second traveling wheel 47, so that the movement of the first connecting rod 63 and the second connecting rod 64 is synchronous with the movement of the first traveling wheel 46 and the movement of the second traveling wheel 47, the movement of the brush assembly 61 arranged on the first connecting rod 63 and the second connecting rod 64 is synchronous with the movement of the first traveling wheel 46 and the movement of the second traveling wheel 47, and in the process of climbing the cleaning traveling device 2, because the first connecting rod 63 is arranged between the first traveling wheel 46 and the second traveling wheel 47, make and keep fixed distance between head rod 63 and the photovoltaic board, when the walking wheel passes through on connecting bridge 12, head rod 63 can not produce the contact with the limit of photovoltaic board, and in the same way, the condition of perk can not take place yet to install the brush on head rod 63, thereby avoid leading to clean running gear 2 crossing over ability and the limited condition of clean ability owing to the brush installation is improper, and head rod 63's both ends are respectively through connecting piece 65 and the first walking wheel 46 that has inflection point 66, second walking wheel 47 is connected, make swing joint between walking wheel and the head rod 63, make mutual noninterference between the rotation of walking wheel and the rotation of brush subassembly, each other does not influence.

In this embodiment, referring to fig. 12, a rotating shaft fixing component 10 is disposed on a side of the machine body 3 facing the bidirectional motor 62, the rotating shaft fixing component 10 includes a rotating shaft fixing component 101, a first rotating shaft 102, a second rotating shaft 103 and a rotating shaft connecting rod 104, the rotating shaft fixing component 101 is connected to the machine body 3, the first rotating shaft 102 is disposed on the rotating shaft fixing component 101, the second rotating shaft 103 is disposed on the bidirectional motor 62, two ends of the rotating shaft connecting rod 104 are respectively hinged to the first rotating shaft 102 and the second rotating shaft 103, and the rotating shaft connecting rod 104 is located between the first rotating shaft 102 and the second rotating shaft 103.

In the embodiment, the first connecting rod 63, the second rotating shaft 103, the rotating axis of the first traveling wheel 46 and the rotating axis of the second traveling wheel 47 are arranged in a collinear manner, so that the moving degree of the brush assembly 61 on the first connecting rod 63, the moving degree of the first traveling wheel 46 and the moving degree of the second traveling wheel 47 are better. Similarly, since the second connecting rod 64 and the first connecting rod 63 are arranged in the same line along the axial direction of the first connecting rod 63, the second connecting rod 64, the second rotating shaft 103, the rotating axis of the first traveling wheel 41, and the rotating axis of the second traveling wheel 41 are arranged in the same line. Meanwhile, two hinge parts 441 corresponding to two traveling wheels of the body 2 in the length direction of the body 2 are arranged in line with the first rotating shaft 102; the inflection point 66 in the traveling wheel is arranged in line with the hinge part 441 corresponding to the traveling wheel, so that the deformation degree of the body is better.

In the present embodiment, the connection member 65 having the inflection point 66 is a single joint type universal joint. A first hollow part is arranged on one side of the first travelling wheel 46 facing the second travelling wheel 47, a second hollow part 471 is arranged on one side of the second travelling wheel 47 facing the first travelling wheel 46, a universal joint 65 is arranged in the first hollow part of the first travelling wheel 41, and a universal joint 65 is also arranged in the second hollow part 471 of the second travelling wheel 47. In this embodiment, the inflection points 66 of the universal joint 65 are respectively disposed in the first hollow portion and the second hollow portion 471, the center line of the first traveling wheel 46 passes through the inflection point in the first hollow portion, and the center line of the second traveling wheel 47 passes through the inflection point 66 in the second hollow portion 471, in this embodiment, the first traveling wheel 46 and the second traveling wheel 47 are both hollow cylinders, during the traveling of the first traveling wheel 46 and the second traveling wheel 47, the first traveling wheel 46 and the second traveling wheel 47 rotate, at this time, the rotation axes of the first traveling wheel 46 and the second traveling wheel 47 coincide with the center lines thereof, and when the cleaning traveling device 2 is horizontally placed, the rotation axes of the traveling wheels extend in the horizontal direction. Meanwhile, in the present embodiment, the length between the hinge portion of the first traveling wheel 46 and the hinge portion of the second traveling wheel 47 is equal to the length between the inflection point in the first traveling wheel and the inflection point in the second traveling wheel, and the length of the first connecting rod 63 is not changed at this time, and the present invention is also applicable to deformation of the cleaning traveling device 2 that may occur during traveling. After the universal joint 65 is connected to one end of the first connecting rod 63, the first connecting rod is further arranged in the hollow part of the travelling wheel 41 through the bearing 67, and the bearing 67 can be used as a rotating speed separator, so that the working state of the connecting rod and the working state of the travelling wheel are not interfered with each other.

As another embodiment, the center line of the first road wheel 46 and the center line of the second road wheel 47 do not pass through the inflection point 66 of the two corresponding universal joints 65, and at this time, the first connecting rod 63 and the second connecting rod 64 are both extendable and retractable, so that the length of the first connecting rod 63 is suitable for the deformation of the cleaning and walking device 2 during walking.

In this embodiment, the fixing assembly further includes an encircling fastening assembly 68, the traveling wheel mounting seat 43 includes a first side plate 431 and a second side plate 432, the first side plate 431 and the second side plate 432 are vertically connected, the first side plate 431 is horizontally disposed, the encircling fastening assembly 68 is disposed below the first side plate 431, and the encircling fastening assembly 68 is mounted on a side of the first side plate 431 away from the body 3. The walking wheel is provided with a convex block 411 towards one side of the fixing component, the convex block 411 is a hub extension convex block, the encircling fastening component 68 comprises a first encircling piece 681 and a second encircling piece 682, a first hollow portion 683 is arranged between the first encircling piece 681 and the second encircling piece 682, and the hub extension convex block 411 is connected in the first hollow portion 683 through a bearing 69. The second side plate 432 is provided with a second hollow portion 433, a driving rod of the traveling wheel driving device 42 sequentially passes through the second hollow portion 433 and the first hollow portion 683 to be connected with the traveling wheel 41, and the traveling wheel driving device 42 is arranged on the traveling wheel mounting base 43. Similarly, another set of cleaning elements 6 in cleaning chassis 2 is arranged in the manner described above.

In the present embodiment, the swinging member 44 is disposed on the side of the traveling wheel mounting seat 43 facing the body 3, and when the center line of the traveling wheel passes through the inflection point in the hollow portion of the traveling wheel, the inflection point 66 of the universal joint 65 is disposed in line with the hinge portion 441 of the swinging member 44 above the traveling wheel 41 corresponding thereto, and the hinge portion 441 of the swinging member 44 corresponding to the first traveling wheel 46, and the hinge portion 441 of the swinging member 44 corresponding to the first rotation shaft 102 and the second traveling wheel 47 are disposed in line. Between the first road wheel 46 and the second road wheel 47, the inflection points 66 of the two universal joints 65 and the second rotating shaft 103 are arranged in line.

As another embodiment, the cleaning and traveling device 2 includes two first traveling wheel sets and two second traveling wheel sets, the two first traveling wheel sets are disposed at a first end of the body 3 along the length direction of the body 3, the two second traveling wheel sets are disposed at a second end of the body 3 along the length direction of the body 3, the first traveling wheel sets and the second traveling wheel sets are disposed in one-to-one correspondence in the length direction of the body 3, the first traveling wheel set assembly includes at least two first traveling wheels, the second traveling wheel sets include at least two second traveling wheels, and the first connecting rod 63 is disposed between the first traveling wheel set and the second traveling wheel set which are disposed in an opposite manner. When the first connecting rod is provided between the first traveling wheel 41 set and the second traveling wheel set, the movement of the brush assembly 61 is also synchronous with the movement of the first traveling wheel set and the second traveling wheel set, and the brush can be prevented from touching the convex angle of the connecting bridge.

In order to make the cleaning running gear 2 climb better, in the present embodiment, a first running wheel set and a second running wheel set are provided on the cleaning running gear 2, wherein the first running wheel set comprises a first running wheel 46 and a second running wheel, and the second running wheel set comprises a third running wheel 48 and a fourth running wheel, wherein the first running wheel and the second running wheel are along the length direction X of the body 3₂The third running wheel 48 and the fourth running wheel are arranged along the length direction X of the machine body 3₂And (4) setting. Referring to fig. 21, in the present embodiment, the first traveling wheel 46 and the third traveling wheel 47 are respectively along the width direction Y of the body 3₂Arranged, first 46 and third 46 running wheels410 are provided on the same side of the body 3 in the width direction of the body 3, and the distance between the first running wheel 46 and the third running wheel 410 is larger than the slope length of the connecting bridge. The spacing between the first 46 and third 410 road wheels may be 300-3000 mm, wherein the optimal spacing between the first 46 and third 410 road wheels may be 1000-2100 mm. In the process of climbing the cleaning walking device 2, because the distance between the first walking wheel 46 and the third walking wheel 410 is larger than the slope length 122 of the connecting bridge 12, one of the first walking wheel set or the second walking wheel set of the machine body 3 is positioned on the slope of the connecting bridge 12, at the moment, the second walking wheel set or the first walking wheel set is positioned on the photovoltaic panel, the pressure of the cleaning walking device 2 is distributed to the photovoltaic panel, the whole cleaning walking device 2 is prevented from being positioned on the slope of the connecting bridge 12, so that the driving force required for cleaning the uphill of the walking device 2 is reduced, meanwhile, the walking wheel set positioned on the photovoltaic panel can provide larger pushing force or pulling force for the walking wheel set positioned on the sloping surface of the connecting bridge 12, meanwhile, the acting force of the walking wheel set positioned on the sloping surface to the walking wheel set positioned on the photovoltaic panel increases the attaching force of the walking wheel set positioned on the photovoltaic panel and the track surface on the photovoltaic panel, the cleaning walking device 2 is easier to ascend, and the climbing capability is better. As another embodiment, the cleaning traveling device 2 includes a first traveling wheel set 48 and a second traveling wheel set 49, referring to fig. 22, the first traveling wheel set 48 and the second traveling wheel set 49 are disposed on the same side of the body 3 in the length direction of the body 3, the first traveling wheel set 48 includes a first traveling wheel 481 and a second traveling wheel 482, the second traveling wheel 49 set includes a third traveling wheel 491 and a fourth traveling wheel 492, the second traveling wheel 482 and the third traveling wheel 491 are disposed adjacent to each other, and the distance between the second traveling wheel 482 and the third traveling wheel 491 is greater than the slope length of the connecting bridge 12. The body 3 can be hinged with the first and second running

wheels

48, 49. The spacing between the first 482 and third 491 running wheels may be 300-3000 mm, wherein the optimal spacing between the first 482 and third 491 running wheels may be 1000-2100 mm.

In this embodiment, the connecting bridge 12 is disposed between two photovoltaic panels, and the distance between the first traveling wheel set and the second traveling wheel set is greater than the width of the single photovoltaic panel adjacent to the connecting bridge 12, so that the pressure of the self weight of the cleaning traveling device on the single photovoltaic panel can be reduced, and the damage to the photovoltaic panel can be reduced.

When the cleaning and traveling device 2 travels to the first connecting section 121 on the photovoltaic panel 11, the traveling wheels 41 are driven to swing through the first swing assembly 8, and the traveling wheels 41 stop swinging until the traveling surfaces of the traveling wheels 41 are attached to the traveling surface of the connecting bridge 12.

Referring to fig. 23, when cleaning chassis 2 is wheeled onto bridge section 122 near the front side of bridge section 122, cleaning chassis 2 changes from a "rectangular" shape to a "parallelogram shape". Because the first swing assembly 8 is connected with the first cross rod 31, in the deformation process of the machine body 3, the angle change between the adjacent first cross rod 31 and the second cross rod 32 drives the sleeve 87 to move along the axial direction of the first connecting rod 63, and meanwhile, the movement of the second connecting rod 64 which is vertically and fixedly connected with the first connecting rod 63 is pushed, the movement of the second connecting rod 64 drives the movement of the first connecting rod 63, so that the swing piece 44 connected with the first connecting rod 63 is driven to move, the swing of the walking wheel 41 towards the inner side of the cleaning walking device 2 is realized, and the swing is stopped until the included angle between the adjacent first cross rod 31 and the second cross rod 32 is not changed any more.

When the rear side of cleaning chassis 2 is wheeled onto bridge section 122, cleaning chassis 2 changes from a "parallelogram" to a "rectangle". The change of the included angle between the adjacent first cross bar 31 and the second cross bar 32 drives the walking wheels 41 to swing towards the outer side of the cleaning walking device 2 again until the rear wheels of the cleaning walking device 2 leave the bridging section 122 and go up the second connecting section 123, and the swinging is stopped when the machine body 3 is changed back to the rectangular shape.

Before the cleaning walking device 2 leaves the second connecting section 123, the first swing assembly 8 drives the walking wheels 41 to swing until the traveling surface of the walking wheels 41 is attached to the walking track on the photovoltaic panel 11, and the whole process of cleaning the upper bridge and the lower bridge of the walking device 2 is completed.

When the photovoltaic surface of the photovoltaic panel is taken as a projection surface and projection is performed in the projection direction, the mounting positions of the connecting bridges 12 on the first photovoltaic panel 11, the connecting bridges 12 and the connecting bridges 12 on the second photovoltaic panel 13 are located on the same straight line, so that the situation that a bent angle is generated between the first photovoltaic panel 11 and the second photovoltaic panel 13 is avoided, and the cleaning walking device 2 is prevented from turning; and articulated connection between first horizontal pole 31 and the second horizontal pole 32 of clean running gear 2's fuselage 3, when clean running gear 2 traveles to connecting bridge 12 on, the contained angle between adjacent first horizontal pole 31 and the second horizontal pole 32 can change, make fuselage 3 adapt to the various shapes of connecting bridge 12 in the photovoltaic array, walking wheel 41 in clean running gear 2 can carry out bell-type swing around the fuselage simultaneously, it is convenient for walking wheel 41 to adapt to the angle of the driving face of connecting bridge 12, make the driving face of connecting bridge 12 support walking wheel 41, thereby make clean running gear 2 can adapt to various shapes in connecting bridge 12 in the photovoltaic array, avoid clean running gear 2 need pass through the not enough condition of required drive power of clean running gear 2 that connecting bridge 12 appears often.

Finally, it should be emphasized that the above-described embodiments are merely preferred examples of the present invention, and are not intended to limit the invention, as those skilled in the art will appreciate that various changes and modifications may be made, and any and all modifications, equivalents, and improvements made, while remaining within the spirit and principles of the present invention, are intended to be included within the scope of the present invention.

Claims

1. Clean running gear, including fuselage, walking wheel subassembly and clean subassembly, the walking wheel subassembly includes first walking wheel and second walking wheel, first walking wheel with the second walking wheel sets up respectively the fuselage is followed on the length direction's of fuselage both ends, its characterized in that:

clean subassembly includes connecting rod subassembly, brush subassembly and clean drive arrangement, clean drive arrangement is used for the drive the brush subassembly rotates, the connecting rod subassembly includes the head rod, the brush subassembly sets up on the head rod, the axial of head rod with the length direction of fuselage is the same, clean running gear includes the connecting piece, be provided with the flex point on the connecting piece, the head rod passes through respectively along length direction's both ends the connecting piece with the first walking wheel the second walking wheel is connected, the head rod is followed the axial both ends of head rod articulate respectively in the connecting piece the flex point, the head rod is located the first walking wheel with between the second walking wheel.

2. The clean walker according to claim 1, characterized in that:

clean running gear includes two at least first walking wheelsets and two at least second walking wheelsets, at least two first walking wheelset sets up the fuselage is followed the length direction's of fuselage first is served, at least two the second walking wheelset sets up the fuselage is followed the length direction's of fuselage second is served, first walking wheelset with the second walking wheelset is in the length direction of fuselage sets up one by one, first walking wheelset includes at least two first walking wheel, second walking wheelset includes at least two the second walking wheel, the head rod sets up setting relatively first walking wheelset with between the second walking wheelset.

3. The clean walker according to claim 1, characterized in that:

the first walking wheel with the second walking wheel sets up the fuselage is followed same one side in the length direction of fuselage, the head rod with the rotation axle center of first walking wheel the rotation axle center collineation setting of second walking wheel.

4. The clean walker according to claim 3, wherein:

first walking wheel orientation one side of second walking wheel is provided with first hollow portion, second walking wheel orientation one side of first walking wheel is provided with the hollow portion of second, first hollow portion with be provided with respectively in the hollow portion of second the flex point, the central line of first walking wheel passes in the first hollow portion the flex point, the central line of second walking wheel passes in the hollow portion of second the flex point.

5. The clean walker according to claim 4, characterized in that:

the inflection point in the first hollow portion is not on the center line of the first traveling wheel, the inflection point in the second hollow portion is not on the center line of the second traveling wheel, and the first connecting rod is retractable.

6. The clean running device of claim 4 or 5, characterized in that:

the cleaning driving device is a two-way motor, the two-way motor is connected with the machine body, the connecting rod assembly further comprises a second connecting rod, the brush assembly can be arranged on the second connecting rod, the two-way motor is located between the first connecting rod and the second connecting rod, the two-way motor is respectively connected with the first connecting rod and the second connecting rod, the first connecting rod is connected with the first walking wheel, and the second connecting rod is connected with the second walking wheel.

7. The clean running device of claim 4 or 5, characterized in that:

the cleaning walking device comprises a walking wheel driving device assembly, the walking wheel driving device assembly is used for driving the first walking wheel and the second walking wheel to move, the walking wheel driving device assembly comprises a walking wheel driving device, the cleaning walking device further comprises a fixing assembly, and the first walking wheel and the walking wheel driving device are respectively arranged on the fixing assembly;

fixed subassembly is including embracing fastening components, and clean running gear includes the walking wheel mount pad, it sets up to embrace fastening components walking wheel mount pad, be provided with the orientation on the first walking wheel one side of fixed subassembly is provided with protruding piece, it is provided with first well kenozooecium on the fastening components to embrace, protruding piece is connected in the first well kenozooecium, walking wheel drive arrangement sets up on the walking wheel mount pad.

8. The clean walker according to claim 7, characterized in that:

the walking wheel mounting seat comprises a first side plate and a second side plate, the first side plate is vertically connected with the second side plate, the first side plate is horizontally arranged, the encircling fastening assembly is arranged below the first side plate, and the encircling fastening assembly is mounted on one side, far away from the machine body, of the first side plate;

and a second hollow part is arranged on the second side plate, and a driving rod of the traveling wheel driving device sequentially penetrates through the second hollow part and the first hollow part to be connected with the first traveling wheel.

9. The clean walker according to claim 1, characterized in that:

the connecting rod assembly comprises a bearing, and the first connecting rod is respectively connected with the first travelling wheel and the second travelling wheel through the bearing.

10. A photovoltaic array characterized by: the photovoltaic array comprises a plurality of rows of photovoltaic panels and a cleaning walking device, wherein the cleaning walking device moves on the photovoltaic panels, and the cleaning walking device is the cleaning walking device in any one of claims 1 to 9.