CN210518196U

CN210518196U - Clean running gear and photovoltaic array

Info

Publication number: CN210518196U
Application number: CN201920931908.2U
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 cleaning walking device and a photovoltaic array, the photovoltaic array comprises a cleaning walking device, the cleaning walking device comprises a machine body, a walking wheel assembly and a walking wheel swing driving assembly, the walking wheel assembly comprises a plurality of walking wheels, the walking wheel assembly is connected with the machine body, the machine body can be deformed, the walking wheel swing assembly is used for driving the walking surface of the walking wheels to swing around the machine body, when the cleaning walking device runs onto the connecting bridge, the shape of the machine body can be changed when the machine body crosses the gradient of the connecting bridge, so that the shape of the connecting bridge in the photovoltaic array is convenient to adapt, meanwhile, the travelling wheels in the cleaning travelling device can perform bell-type swing around the machine body, so that the travelling wheels can adapt to the angle of the travelling surface of the connecting bridge, the travelling surface of the connecting bridge is enabled to support the travelling wheels, therefore, the cleaning walking device can adapt to various shapes in the connecting bridge in the photovoltaic array, and the condition that the driving force of the cleaning walking device is insufficient when the cleaning walking device passes through the connecting bridge 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

In the existing photovoltaic panel array, each row of photovoltaic panel assembly comprises a plurality of photovoltaic panels, in one row of photovoltaic panel assembly, the photovoltaic panels are arranged in an inclined manner, and according to the arrangement condition of the actual environment of the photovoltaic panels, a connecting bridge is arranged between two adjacent photovoltaic panels and between the two adjacent photovoltaic panels, because the two adjacent photovoltaic panels possibly have height difference and front-back dislocation, a 'curve' with gradient is formed by the low photovoltaic panel, the high photovoltaic panel and the connecting section between the two adjacent photovoltaic panels, which requires that when a cleaning robot walking through the path, the walking wheel of the cleaning robot must have 'turning action', but the 'turning action' can cause the condition that the walking wheel resistance of the cleaning robot is unbalanced in the walking process, so that the walking mechanism can be askew, and the walking wheel is derailed until one walking wheel is blocked, the user can not walk continuously; meanwhile, when the front and rear travelling wheels of the travelling mechanism are respectively positioned at bridge sections with different paths due to the 'curve' with the gradient, the travelling wheels cannot be in surface contact with the bridge sections, so that the driving force of the cleaning robot is reduced, and the cleaning robot is difficult to ascend the gradient.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a clean running gear of adaptable connecting bridge shape.

A second object of the present invention is to provide a photovoltaic array with a clean running gear having an adaptable connecting bridge shape.

In order to realize foretell first purpose, the utility model provides a clean running gear includes fuselage, walking wheel subassembly and walking wheel swing drive subassembly, and the walking wheel subassembly includes a plurality of walking wheels, and the fuselage is connected to the walking wheel subassembly, and the fuselage is flexible, and walking wheel swing subassembly is used for the drive the walking face of walking wheel is around the fuselage swing.

According to the above technical scheme, when clean running gear traveles to connecting the bridge on, the fuselage can take place the change of shape when strideing across the slope of connecting the bridge, be convenient for adapt to the shape of connecting the bridge among the photovoltaic array, the walking wheel among the clean running gear can carry out the pendulum motion around the fuselage simultaneously, the angle of the face of traveling of walking wheel adaptation connection bridge of being convenient for, the face of traveling that makes the connection bridge supports the walking wheel, thereby make clean running gear can adapt to the various shapes in the connecting the bridge in the photovoltaic array, the condition that the clean running gear drive power that appears when avoiding clean running gear to pass through the connecting bridge is not enough.

The walking wheel assembly comprises a swinging piece, the swinging piece is connected with the walking wheel, a hinged part is arranged on the swinging piece, and the hinged part is hinged with the machine body.

Therefore, the swinging piece is connected with the walking wheels, the hinged part on the swinging piece is hinged to the machine body, the hinged part on the swinging piece is driven to rotate relative to the machine body, and the walking wheels connected with the swinging piece are driven to swing around the machine body.

The walking wheel swing driving assembly comprises a first swing assembly, the first swing assembly comprises a swing driving device, a pull rod and a first connecting rod, the first connecting rod is connected with the swing piece, the pull rod is connected with the first connecting rod, and the swing driving device drives the pull rod to move.

Therefore, the swing driving assembly drives the pull rod to move, and the first connecting rod is connected with the swing piece due to the fact that the pull rod is connected with the first connecting rod, so that the movement of the pull rod drives the first connecting rod to move, and the movement of the first connecting rod drives the hinged part on the swing piece to rotate.

The machine body comprises at least two first cross rods and at least two second cross rods, the second cross rods are arranged between the two second cross rods, and the first cross rods are hinged with the second cross rods; the walking wheel swing driving assembly comprises a second swing assembly, the second swing assembly comprises a second connecting rod, and the first connecting rod is vertically connected with the second connecting rod; the included angle between the adjacent first cross rod and the second cross rod is changed to drive the pull rod to move along the axial direction of the first connecting rod; the change of the included angle between the adjacent first cross rod and the second cross rod drives the second connecting rod to move.

Therefore, when the first cross rod and the second cross rod are changed, the driving pull rod moves along the axial direction of the first connecting rod and also drives the second connecting rod to move, and the second connecting rod is connected with the first connecting rod, so that the first connecting rod is driven to rotate, and the swinging piece connected with the first connecting rod is driven to swing.

The second swing assembly further comprises a limiting block, the second connecting rod penetrates through the limiting block, and the second connecting rod moves in the limiting block.

It can be seen that the limiting block limits the moving direction of the second connecting rod, so that the rotating block can accurately rotate in the deformation process of the machine body, and the swinging piece is driven to swing.

The walking wheel swing driving assembly comprises a third swing assembly, the third swing assembly comprises a torque output assembly, an angle sensor and a control unit, the angle sensor is arranged on the walking wheel assembly, the control unit is connected with the angle sensor, the torque output assembly drives the swing assembly to rotate around the hinge portion, and the control unit is connected with the torque output assembly.

It can be seen that when the cleaning walking device does not drive to the connecting bridge, the control unit can preset the driving numerical value of the torque output assembly and the initial numerical value of the angle sensor according to the relative angle between the driving surface of the connecting bridge and the photovoltaic surface of the photovoltaic panel, in the process that the cleaning walking device passes through the connecting bridge, the angle sensor detects the angle of the cleaning walking device, the angle information of the cleaning walking device changing per se is output to the control unit, the control unit sends a control signal to the torque output assembly, the torque output assembly drives the walking wheel to swing the corresponding angle until the angle sensor detects that the angle recovers the initial numerical value.

The cleaning walking device further comprises a hanging wheel assembly, the hanging wheel assembly comprises at least one hanging wheel and a hanging wheel moving assembly, the hanging wheel is arranged on the walking wheel assembly, the hanging wheel moving assembly drives the hanging wheel to swing around the machine body, the hanging wheel moving assembly comprises a first fixing rod, a moving rod, a sliding block and a second fixing rod, the first fixing rod is connected with the hanging wheel, the first fixing rod is connected with the walking wheel, the moving rod is connected with the hanging wheel and is perpendicularly connected with the second fixing rod, the moving rod and the second fixing rod respectively penetrate through the sliding block, the moving rod moves in the sliding block, and the sliding block moves along the axial direction of the second fixing rod.

It can be seen that in the process of walking of the cleaning walking device, the change gear is arranged on the side face of the photovoltaic panel, the cleaning walking device is prevented from sliding off the photovoltaic panel in an inclined mode, in the process of swinging the walking wheel, the change gear moving assembly drives the change gear to swing, the change gear is always attached to the side face of the photovoltaic panel in a face-to-face mode, and the stability of the cleaning walking device in the walking process is kept.

The cleaning walking device further comprises a hanging wheel assembly, the hanging wheel assembly comprises at least one hanging wheel, the walking wheel assembly comprises a walking wheel mounting seat, the walking wheel is mounted on the walking wheel mounting seat, and the hanging wheel is fixedly connected with the walking wheel mounting seat.

Therefore, the change gear is fixedly connected with the walking wheel mounting seat in the walking wheel assembly, so that the included angle between the change gear and the walking wheel is kept unchanged, and meanwhile, the change gear is still arranged on the side surface of the photovoltaic panel, and the cleaning walking device is prevented from sliding off the photovoltaic panel.

The walking wheel assembly comprises a swinging piece, the swinging piece is connected between the machine body and the walking wheels, a hinged part is arranged on the swinging piece, the hinged part is hinged with the walking wheels, and the hinged part is arranged between the lowest point of the walking surface of the walking wheels and the machine body.

Therefore, the hinged part of the swinging piece is connected with the walking wheel, and when the machine body deforms, the hinged part can be driven to move, so that the walking wheel hinged with the hinged part is driven to swing.

For realizing foretell second purpose, the utility model provides a photovoltaic array includes a plurality of photovoltaic boards and climbing control assembly, and climbing control assembly includes photovoltaic unit and clean running gear, and photovoltaic unit includes first photovoltaic board, second photovoltaic board and connects the bridge, connect the bridge setting first photovoltaic board with between the second photovoltaic board, clean running gear walks on photovoltaic unit and photovoltaic board, and clean running gear is foretell clean running gear.

Drawings

Fig. 1 is a structural diagram of a photovoltaic unit in a slope control assembly of a clean walking device in an embodiment of a photovoltaic array of the present invention.

Fig. 2 is an enlarged view at B in fig. 1.

Fig. 3 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. 4 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. 5 is a schematic view of the installation of one of the photovoltaic units in the slope control assembly of the clean running gear in the embodiment of the photovoltaic array of the present invention.

Fig. 6 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. 7 is a side view of a clean running gear control assembly for climbing a slope in an embodiment of the photovoltaic array of the present invention.

Fig. 8 is a perspective view of the embodiment of the cleaning and walking device of the present invention.

Fig. 9 is an exploded view of an embodiment of the clean running gear of the present invention.

Fig. 10 is a schematic view of another embodiment of the hinge portion of the clean running gear of the present invention.

Fig. 11 is a structural view of the embodiment of the cleaning and traveling apparatus of the present invention with the body removed.

Fig. 12 is a structural view of the embodiment of the cleaning walking device of the present invention after the body and the second swing member are removed.

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

Fig. 14 is a sectional view of the cleaning assembly of the embodiment of the cleaning device of the present invention when it is mounted on the running wheels.

Fig. 15 is an exploded view of the cleaning assembly of the embodiment of the cleaning device of the present invention when it is mounted on the traveling wheel.

Fig. 16 is a schematic side view of the clean running gear climbing in the clean running gear hill-crossing control assembly in the embodiment of the photovoltaic array of the present invention.

Fig. 17 is a schematic side view of another embodiment of the clean running gear in the clean running gear control assembly for climbing in an embodiment of the photovoltaic array of the present invention.

Fig. 18 is a schematic perspective view of the clean running gear climbing in the clean running gear hill-crossing control assembly in the embodiment of the photovoltaic array of the present invention.

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. 1, 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. 2, 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 another embodiment, there may be a gap at the connection between the connecting bridge 12 and the photovoltaic panel, the gapThe gap has to be such that the clean running gear can be transferred from the photovoltaic panel to the connecting bridge 12 or from the connecting bridge 12 to the photovoltaic panel.

In this embodiment, the connection bridge 12 includes a first connection section 121, a bridge section 122 and a second connection section 123, the bridge section 123 is formed between the first connection section 121 and the second connection section 123, the first connection section 121 is connected to the first photovoltaic panel 11, the second connection section 123 is connected to the second photovoltaic panel 13, the bridge 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, referring to fig. 3, 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. 4, in an embodiment of the present invention, 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 height of 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. 5, 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 cellThe installation height of the plate 11 is less than the installation height of the second photovoltaic plate 14, in this embodiment, the installation height of the first connection section 121 of the connection bridge 12 is lower than the installation height of the second connection section of the connection bridge 12. in the side view projection of the photovoltaic unit 1, the highest point of the second photovoltaic plate 14 is located behind the highest point of the first photovoltaic plate 11. the first photovoltaic plate 11 has a perpendicular line α facing the second photovoltaic plate 14, and at this time, a connection line β is arranged between the highest point of the first photovoltaic plate 11 and the highest point of the second photovoltaic plate 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. 6, 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. 7, 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. 8 and 9, 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. 10, 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. 9 and 11, 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. 9 and 12, 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. 13, 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. 7, 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, so that the cleaning walking device 2 is prevented 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. 14 and 15, 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. 7, 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 3₂Set up, a third running wheel 48 and a fourth running wheelAlso along the length direction X of the fuselage 3₂And (4) setting. Referring to fig. 16, 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 3₂The first traveling wheel 46 and the third traveling wheel 410 are disposed on the same side of the body 3 in the width direction of the body 3, and the distance between the first traveling wheel 46 and the third traveling wheel 410 is greater 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. 17, 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, with an optimal spacing between the first 482 and third 491 running wheelsThe distance may be 1000mm to 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. 18, 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.

The device needs to pass through the corner, so that the driving force of the cleaning walking device is insufficient.

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 and walking wheel subassembly, walking wheel subassembly includes a plurality of walking wheels, walking wheel subassembly is connected the fuselage, the fuselage is deformable, its characterized in that: the cleaning and walking device further comprises:

and the walking wheel swinging driving component is used for driving the walking surface of the walking wheel to swing around the machine body.

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

the walking wheel assembly comprises a swinging piece, the swinging piece is connected with the walking wheel, a hinged portion is arranged on the swinging piece, and the hinged portion is hinged with the machine body.

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

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

the machine body comprises at least two first cross rods and at least two second cross rods, the second cross rods are arranged between the two second cross rods, and the first cross rods are hinged with the second cross rods;

the walking wheel swing driving assembly comprises a second swing assembly, the second swing assembly comprises a second connecting rod, and the first connecting rod is vertically connected with the second connecting rod;

the included angle between the adjacent first cross rod and the second cross rod is changed to drive the pull rod to move along the axial direction of the first connecting rod;

and the change of an included angle between the adjacent first cross rod and the second cross rod drives the second connecting rod to move.

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

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

the walking wheel swing driving assembly comprises a third swing assembly, the third swing assembly comprises a torque output assembly, an angle sensor and a control unit, the angle sensor is arranged on the walking wheel assembly, the control unit is connected with the angle sensor, the torque output assembly drives the swing assembly to rotate around the hinged portion, and the control unit is connected with the torque output assembly.

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

the cleaning walking device further comprises a hanging wheel assembly, the hanging wheel assembly comprises at least one hanging wheel and a hanging wheel moving assembly, the hanging wheel is arranged on the walking wheel assembly, the hanging wheel moving assembly drives the hanging wheel to wind the machine body to swing, the hanging wheel moving assembly comprises a first fixing rod, a moving rod, a sliding block and a second fixing rod, the first fixing rod is connected with the hanging wheel, the first fixing rod is connected with the walking wheel, the moving rod is connected with the hanging wheel, the moving rod is vertically connected with the second fixing rod, the moving rod is respectively penetrated through the sliding block by the second fixing rod, the moving rod is arranged in the sliding block, and the sliding block is axially moved along the second fixing rod.

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

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

the walking wheel assembly comprises a swinging piece, the swinging piece is connected between the machine body and the walking wheels, a hinged portion is arranged on the swinging piece, the hinged portion is hinged to the walking wheels, and the hinged portion is arranged between the lowest point of the walking surface of the walking wheels and the machine body.

10. A photovoltaic array characterized by: the photovoltaic array comprises a plurality of photovoltaic panels and a slope control assembly, the slope control assembly comprises a photovoltaic unit and a clean walking device, the photovoltaic unit comprises a first photovoltaic panel, a second photovoltaic panel and a connecting bridge, the connecting bridge is arranged between the first photovoltaic panel and the second photovoltaic panel, the clean walking device walks on the photovoltaic unit and the photovoltaic panels, and the clean walking device is the clean walking device in any one of claims 1 to 9.