CN214975938U

CN214975938U - A running gear and photovoltaic system for photovoltaic electroplax

Info

Publication number: CN214975938U
Application number: CN202023101604.5U
Authority: CN
Inventors: 崔正磊; 戚春潮
Original assignee: Zhuhai Siluo Intelligent Technology Co ltd
Current assignee: Zhuhai Siluo Intelligent Technology Co ltd
Priority date: 2020-12-21
Filing date: 2020-12-21
Publication date: 2021-12-03
Anticipated expiration: 2030-12-21

Abstract

The utility model provides a running gear and photovoltaic system for photovoltaic electroplax, including four walking drive subassemblies and walking frame, the walking drive subassembly includes the mount pad subassembly, drive wheel and two locating wheels, the drive wheel rotationally sets up on the mount pad subassembly, two locating wheels rotationally set up on the mount pad subassembly, the axial direction parallel of two locating wheels, the axial direction perpendicular to drive wheel of locating wheel, two locating wheels are located the axial lateral part of drive wheel, two locating wheels are arranged along the walking direction of drive wheel, the head and the tail end portion of four supports of walking frame articulates in proper order and forms four articulated positions, four articulated settings of mount pad subassembly are on the walking frame, a walking drive subassembly is close to an articulated position, the pivot axis of mount pad subassembly is on a parallel with the pivot axis of support. The four driving wheels can independently rotate and turn, and the driving wheels and the photovoltaic panel or the track path keep the direction to walk consistently, so that the walking passing performance and the walking passing stability are improved.

Description

A running gear and photovoltaic system for photovoltaic electroplax

Technical Field

The utility model relates to a photovoltaic power generation equipment field especially relates to a running gear and photovoltaic system for photovoltaic electroplax.

Background

Photovoltaic is a short term for solar photovoltaic power generation systems, which is a photovoltaic panel made of battery semiconductor materials for photovoltaic effect, and solar light is radiated to the photovoltaic panel, and then the photovoltaic panel can generate electric energy. The solar photovoltaic power generation systems are classified into a centralized photovoltaic power generation system such as a large northwest ground photovoltaic power generation system and a distributed photovoltaic power generation system such as a factory building roof or a residential roof of an industrial and commercial enterprise.

And in large-scale northwest ground photovoltaic power generation system, for the better illumination radiation of cooperation, the photovoltaic electroplax not only needs the inclination to arrange, and the extending direction of the photovoltaic electroplax of arranging in succession also needs the adaptation ground to extend along nonlinear line, not only there is the dislocation in the horizontal direction between the adjacent photovoltaic electroplax, in order to realize the horizontal direction turn, and also there is the drop in vertical direction, with the lift of adaptation topography, and these dislocation or drop are then connected through the connecting bridge, make the running gear who is equipped with the brush can walk on the photovoltaic electroplax, and clean the photovoltaic electroplax surface.

Under the condition that the adjacent photovoltaic strings have drop or dislocation, the existing connecting bridge only performs linear connection between corresponding vertexes of adjacent components among the photovoltaic strings, so that a walking device on the photovoltaic strings cannot fully fit a walking wheel face and a bridge floor, the walking direction of walking wheels cannot be consistent with the direction of the connecting bridge, and even the length of non-coplanar routes of the upper bridge and the lower bridge is inconsistent, and therefore the walking mechanism cannot smoothly realize crossing among the adjacent strings.

The front and rear travelling wheels of the existing travelling device can not realize independent turning, so that the travelling wheels of the device can not keep consistent with the track path in the travelling process, and the travelling device is easy to have difficult travelling or even stuck when needing to turn the path.

Not only the photovoltaic electroplax need realize the skew through connecting the bridge and arrange, and the photovoltaic electroplax also needs the inclination to arrange, makes running gear's walking gesture difficult controlled then, influences walking stability and relevant clean performance.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an utilize flexible walking frame cooperation four-wheel to independently turn to drive in order to realize more stably rotating the running gear of walking.

The second objective of the utility model is to provide a photovoltaic system with above-mentioned running gear.

In order to realize the first purpose of the utility model, the utility model provides a running gear for photovoltaic electroplax, including four walking drive components and walking frame, the walking drive component includes mounting bracket subassembly, drive wheel, drive module, the drive wheel rotationally sets up on the mounting bracket subassembly, drive module is connected with the drive wheel and drives the drive wheel to rotate, the walking frame includes four supports, the head and tail end portion of four supports articulates in proper order and forms four articulated positions, four mounting bracket subassemblies articulate and set up on the walking frame, a walking drive component is close to an articulated position, the axis of rotation of mounting bracket subassembly is parallel to the axis of rotation of support; the two walking driving assemblies positioned on the same side in the width direction further comprise two positioning wheels, the two positioning wheels are rotatably arranged on the mounting frame assembly, the two positioning wheels are axially parallel, the axial direction of the positioning wheels is perpendicular to the axial direction of the driving wheels, the two positioning wheels are positioned on the axial side portions of the driving wheels, and the two positioning wheels are arranged along the walking direction of the driving wheels.

It can be seen by above-mentioned scheme, through the walking frame that comprises four rotatable supports, make the walking frame can the skew of adaptation connection bridge turn and photovoltaic electroplax, simultaneously through four independent walking drive assemblies, not only the drive wheel can independently walk or stop, and through two locating wheels that are located the axial lateral part, because two locating wheels are arranged along the direction of walking, so two locating wheels can rotate along with the width direction's of photovoltaic electroplax edge or connecting bridge, then make the drive wheel can rotate thereupon, thereby realize that the extending direction that can independently follow photovoltaic electroplax or connecting bridge of four drive wheels rotates, thereby make drive wheel and photovoltaic electroplax or track route keep the direction to walk unanimously, improve walking trafficability characteristic and stability.

In a further aspect, the mounting bracket assembly includes a first mounting bracket, and the driving wheel and the two positioning wheels are rotatably disposed on the first mounting bracket.

According to a further scheme, the walking device further comprises a connecting rod, and the connecting rod is hinged between the two first mounting frames in the width direction.

It is from top to bottom visible, through with drive wheel and two locating wheels with setting up at first mounting bracket, can realize then that the locating wheel stabilizes turning to of drive wheel to through the connecting rod along width direction's arranging and connecting between two first mounting brackets, make two drive wheels of front side and two associated rotations of rear side of walking direction then, and the drive wheel of front and back side independently rotates, thereby can better adaptation photovoltaic electroplax or track route's change, make running gear's walking more smooth and orderly.

According to a further scheme, the mounting frame assembly comprises a first mounting frame and a second mounting frame, the driving wheel is rotatably arranged on the first mounting frame, the two positioning wheels are rotatably arranged on the second mounting frame, the first mounting frame and the second mounting frame are respectively hinged to the walking frame, and the rotating axial direction of the first mounting frame is parallel to the rotating axial direction of the second mounting frame; the walking device also comprises a connecting rod which is hinged between the first mounting frame and the second mounting frame of the same mounting frame component.

In a further aspect, the connecting rod is hinged to two first mounting brackets and two second mounting brackets in the width direction.

It is from top to bottom visible, through setting up drive wheel and locating wheel respectively at first mounting bracket and second mounting bracket, the articulated linkage of rethread connecting rod, can realize then that the locating wheel stabilizes turning to of drive wheel, and two first mounting brackets and two second mounting brackets on the width direction are connected to the accessible connecting rod, realize then that two drive wheels of front side and two associated rotations of drive wheel of rear side of walking direction, its change that also can better adaptation photovoltaic electroplax or track route makes running gear's walking more smooth and well-versed in order.

The positioning wheel is arranged in a cylindrical manner and extends towards the lower side of the driving wheel along the axial direction of the positioning wheel.

In a further aspect, the two positioning wheels are respectively located at the front end and the rear end of the axis of the driving wheel based on the walking direction.

It is thus clear that the drive wheel is used for being located the walking on the photovoltaic electroplax, and the locating wheel that extends down and be the cylinder rolls the cooperation with the edge of photovoltaic electroplax on width direction, and utilizes arranging of front and back end, can learn the extending direction of photovoltaic electroplax and connecting bridge steadily, and can adapt the drop of vertical direction well, can cooperate at climbing and downhill path homoenergetic for the drive wheel keeps the direction with photovoltaic electroplax or track route to walk unanimously.

The four supports are respectively two length supports extending along the walking direction and two width supports extending along the width direction, the two length supports are parallel to each other, the two width supports are parallel to each other, and the walking device further comprises a first rotating shaft; and the length support, the width support and the mounting rack assembly are connected through a first rotating shaft and can rotate around the first rotating shaft respectively.

The walking device also comprises a second rotating shaft; and the width support and the mounting rack assembly are connected through a second rotating shaft and can rotate around the second rotating shaft respectively.

From top to bottom, through on width direction's first end, utilize first pivot connection length support, width support and mount pad subassembly, make length support, width support and mount pad subassembly all rotate around first pivot, and width direction's second end, length support and mount pad subassembly pass through the second pivot and connect, utilize the deflection of the walking drive assembly drive length support of width direction's second end to can effectively drive the skew of walking frame and the change of form.

In order to realize the utility model discloses the second purpose, the utility model provides a photovoltaic system, including the running gear and the photovoltaic electroplax of above-mentioned scheme, the drive wheel is located the walking on the photovoltaic electroplax, locating wheel and the ascending edge roll cooperation of photovoltaic electroplax in width direction.

According to the scheme, the driving wheels can independently rotate and independently drive to walk and are matched with the positioning wheels according to the trend of the edges, so that the driving wheels can be better adapted to the change of a photovoltaic panel or a track path, and the walking of the walking device is smoother.

Drawings

Fig. 1 is a block diagram of a first embodiment of a photovoltaic system according to the present invention.

Fig. 2 is a structural diagram of a walking device in the first embodiment of the photovoltaic system of the present invention.

Fig. 3 is a structural diagram of the walking device in another view angle according to the first embodiment of the photovoltaic system of the present invention.

Fig. 4 is a structural diagram of the traveling device in the climbing traveling state according to the first embodiment of the photovoltaic system of the present invention.

Fig. 5 is a structural diagram of the front wheel before bending state in the first embodiment of the photovoltaic system of the present invention.

Fig. 6 is a structural diagram of the first embodiment of the photovoltaic system according to the present invention in the state of the front wheel being bent.

Fig. 7 is a structural diagram of the first embodiment of the photovoltaic system according to the present invention in a state where the front wheels are bent.

Fig. 8 is a structural diagram of the state in the middle of the rear wheel bending in the first embodiment of the photovoltaic system of the present invention.

Fig. 9 is a structural diagram of the first embodiment of the photovoltaic system according to the present invention in the state of the rear wheel being bent.

Fig. 10 is a structural diagram of the first embodiment of the photovoltaic system according to the present invention in a state where the front and rear wheels are bent.

Fig. 11 is a structural diagram of a traveling device in a turning traveling state according to a second embodiment of the photovoltaic system of the present invention.

Fig. 12 is a partial structural view of a traveling device in a third embodiment of the photovoltaic system of the present invention.

Fig. 13 is a structural view of the first embodiment of the photovoltaic panel apparatus of the present invention under an unconnected bridge.

Fig. 14 is a structural view of a first embodiment of the photovoltaic panel apparatus of the present invention.

Fig. 15 is a structural view of a second embodiment of the photovoltaic panel apparatus of the present invention.

Fig. 16 is a structural view of a third embodiment of the photovoltaic panel apparatus of the present invention.

Fig. 17 is a structural view of a fourth embodiment of the photovoltaic panel apparatus of the present invention.

Fig. 18 is a structural view of a fifth embodiment of the photovoltaic panel apparatus of the present invention.

Fig. 19 is a structural view of a sixth embodiment of the photovoltaic panel apparatus of the present invention under an unconnected bridge.

Fig. 20 is a structural view of a sixth embodiment of the photovoltaic panel apparatus of the present invention.

Fig. 21 is a structural view of a seventh embodiment of the photovoltaic panel apparatus of the present invention.

Fig. 22 is a structural view of an eighth embodiment of the photovoltaic panel apparatus of the present invention.

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

Detailed Description

First embodiment of photovoltaic system:

referring to fig. 1 to 4, the photovoltaic system includes a traveling device 1, a photovoltaic panel 21, a photovoltaic panel 22, and a connecting bridge 31, the photovoltaic panel 21 and the photovoltaic panel 22 are disposed in parallel and coplanar, and the photovoltaic panel 21 and the photovoltaic panel 22 have offset misalignment, so that the traveling device 1 can travel on the photovoltaic panel 21 and the photovoltaic panel 22 by connecting the connecting bridge 31 inclined to the edge of the photovoltaic panel, and can be transferred from the photovoltaic panel 21 to the photovoltaic panel 22 by connecting the connecting bridge 31. In an actual photovoltaic system, of course, a plurality of photovoltaic panels are arranged in a row, and the plurality of photovoltaic panels are also arranged along the length direction X.

The walking device 1 comprises four walking driving components 12, a walking frame 11 and two angle sensors 130, wherein the walking frame 11 comprises four brackets, the head and tail ends of the four brackets are sequentially hinged and form four hinged positions, specifically, the four brackets are respectively two length brackets 112 extending along the walking direction X and two width brackets 111 extending along the width direction Y, the two length brackets 112 are parallel to each other and have the same length, the two width brackets 111 are parallel to each other and have the same length, the width bracket 111 is provided with two parallel mounting brackets 113 at the end part of the width direction Y, the two mounting brackets 113 are spaced and form mounting grooves, the end part of the length bracket 112 is positioned in the mounting groove between the two mounting brackets 113 at four corners, the end part of the length bracket 112 is connected with the two mounting brackets 113 through a rotating shaft 131, so that the length can rotate around the brackets 112 and the width brackets 111 through the rotating shaft 131, and the traveling frame 11 can travel in a parallelogram or rectangular state.

Walking drive assembly 12 includes mount assembly, drive wheel 122, drive module and two locating wheels 125, and mount assembly includes the first mounting bracket 121 that is the integral type in this embodiment, and drive wheel 122 rotationally sets up on first mounting bracket 121, and drive module (not shown) can adopt conventional drive methods such as motor or rotation wheel hub, and drive module is connected with drive wheel 122 and drives drive wheel 122 around its axial rotation, realizes then that drive wheel 122 walks towards walking direction X.

Two locating wheels 125 rotatably set up on first mounting bracket 121 through pivot 126 respectively, locating wheel 125 rotates around pivot 126, locating wheel 125 is the cylinder setting, locating wheel 125 extends towards the radial downside of drive wheel 122 along the axial of locating wheel 125, the axial direction parallel of two locating wheels 125, the axial perpendicular to drive wheel 122's of locating wheel 125 axial, two locating wheels 125 are located the axial lateral part of drive wheel 122, and be located drive wheel 122 for photovoltaic electroplax's the side outside that leans on, two locating wheels 125 arrange along drive wheel 122's walking direction X, two locating wheels 125 are located the axis of drive wheel 122 respectively and are based on walking direction X's front end and rear end.

When specifically setting up, the top of locating wheel 125 can be located the bottom upside of locating wheel 125, and the bottom of locating wheel 125 can be located the bottom downside of locating wheel 125 for locating wheel 125 can adapt the rear end of photovoltaic electroplax, and with the length limit roll cooperation of photovoltaic electroplax. After the two positioning wheels 125 are adjacent to the length edge, the profile or the connecting bridge 31 of the photovoltaic panel in the width direction, the two positioning wheels 125 can drive the driving wheel 122 to rotate or calibrate the angle, so that the walking driving force generated when the driving wheel 122 rotates is aligned with the length edge of the photovoltaic panel or the extending direction of the connecting bridge 31, and the power on the wheels is improved.

For the mounting of the first mount 121, at a first end located in the width direction Y, the length bracket 112, the two mount brackets 113 and the first mount 121 are connected by a first rotation shaft 131 and are respectively rotatable about the first rotation shaft 131, the first rotation shaft 131 being parallel to the rotation shaft 126. At a second end in the width direction Y, the first mounting frame 121 and the first rotation shaft 131 are offset, and the two mounting brackets 113 and the first mounting frame 121 are connected by a second rotation shaft 129 such that the width bracket and the first mounting frame 121 are respectively rotatable about the second rotation shaft 129, and the first rotation shaft 131 is parallel to the second rotation shaft 129. In addition, a travel drive assembly 12 is arranged close to a joint, so that the attitude of the travel frame can be effectively controlled.

Two hinge parts 123 are arranged on the first mounting frame 121, the two hinge parts 123 are located above the driving wheel 122, the two hinge parts 123 are arranged along the walking direction X, the two hinge parts 123 are located at the front end and the rear end of the walking direction X of the driving wheel 122 respectively, the two hinge parts 123 are symmetrically arranged with a first rotating shaft 131 or a second rotating shaft 129, a connecting rod 124 is hinged at the hinge part 123, the connecting rod 124 extends along the width direction, one connecting rod 124 is hinged between the two hinge parts 123 located in the width direction Y, then the two connecting rods 124 are located at two sides of the first rotating shaft 131 or the second rotating shaft 129, the first mounting frame 121 at one side is driven after the first mounting frame 121 at the other side rotates, and therefore the two driving wheels 122 at the front side in the walking direction rotate in the same direction, and the two driving wheels 122 at the rear side in the walking direction rotate in the same direction.

Two angle sensor 130 set up respectively on the width support 111 of walking direction X front side and rear side, angle sensor 130 can adopt conventional angle sensor such as angle encoder, angle sensor 130's shell and installing support 113 fixed connection, angle sensor 130's detection axle and second pivot 129 are connected and coaxial arrangement, because second pivot 129 and first mounting bracket 121 fixed connection and syntropy rotate, so through angle sensor 130's angle detection, can acquire the angle of deflection of width support 111 and first mounting bracket 121, or acquire the angle of deflection of width support 111 and drive wheel 122.

Each walking drive assembly 12 is further provided with a position detection sensor 128 and a mounting bracket 127, the mounting bracket 127 is arranged in a T shape, the position detection sensor 128 can be an infrared sensor, the position detection sensor 128 is arranged at the lower end of the mounting bracket 127, and the position detection sensor 128 is arranged at the axial side part of the driving wheel 122, between the two positioning wheels 125 and at the lower side of the driving wheel. In addition, the height in the vertical direction of the position detection sensors 128 on the front side and the rear side in the walking direction X is different, and the height in the vertical direction of the position detection sensors 128 on the other side in the width direction Y is the same.

The length edge of the photovoltaic panel 21 in the width direction is provided with a first position marker 231 and a second position marker 241, the length edge of the photovoltaic panel 22 in the width direction is provided with a first position marker 232 and a second position marker 242, the first position marker 231 and the first position marker 232 are located at the front end and the rear end of the connecting bridge 31 in the traveling direction X, the second position marker 241 is located at the rear end of the first position marker 231, the second position marker 242 is located at the front end of the first position marker 232, and as the traveling device can reciprocate in the traveling direction X, the front end and the rear end are opposite and can be exchanged. When specific design height, the position marker spare is provided with highly different trigger point or reflection point respectively to the highly different position detection sensor of cooperation, then different walking wheels are close to connecting bridge 31 or keep away from connecting bridge 31 and can clearly discern, can carry out different frame gesture walks.

As shown in fig. 4, the photovoltaic panel 21 is parallel to the photovoltaic panel 22, but there is a height difference, and the photovoltaic panel 21 and the photovoltaic panel 22 are connected by the connecting bridge 31 inclined to the vertical direction, and the length sides of the photovoltaic panel 21 and the photovoltaic panel 22 are coplanar, so that the positioning wheels 125 can respectively keep rolling fit with the photovoltaic panel 21, the connecting bridge 31 and the photovoltaic panel 22 when the driving wheel climbs or descends a slope.

The following description is about a walking deviation rectifying method of a photovoltaic system, referring to fig. 1, when a walking device 1 walks on a photovoltaic panel 21, the walking frame 11 can walk in a rectangular frame posture, the posture is a conventional walking posture, a preset conventional deviation angle is set in a matching manner, the walking frame 11 can be provided with a brush, so that the photovoltaic panel is cleaned, and because the photovoltaic panel is arranged in an inclined manner, the angle is detected by two angle sensors 130, so that the walking speeds of four driving wheels 122 are respectively controlled, and the walking frame 11 keeps the rectangular frame posture.

Referring to fig. 5, the upper front driving wheel 122 first reaches the upper connecting bridge 31, the upper position detecting sensor detects the upper first position marker 231, and then controls the upper front driving wheel 122 to stop, and the lower front driving wheel 122 then reaches the lower connecting bridge 31, and the lower position detecting sensor detects the lower first position marker 231, and then stops traveling in the regular traveling posture, and then travels in the turning posture.

Referring to fig. 6, when walking in the turning posture, since the two positioning wheels 125 can acquire the extending direction of the connecting bridge 31 and drive the driving wheels 122 to turn, the angle sensor 130 can acquire the turning offset angle and set the turning offset angle as the preset offset angle when walking in the turning posture, and then control the walking speeds of the four driving wheels 122, respectively, so that the walking frame 11 walks in the turning posture.

Referring to fig. 7, then the upper position detecting sensor detects the upper first position marker 232, the lower position detecting sensor detects the lower first position marker 232, the two driving wheels 122 on the front side are about to bend out, and the two positioning wheels 125 can acquire the extending direction of the photovoltaic panel 21 and drive the driving wheels 122 to turn. The angle sensor 130 can acquire the transition deviation angle and set the transition deviation angle as a preset deviation angle at the time of the transition posture traveling, and then control the traveling speeds of the four driving wheels 122, respectively, so that the traveling frame 11 travels in the transition posture.

Referring to fig. 8, the upper position detecting sensor detects the upper first position marker 231, the lower position detecting sensor detects the lower first position marker 231, the two positioning wheels 125 at the rear side drive the driving wheels 122 to turn, the angle sensor 130 can acquire a turning offset angle and set the turning offset angle as a preset offset angle in the turning posture traveling, and the traveling speeds of the four driving wheels 122 are controlled respectively, so that the traveling frame 11 travels in the turning posture.

Referring to fig. 9 and 10, the last upper position detection sensor detects the upper first position marker 232, the lower position detection sensor detects the lower first position marker 232, then the two positioning wheels 125 can acquire the extending direction of the photovoltaic panel 21 and drive the driving wheels 122 to turn, and the angle detection by the angle sensor 130 controls the traveling speed of the four driving wheels 122, respectively, so that the traveling frame 11 travels while maintaining the rectangular frame posture. And the traveling device 1 may be driven to travel at an accelerated speed after the front or rear position detecting sensor detects the second position marker 242, and the traveling device 1 may be driven to travel at a decelerated speed in preparation for the rotational motion when the front or rear position detecting sensor detects the second position marker 241.

Second embodiment of photovoltaic system:

referring to fig. 11, on the basis of the first embodiment, for the installation position adjustment of the first mounting bracket 121, the first mounting bracket 121 may be disposed at four hinge positions of the traveling frame 11, and the length bracket 112, the width bracket 111 and the first mounting bracket 121 are connected by a rotating shaft, and the length bracket 112, the width bracket 111 and the first mounting bracket 121 respectively rotate around the rotating shaft, and then the driving wheel 122 is driven to turn along with the rolling fit of the two positioning wheels 125 and the connecting bridge 31, so that the driving wheel 122 travels along the extending direction of the connecting bridge 31. In addition, the rotating shaft on the hinge position can be provided with an angle sensor to obtain the deflection angle so as to realize the attitude control of the walking frame 11. As long as angle sensor can detect the relative turned angle between two adjacent supports, or angle sensor detects the relative turned angle between a support and the pivot, then can detect the gesture of walking frame, thereby also can realize the utility model discloses the purpose.

Second embodiment of photovoltaic system:

referring to fig. 12, based on the first embodiment, in addition to the first mounting frame 121 of a single body, the mounting frame assembly may include a first mounting frame 141 and a second mounting frame 142, the driving wheel 122 is rotatably disposed on the first mounting frame 141, the two positioning wheels 125 are rotatably disposed on the second mounting frame 142, the first mounting frame 141 is hinged to the two mounting frames 113 of the width frame 111 by a rotating shaft 151, the second mounting frame 142 is hinged to the two mounting frames 113 of the width frame 111 by a rotating shaft 152, the rotating shaft 151 is parallel to the rotating shaft 152, upper portions of the first mounting frame 141 and the second mounting frame 142 are respectively provided with a hinged portion, the connecting rod 124 is hinged to the two first mounting frames 141 and the two second mounting frames 142 in the width direction Y in addition to being hinged between the hinged portions of the first mounting frame 141 and the second mounting frame 142, and then the two positioning wheels 125 are in rolling engagement with the photovoltaic panel and the connecting bridge, then the driving wheel 122 can be driven synchronously to turn, which can also achieve the purpose of the present invention.

Outside this embodiment, can set up two locating wheels on two walking drive assembly that are located the ascending homonymy of width direction, two locating wheels through the unilateral setting do realize also can realize the utility model purpose of present case to the rotation drive of drive wheel.

First embodiment of photovoltaic panel arrangement:

for the arrangement of the photovoltaic panels of the above-described embodiment, which has a plurality of connection cases, referring to fig. 13, the photovoltaic panel apparatus includes a first photovoltaic panel 41, a second photovoltaic panel 42, and a connection bridge, the first photovoltaic panel 41 has a first width side 411 adjacent to the second photovoltaic panel 42, the first photovoltaic panel 41 has a first length side 412 at both ends in the width direction of the first width side 411, the second photovoltaic panel 42 has a second width side 421 adjacent to the first photovoltaic panel 41, the second photovoltaic panel 42 has a second length side 422 at both ends in the width direction of the second width side 421, the length of the first width side 411 is equal to the length of the second width side 421, the first width side 411 is separated from the second width side 421, and the first width side 411 is arranged nonparallel to the second width side 421.

Referring to fig. 14, the connection bridge is connected between the first photovoltaic panel 41 and the second photovoltaic panel 42, the connection bridge includes a first extension section, a second extension section, and a first turning section, the first extension section is provided with a first extension side ae and a first extension side cg at both ends in the width direction, the lengths of the first extension side ae and the first extension side cg are not equal, the second extension section is provided with a second extension side bf and a second extension side dh at both ends in the width direction, and the lengths of the second extension side bf and the second extension side dh are not equal. First turn to the section and be provided with first turning edge ef and first turning edge gh at width direction's both ends, first turning edge ef and the length of first turning edge gh equal and parallel arrangement, then first turning section can be the parallelogram setting.

Above the width direction, the first length side 412, the first extension side ae, the first steering side ef, the second extension side bf, and the second length side 422 are sequentially connected, the first extension side ae and the first length side 412 are arranged in a collinear manner, and the second extension side bf and the second length side 422 are arranged in a collinear manner.

Below in the width direction, the first length side 412, the first extension side cg, the first turning side gh, the second extension side dh, and the second length side 422 are connected in this order. The first elongate side cg and the first length side 412 are arranged co-linearly and the second elongate side dh and the second length side 422 are arranged co-linearly.

Of course, the position markers may be disposed at the corresponding positions of the first photovoltaic panel 41, the second photovoltaic panel 42 and the connecting bridge, and the walking device of the above embodiment may be smoothly and stably moved on the photovoltaic panel device.

Second embodiment of photovoltaic panel arrangement:

referring to fig. 15, in the basic concept of the first embodiment of the photovoltaic panel apparatus, when there is a height difference between the first photovoltaic panel 41 and the second photovoltaic panel 42, the connecting bridge may include a first extension section, a second extension section, a first turning section, a second turning section, and a junction section.

The first extension section is provided with first extension limit ae and first extension limit ci at width direction's both ends, and first extension limit ae and first extension limit ci length inequality, and the second extension section is provided with second extension limit bh and second extension limit dl at width direction's both ends, and second extension limit bh and second extension limit dl length inequality. The two ends of the first steering section in the width direction are provided with a first steering side ef and a first steering side ij, and the lengths of the first steering side ef and the first steering side ij are equal and are arranged in parallel. The second turns to the section and is provided with second turn to limit gh and second and turn to limit kl at width direction's both ends, and the length of second turn to limit gh and second turns to limit kl equals and parallel arrangement. The two ends of the butt joint section in the width direction are provided with a butt joint edge fg and a butt joint edge jk, and the lengths of the butt joint edge fg and the butt joint edge jk are equal and are arranged in parallel. The first steering section is the parallelogram setting to realize the adjustment of inserting the position, butt joint section and second steering section are the rectangle and arrange, and the second steering section is the setting of slope in vertical direction, and the butt joint plane at butt joint section place slopes to the second steering plane at second steering section place promptly, and the second steering plane at section place slopes to first photovoltaic electroplax and second photovoltaic electroplax respectively.

Above the width direction, a first length side, a first extension side ae, a first steering side ef, a butt joint side fg, a second steering side gh, a second extension side bh and a second length side are sequentially connected, the first extension side ae and the first length side are arranged in a collinear manner, and the second extension side bh and the second length side are arranged in a collinear manner.

Below in the width direction, the first length side, the first extension side ci, the first turning side ij, the butt joint side jk, the second turning side kl, the second extension side dl, and the second length side are connected in order. The first extension side ci and the first length side are arranged collinearly, and the second extension side dl and the second length side are arranged collinearly.

Before climbing a slope through the second steering section, the position of the first steering section and the parallel connection section is adjusted, and the second steering section and the parallel connection section which are arranged in a rectangular shape are utilized, so that the advancing direction of the driving wheel is aligned to the trend of the second steering section after being adjusted at the parallel connection section, and therefore, when the walking device climbs or goes downhill, horizontal deflection does not occur, the stability of the climbing and the downhill of the walking device is integrally improved, and the walking trafficability on the photovoltaic panel device is also improved.

In addition, the lengths of the first elongated edge ci and the second elongated edge dl are shorter in the present embodiment, and in the case of other applications of photovoltaic panels, the first elongated edge ci and the second elongated edge dl may be disposed with a length of 0, and then the first turning edge ij or the second turning edge kl is directly connected to the length edge. Which can also achieve the purpose of the utility model.

Third embodiment of photovoltaic panel apparatus:

referring to fig. 16, in the basic concept of the second embodiment of the photovoltaic panel apparatus, the connecting bridge includes a first extension acmn, a butt-joint segment mngk, a first steering segment gkhl, and a second extension hldb connected in sequence, which can be basically configured according to the above-described embodiments, and the connection of the first photovoltaic panel and the second photovoltaic panel is also realized.

In addition, the photovoltaic panel 431 and the photovoltaic panel 432 on the same side can also be adjacent in a staggered manner, specifically, the first width edge 433 of the photovoltaic panel 431 is parallel to the second width edge 433 of the photovoltaic panel 432, the first width edge 433 is adjacent to the second width edge 433, and the first length edge and the second length edge of the photovoltaic panel on the same side are arranged in different lines.

The connecting bridge can further comprise an offset section, wherein two ends of the offset section in the width direction are provided with an offset edge ef and an offset edge ij, the length of the offset edge ef is equal to that of the offset edge ij, the length of the offset edge ef is parallel to that of the offset edge ij, the offset edge ef is inclined to the first length edge positioned above and connected between the first length edge and the second length edge, and the offset edge ij is inclined to the first length edge positioned below and connected between the first length edge and the second length edge.

Through the skew design of skew section efij to cooperation first extension acmn, butt joint section mngk, first turn to section gkhl and second extension hldb, make the connection of two photovoltaic electroplax and photovoltaic electroplax more gentle, be favorable to running gear's passing through.

Fourth embodiment of photovoltaic panel apparatus:

referring to fig. 17, in the basic concept of the first embodiment of the photovoltaic panel apparatus, the arrangement of the connection bridge can be further simplified, the connection bridge includes a first extension section acci including a first extension side af and a first extension side ci provided at both ends in the width direction, and a second extension section bdfi including a second extension side bf and a second extension side di provided at both ends in the width direction, the first extension side af being collinear with the first length side above the first photovoltaic panel, the first extension side ci being collinear with the first length side below the first photovoltaic panel, the second extension side bf being collinear with the first length side above the second photovoltaic panel, the second extension side di being collinear with the first length side below the second photovoltaic panel, and the first elongate side af is connected with the second elongate side bf in an intersecting manner, and the first elongate side ci is connected with the second elongate side di in an intersecting manner.

Fifth embodiment of photovoltaic panel apparatus:

referring to fig. 18, in the basic concept of the fourth embodiment of the photovoltaic panel apparatus, the connecting bridge further includes a first turning section efhi and a second turning section fgij, the first extending section acfi, the first turning section efhi, the second turning section fgij and the second extending section bdfi are sequentially connected, and the first turning section efhi and the second turning section fgij may be disposed in a parallelogram or a rectangle, so that the size of the corner can be effectively reduced, and the passing of the traveling apparatus is facilitated.

Sixth embodiment of photovoltaic panel apparatus:

referring to fig. 19 and 20, the photovoltaic panel apparatus includes a first photovoltaic panel 51, a second photovoltaic panel 52, and a connecting bridge, the first photovoltaic panel 51 having a first width side 511 adjacent to the second photovoltaic panel 52, the first photovoltaic panel 51 having a first length side 512 at both ends in a width direction of the first width side 511, the second photovoltaic panel 52 having a second width side 521 adjacent to the first photovoltaic panel 51, the second photovoltaic panel 52 having a second length side 522 at both ends in a width direction of the second width side 521, the length of the first width side 511 being equal to the length of the second width side 521, the first width side 511 being parallel to the second width side 521.

The connecting bridge comprises a first extension section AEHC, a first turning section EFIH, a flat connection section FGJI and a second extension section GBDJ, wherein a first extension section AE and a first extension section HC are arranged at two ends of the first extension section in the width direction, a second extension section BG and a second extension section DJ are arranged at two ends of the second extension section GBDJ in the width direction, a first turning edge EF and a first turning edge HC are arranged at two ends of the first turning section EFIH in the width direction, a flat connection edge and a flat connection edge JI are arranged at two ends of the second extension section GBDJ in the width direction, a second extension section GB and a second extension section DJ are arranged at two ends of the second extension section GBDJ in the width direction, a first length edge, a first extension edge, a first turning edge, a flat connection edge, a second extension edge and a second length edge are sequentially connected, the plane of the first extension section is inclined to the plane of the second extension section, the plane of the first extension section AEHC is coplanar with the photovoltaic panel 51, the second elongated section GBDJ is inclined to the second photovoltaic panel 52, the plane on which the butt section FGJI lies being arranged horizontally.

Through the setting of the connection bridge of this embodiment, effectively reduce the relative slope, make running gear can climb the walking steadily.

Seventh embodiment of photovoltaic panel apparatus:

referring to fig. 21, under the basic concept of the sixth embodiment of the photovoltaic panel apparatus, when there is a small amount of horizontal misalignment and a small amount of vertical drop between the photovoltaic panels, the relative positions of the photovoltaic panels may be shifted by the shift section, specifically, the shift edge EF and the shift edge HI are connected, the first turning section ABCD is directly connected between the photovoltaic panels, the turning edge AB is coplanar with the two length edges on the upper side, the turning edge CD is coplanar with the two length edges on the lower side, and the planes where the first turning section ABCD is located are respectively inclined to the two photovoltaic panels.

Eighth embodiment of photovoltaic panel apparatus:

referring to fig. 22, in addition to the photovoltaic panels connected by using the connecting bridge, a row of photovoltaic panels at the end portion is further provided with a ferry vehicle frame 62, the bottom end of the ferry vehicle frame 62 is provided with a traveling wheel 623, and the traveling wheel 623 travels on a rail 624, so that the ferry vehicle frame 62 travels in an upward switching manner on the photovoltaic panels in different arrangements.

Ferry frame 62 is provided with parallel arrangement's second length limit 622 on width direction's both ends, and the second length limit 622 of upside passes through pillar 620 to be supported, and two second length limits 622 are parallel, is provided with vertical support 621 between two second length limits 622, and vertical support 621 is perpendicular to second length limit 622 respectively, and vertical support 621 extends along the vertical line between two second length limits 622 and arranges then. The first photovoltaic panel 61 is provided with a first width edge 611 close to the ferry frame, the first photovoltaic panel 61 is provided with first length edges 612 which are arranged in parallel at two ends of the first width edge 611 in the width direction, the length of the vertical support 621 is equal to that of the first width edge 611, and the first width edge 411 and the vertical support 621 are arranged in a non-parallel mode.

The connecting bridge comprises a first extension section and a second extension section, the first extension section is provided with a first extension side ae and a first extension side cf at two ends of the width direction, the length of the first extension side ae is not equal to that of the first extension side cf, the second extension section is provided with a second extension side be and a second extension side df at two ends of the width direction, and the length of the second extension side be is not equal to that of the second extension side df. The second length edge, the first length edge, the second length edge and the first length edge of the upper part and the lower part are sequentially connected, the first length edge and the second length edge are arranged in a collinear manner, and the second length edge and the first length edge are arranged in a collinear manner.

The running gear can then be moved between the ferry vehicle frame 62 and the photovoltaic panel. Certainly also can not set up vertical support 621, lack certain support nature and still can realize running gear's removal, except the extension section in addition, still can set up according to the basic concept of above-mentioned embodiment and turn to section and butt joint section, it also can realize the utility model discloses an aim at.

From top to bottom, through the walking frame that comprises four rotatable supports, make the skew of walking frame can adaptation connection bridge turn and photovoltaic electroplax, simultaneously through four independent walking drive subassemblies, not only the drive wheel can independently walk or stop, and through two locating wheels that are located the axial lateral part, because two locating wheels are arranged along the direction of walking, so two locating wheels can rotate along with the width direction's of photovoltaic electroplax edge or connection bridge, then make the drive wheel can rotate thereupon, thereby realize that the extending direction that can independently follow photovoltaic electroplax or connection bridge of four drive wheels rotates, thereby make drive wheel and photovoltaic electroplax or track route keep the direction to walk unanimously, improve walking trafficability characteristic and stability.

In addition, the walking frame composed of four rotatable supports can adapt to the turning of the connecting bridge and the deviation of the photovoltaic panel, meanwhile, through four independent walking driving components, not only can the driving wheels independently walk or stop, but also through the positioning wheels positioned at the axial side parts, the driving wheels can rotate along with the positioning wheels, so that the four driving wheels can independently rotate along the extending direction of the photovoltaic panel or the connecting bridge, the driving wheels and the photovoltaic panel or the track path can walk in the same direction, the walking passing performance and the walking stability are improved, in addition, the deviation condition of the supports and the walking orientation condition of the driving wheels can be obtained through the angle sensors, the posture of the current walking frame can be known, then the walking, the stopping or the speed of the four driving wheels can be respectively controlled, and the walking frame can walk in the preset posture, not only further providing walking stability.

Furthermore, through the setting of extension section, the section that turns to and the translation section in the connecting bridge, through organic combination extension section, the section that turns to and the translation section, make the connecting bridge connect between first photovoltaic electroplax and second photovoltaic electroplax, utilize extension limit and length limit collineation to arrange, then running gear can follow first photovoltaic electroplax and smoothly shift to the second photovoltaic electroplax on. In addition, can be according to the difference in height of first photovoltaic electroplax and second photovoltaic electroplax, and horizontal skew degree, turn to first section, butt joint section and second and turn to the section and select parallelogram or rectangle respectively and arrange, the butt joint section is with skew or adjustment position, and when the climbing or the downhill path of slope in vertical direction, through the turning to section of rectangle and running gear's drive wheel fully cooperation, realize the separation of climbing downhill path and horizontal turn then, fully improve walking smoothness then, avoid skidding or the card is dead.

Claims

1. A walking device for photovoltaic panels, comprising:

the four walking driving assemblies comprise mounting frame assemblies, driving wheels and driving modules, the driving wheels are rotatably arranged on the mounting frame assemblies, and the driving modules are connected with the driving wheels and drive the driving wheels to rotate;

the walking frame comprises four supports, the head and tail ends of the four supports are sequentially hinged to form four hinge positions, the four mounting frame assemblies are hinged to the walking frame, one walking driving assembly is close to one hinge position, and the rotating shaft direction of each mounting frame assembly is parallel to the rotating shaft direction of each support;

the walking driving assembly is characterized in that the walking driving assembly is arranged on the same side in the width direction and further comprises two positioning wheels, the two positioning wheels are rotatably arranged on the mounting frame assembly and are parallel to the axial direction of the positioning wheels, the axial direction of the positioning wheels is perpendicular to the axial direction of the driving wheels, the two positioning wheels are located on the axial side portions of the driving wheels, and the two positioning wheels are arranged in the walking direction of the driving wheels.

2. The walking device of claim 1, wherein:

the mounting bracket assembly comprises a first mounting bracket, and the driving wheel and the two positioning wheels are rotatably arranged on the first mounting bracket.

3. The walking device of claim 2, wherein:

the walking device further comprises a connecting rod, and the connecting rod is hinged between the two first mounting frames in the width direction.

4. The walking device of claim 1, wherein:

the mounting frame assembly comprises a first mounting frame and a second mounting frame, the driving wheel is rotatably arranged on the first mounting frame, the two positioning wheels are rotatably arranged on the second mounting frame, the first mounting frame and the second mounting frame are respectively hinged to the walking frame, and the rotating axial direction of the first mounting frame is parallel to the rotating axial direction of the second mounting frame;

the walking device further comprises a connecting rod, and the connecting rod is hinged between the first mounting frame and the second mounting frame of the same mounting frame assembly.

5. The walking device of claim 4, wherein:

the connecting rod is hinged to the two first mounting frames and the two second mounting frames in the width direction.

6. The walking device of any one of claims 1 to 5, wherein:

the locating wheel is the cylinder setting, the locating wheel is followed the axial orientation of locating wheel the downside of drive wheel extends.

7. The walking device of any one of claims 1 to 5, wherein:

the two positioning wheels are respectively positioned at the front end and the rear end of the axis of the driving wheel based on the walking direction.

8. The walking device of any one of claims 1 to 5, wherein:

the four brackets are respectively two length brackets extending along the walking direction and two width brackets extending along the width direction, the two length brackets are parallel to each other, the two width brackets are parallel to each other, and the walking device further comprises a first rotating shaft;

the length support, the width support and the mounting frame assembly are connected through the first rotating shaft and can rotate around the first rotating shaft respectively.

9. The walking device of claim 8, wherein:

the walking device also comprises a second rotating shaft;

and the width bracket and the mounting frame component are connected through the second rotating shaft and can rotate around the second rotating shaft respectively.

10. Photovoltaic system, comprising a walking device according to any of claims 1 to 9 and a photovoltaic panel, wherein the driving wheel is positioned on the photovoltaic panel for walking, and the positioning wheel is in rolling fit with the edge of the photovoltaic panel in the width direction.