CN110165995A - Connecting bridge installation method, photovoltaic cells and photovoltaic array - Google Patents
Connecting bridge installation method, photovoltaic cells and photovoltaic array Download PDFInfo
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- CN110165995A CN110165995A CN201910533396.9A CN201910533396A CN110165995A CN 110165995 A CN110165995 A CN 110165995A CN 201910533396 A CN201910533396 A CN 201910533396A CN 110165995 A CN110165995 A CN 110165995A
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- photovoltaic panel
- photovoltaic
- angle
- connecting bridge
- traveling wheel
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- 238000009434 installation Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims abstract description 96
- 230000009184 walking Effects 0.000 claims abstract description 67
- 230000008859 change Effects 0.000 description 40
- 230000000712 assembly Effects 0.000 description 11
- 238000000429 assembly Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000003534 oscillatory effect Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S30/00—Structural details of PV modules other than those related to light conversion
- H02S30/10—Frame structures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
Abstract
The present invention provides a kind of connecting bridge installation method, photovoltaic cells and photovoltaic array, photovoltaic array includes photovoltaic cells, photovoltaic cells include the first photovoltaic panel, second photovoltaic panel and connecting bridge, the installation method of connecting bridge are as follows: the both ends of connecting bridge respectively with the first photovoltaic panel, the connection of second photovoltaic panel, angle Z is provided between the width direction in the photovoltaic face of the width direction and photovoltaic panel of the walking surface of connecting bridge, angle Z is not equal to 0, when perspective plane is in the photovoltaic face using photovoltaic panel, angle between projecting direction and perspective plane is the difference of 90 degree with angle Z, so that the installation site of the connecting bridge in the first photovoltaic panel, the installation site of connecting bridge is located in same linear belt in connecting bridge and the second photovoltaic panel, avoid the case where bent angle occur between the first photovoltaic panel and the second photovoltaic panel, to in the mistake of cleaning running gear climb and fall Cheng Zhong, cleaning running gear can preferably keep Equilibrium and climb, and cleaning running gear is made to be easier to climb and fall.
Description
Technical field
The present invention relates to solar energy equipment field, it is specifically related to a kind of connecting bridge installation method, photovoltaic cells and photovoltaic
Array.
Background technique
It include multiple photovoltaic panels in each column photovoltaic panel assembly, in a column photovoltaic board group in existing photovoltaic plate array
In part, referring to Fig. 1, photovoltaic panel is obliquely installed, and according to the facilities of photovoltaic panel actual environment, two adjacent photovoltaic panels
Between, and connecting bridge is provided between two adjacent photovoltaic panels, referring to fig. 2, the both ends of connecting bridge respectively with two photovoltaics
Plate connection, referring to Fig. 3, the width direction (X in figure of the both ends of connecting bridge along the walking surface of connecting bridge1Direction) respectively with photovoltaic
Width direction (the Y in figure in the photovoltaic face of plate1Direction) it is identical, due to there may be height between two adjacent photovoltaic panels
The case where difference and front-back staggered, causes the linkage section between low photovoltaic panel, high photovoltaic panel and both of the above to form a presence
" detour " (referring to fig. 4) of the gradient cleans running gear when passing through this path this requires the cleaning running gear walked herein
Traveling wheel must have " turning action ", but should " turning action " will lead to cleaning running gear it is existing out in the process of walking
The walking resistance variation for walking wheel causes the walking for cleaning running gear uneven, so that walking mechanism can walk askew, traveling wheel derailing
It is stuck, can not walk on to one of traveling wheel；Simultaneously this there are " detours " of the gradient will lead to walking mechanism
When front and back traveling wheel is respectively at different path bridge sections, traveling wheel can not cause cleaning to go with locating bridge section face contact
The driving adhesive force of walking apparatus declines, it is difficult to realize the climb and fall of cleaning running gear.
Summary of the invention
The first object of the present invention is to provide a kind of connecting bridge installation method for cleaning running gear and being easy to climb and fall.
The second object of the present invention is to provide a kind of photovoltaic cells for cleaning running gear and being easy to climb and fall.
The third object of the present invention is to provide a kind of photovoltaic array for cleaning running gear and being easy to climb and fall.
In order to realize the first above-mentioned purpose, connecting bridge installation method provided by the invention includes that connecting bridge is located at the first light
Lie prostrate between plate and the second photovoltaic panel, the width direction in the photovoltaic face of the width direction of the walking surface of connecting bridge and the first photovoltaic panel it
Between be provided with angle Z1, it is arranged between the width direction in the photovoltaic face of the width direction of the walking surface of connecting bridge and the second photovoltaic panel
There is angle Z2, angle Z1Equal to angle Z2, angle Z1With angle Z2It is not equal to 0.
It can be seen that there is folder between the width direction in the photovoltaic face of the width direction and photovoltaic panel of the walking surface of connecting bridge
Angle Z, and the angle is not equal to 0, and when perspective plane is in the photovoltaic face using photovoltaic panel, the angle between projecting direction and perspective plane is
90 degree with the difference of angle Z so that being connected in the installation site of the connecting bridge in the first photovoltaic panel, connecting bridge and the second photovoltaic panel
The installation site of bridge is located in same linear belt, avoids the case where bent angle occur between the first photovoltaic panel and the second photovoltaic panel,
To which during cleaning running gear climb and fall, cleaning running gear can preferably keep Equilibrium and climb,
Cleaning running gear is set to be easier to climb and fall.
Further embodiment is that the first photovoltaic panel and the second photovoltaic panel are arranged side by side along the length direction of the first photovoltaic panel,
Connecting bridge includes the first linkage section, bridge joint sections and the second linkage section, and the first linkage section is connect with the first photovoltaic panel, the second connection
Section is connect with the second photovoltaic panel, and for bridge joint sections between the first linkage section and the second linkage section, bridge joint sections are located at the first photovoltaic panel
Between the second photovoltaic panel, the first end of bridge joint sections is connect along the width direction of the first linkage section with the first linkage section, bridge joint sections
Second end connect along the width direction of the second linkage section with the second linkage section.
As it can be seen that connecting bridge is connect by the first linkage section with the first photovoltaic panel, connecting bridge passes through the second linkage section and second
Photovoltaic panel connection, above two sections of linkage sections are separately positioned in two pieces of photovoltaic panels, make to clean running gear in photovoltaic panel in advance
Into in connecting bridge, the connecting bridge tilted is rapidly adapted to.
Further embodiment is that the setting height of the first photovoltaic panel is thrown less than the setting height of the second photovoltaic panel in side view
In shadow, the highest point of the second photovoltaic panel is located at the front of the highest point of the first photovoltaic panel；First photovoltaic panel has to the second photovoltaic panel
Vertical line α has line β, has folder between vertical line α and line β between the highest point of the first photovoltaic panel and the highest point of the second photovoltaic panel
The walking surface of angle θ, connecting bridge are vertical with line β, angle Z1Equal to angle theta.
Further embodiment is that the setting height of the first photovoltaic panel is thrown less than the setting height of the second photovoltaic panel in side view
In shadow, the highest point of the second photovoltaic panel is located at the rear of the highest point of the first photovoltaic panel；First photovoltaic panel has to the second photovoltaic panel
Vertical line α has line β, has folder between vertical line α and line β between the highest point of the first photovoltaic panel and the highest point of the second photovoltaic panel
The walking surface of angle θ, connecting bridge are vertical with line β, angle Z1It is 180 ° with the sum of angle theta.
To realize above-mentioned the second purpose, photovoltaic cells provided by the invention include the first photovoltaic panel, the second photovoltaic panel with
And connecting bridge, the both ends of connecting bridge are connect with the first photovoltaic panel, the second photovoltaic panel respectively, the width direction of the walking surface of connecting bridge
Angle Z is provided between the width direction in the photovoltaic face of the first photovoltaic panel1, the width direction of the walking surface of connecting bridge and second
Angle Z is provided between the width direction in the photovoltaic face of photovoltaic panel2, angle Z1Equal to angle Z2, angle Z1With angle Z2Etc.
In 0.
Further embodiment is, connecting bridge includes the first linkage section, bridge joint sections and the second linkage section, the first linkage section with
The connection of first photovoltaic panel, the second linkage section connect with the second photovoltaic panel, bridge joint sections be located at the first photovoltaic panel and the second photovoltaic panel it
Between, the first end of bridge joint sections is connect along the width direction of the first linkage section with the first linkage section, and the second end of bridge joint sections is along second
The width direction of linkage section is connect with the second linkage section.
Further embodiment is that the setting height of the first photovoltaic panel is thrown less than the setting height of the second photovoltaic panel in side view
In shadow, the highest point of the second photovoltaic panel is located at the front of the highest point of the first photovoltaic panel；
First photovoltaic panel has vertical line α, the highest point of the highest point of the first photovoltaic panel and the second photovoltaic panel to the second photovoltaic panel
Between have line β, have angle theta between vertical line α and line β, the walking surface of connecting bridge is vertical with line β, angle Z1Equal to angle
θ。
Further embodiment is that the setting height of the first photovoltaic panel is thrown less than the setting height of the second photovoltaic panel in side view
In shadow, the highest point of the second photovoltaic panel is located at the rear of the highest point of the first photovoltaic panel；
First photovoltaic panel has vertical line α, the highest point of the highest point of the first photovoltaic panel and the second photovoltaic panel to the second photovoltaic panel
Between have line β, have angle theta between vertical line α and line β, the walking surface of connecting bridge is vertical with line β, angle Z1With angle theta it
Be 180 °.
To realize above-mentioned third purpose, photovoltaic array provided by the invention includes multiple photovoltaic cells and cleaning walking dress
It sets, photovoltaic cells are above-mentioned photovoltaic cells, and cleaning running gear moves on photovoltaic cells.
Detailed description of the invention
Fig. 1 is the scheme of installation of existing photovoltaic panel in background of invention.
Fig. 2 is the enlarged drawing in Fig. 1 at A.
Fig. 3 is the connection schematic diagram in background of invention between existing connecting bridge and photovoltaic panel.
Fig. 4 be in background of invention using the tread of connecting bridge between the photovoltaic panel and connecting bridge that horizontal plane obtains
Connection schematic diagram.
Fig. 5 is the structure chart of photovoltaic cells embodiment of the present invention.
Fig. 6 is the enlarged drawing in Fig. 5 at B.
Fig. 7 be in photovoltaic cells photovoltaic array embodiment of the present invention in the light that is obtained using the tread of connecting bridge as horizontal plane
Lie prostrate the connection schematic diagram between plate and connecting bridge.
Fig. 8 is the calculating schematic diagram of angle Z in photovoltaic cells embodiment of the present invention.
Fig. 9 is the scheme of installation in photovoltaic cells embodiment of the present invention in one embodiment.
Figure 10 is the scheme of installation in photovoltaic cells embodiment of the present invention in another embodiment.
Figure 11 is the side view for cleaning running gear in photovoltaic array embodiment of the present invention and crossing slope control assembly.
Figure 12 is the perspective view that running gear is cleaned in photovoltaic array embodiment of the present invention.
Figure 13 is the explosive view that running gear is cleaned in photovoltaic array embodiment of the present invention.
Figure 14 is another embodiment that articulated section setting in running gear is cleaned in photovoltaic array embodiment of the present invention
Schematic diagram.
Figure 15 is that the structure chart removed after fuselage in running gear is cleaned in photovoltaic array embodiment of the present invention.
Figure 16 is after removing fuselage and the second wobble component in cleaning running gear in photovoltaic array embodiment of the present invention
Structure chart.
Figure 17 is the perspective view that another embodiment of running gear is cleaned in photovoltaic array embodiment of the present invention.
Figure 18 is when cleaning to go cleaning assemblies to install on the drive wheel in running gear in photovoltaic array embodiment of the present invention
Cross-sectional view.
Figure 19 is when cleaning to go cleaning assemblies to install on the drive wheel in running gear in photovoltaic array embodiment of the present invention
Explosive view.
Figure 20 is to clean running gear in photovoltaic array embodiment of the present invention to cross cleaning walking in the control assembly embodiment of slope
Schematic side view when device is climbed.
Figure 21 is to clean running gear in photovoltaic array embodiment of the present invention to cross cleaning walking in the control assembly embodiment of slope
Schematic side view when another embodiment climbing of device.
Figure 22 is to clean running gear in photovoltaic array embodiment of the present invention to cross cleaning walking in the control assembly embodiment of slope
Stereoscopic schematic diagram when device is climbed.
The invention will be further described with reference to the accompanying drawings and embodiments.
Specific embodiment
Photovoltaic array of the invention includes multiple photovoltaic panels and crosses slope control assembly, and multiple photovoltaic panels form multiple rows of photovoltaic panel
Column, it may include multiple photovoltaic cells, light in one row's photovoltaic array that crossing slope control assembly, which includes photovoltaic cells and cleaning running gear,
Volt unit includes two adjacent photovoltaic panels and connecting bridge, and connecting bridge is arranged between two adjacent photovoltaic plates.It can in photovoltaic panel
It is provided with Crane Rail, cleaning running gear moves on the Crane Rail of photovoltaic panel and in connecting bridge.
Referring to Fig. 5, photovoltaic cells 1 include the first photovoltaic panel 11, the second photovoltaic panel 13 and connecting bridge 12, in the present embodiment
In, the first photovoltaic panel 11 is obliquely installed respectively with the second photovoltaic panel 13, and inclined angle is identical, the first photovoltaic panel 11 and
Length direction Y of two photovoltaic panels 13 along the first photovoltaic panel 113It is arranged side by side.Connecting bridge 12 is arranged in the first photovoltaic panel 11 and second
Between photovoltaic panel 13, in the present embodiment, the mounting means of connecting bridge 12 are as follows: the first connecting pin of connecting bridge 12 is connect with second
End corresponds and connect respectively with the first photovoltaic panel 11, the second photovoltaic panel 13.Referring to Fig. 6, the width of the walking surface of connecting bridge 12
Direction X1With the width direction Y in the photovoltaic face of the first photovoltaic panel 111Between be provided with angle Z1, similarly, the walking of connecting bridge 12
Angle Z is provided between the width direction in the photovoltaic face of the width direction in face and the second photovoltaic panel 132, angle Z1Equal to angle Z2,
Angle Z1With angle Z2It is not equal to 0.Alternatively, between the junction between connecting bridge 12 and photovoltaic panel may be present
Gap, which must meet cleaning running gear can transit to connecting bridge 12 from photovoltaic panel, or transit to light from connecting bridge 12
Lie prostrate plate.
In the present embodiment, connecting bridge 12 includes the first linkage section 121, bridge joint sections 122 and the second linkage section 123, bridge
It connects section 123 to be formed between the first linkage section 121 and the second linkage section 123, the first linkage section 121 and the first photovoltaic panel 11 connect
Connect, the second linkage section 123 is connect with the second photovoltaic panel 13, bridge joint sections 122 be located at the first photovoltaic panel 11 and the second photovoltaic panel 13 it
Between, on the first linkage section 121, the second connection end of connecting bridge 12 is located at the second linkage section for the first connecting pin of connecting bridge 12
On 123.In the present embodiment, there are angle Z between the tread of the first linkage section 121 and the photovoltaic face of the first photovoltaic panel 111
(Z1Not equal to 0), there are angle Z between the tread of the second linkage section 123 and the photovoltaic face of the second photovoltaic panel 132, angle Z1Deng
In angle Z2, angle Z1With angle Z2Set-up mode it is identical.The first end of bridge joint sections 122 is along the width side of the first linkage section 121
It is connect to the first linkage section 121, the width direction and the second linkage section of the second ends of bridge joint sections 122 along the second linkage section 123
123 connections.Connecting bridge 12 is connect by the first linkage section 121 with the first photovoltaic panel 11, and connecting bridge 12 passes through the second linkage section 123
It is connect with the second photovoltaic panel 13, the first linkage section 121 and the second linkage section 123 are separately positioned in two pieces of photovoltaic panels, make to clean
Running gear enters in connecting bridge 12 in advance in photovoltaic panel, rapidly adapts to the connecting bridge 12 tilted.In a photovoltaic array
It include multiple row photovoltaic cells, two photovoltaic panels in each photovoltaic cells can continue adjacent photovoltaic panel, so that each column photovoltaic
Photovoltaic panel in unit is extended in one direction, and the first linkage section 121 and the second linkage section 123 of connecting bridge 12 can also be
Extend setting in photovoltaic cells.In addition, the walking surface of connecting bridge 12 can also be for plane, convex surface or concave surface etc., and connecting bridge 12
It can be the other shapes such as S type, step type in side projection.
Since there are angles between the width direction in the photovoltaic face of the width direction and photovoltaic panel of the walking surface of connecting bridge 12
Z, and the angle is not equal to 0, referring to Fig. 7, when perspective plane is in the photovoltaic face using photovoltaic panel, and between projecting direction and perspective plane
Angle be 90 degree with the difference of angle Z when so that the installation site of the connecting bridge 12 in the first photovoltaic panel 11,12 and of connecting bridge
The installation site of connecting bridge is located in same linear belt in second photovoltaic panel 13, i.e. the first linkage section 121, bridge joint sections 122 and
Two linkage sections 123 are located in same linear belt, avoid the feelings of bent angle occur between the first photovoltaic panel 11 and the second photovoltaic panel 13
Condition avoids cleaning running gear from turning in connecting bridge 12, to avoid the cleaning running gear row as caused by turning
Walk unbalanced situation.
Referring to Fig. 8, in one embodiment in the present embodiment, the first connecting pin of connecting bridge 12 is located at the first connection
In section 121, the first linkage section 121 connects the first photovoltaic panel 11, and the second connection end of connecting bridge 12 is located at the second linkage section 123
On, the second linkage section 123 is connected in the second photovoltaic panel 13, and the setting height of the first photovoltaic panel 11 is less than the second photovoltaic panel 13
Setting height, in the present embodiment, second of setting height lower than connecting bridge 12 of the first linkage section 121 of connecting bridge 12 connect
Connect section 123.It is carried out in side elevation to photovoltaic cells 1, there is vertical line N in the highest point by the first photovoltaic panel 11, is located at perpendicular
The left side of straight line N is the front of the first photovoltaic panel 11, is the rear of the first photovoltaic panel on the right of vertical line N, in the present embodiment
In, 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.First photovoltaic panel, 11 direction
Second photovoltaic panel 13 has vertical line α, has line β between the highest point of the first photovoltaic panel 11 and the highest point of the second photovoltaic panel 131, hang down
Line α and line β1Between have angle theta1, the walking surface P of connecting bridge1With line β1Vertically, angle Z11Equal to angle theta1.Referring to Fig. 9,
In this embodiment, the installation site of the first linkage section 121 or the second linkage section in photovoltaic panel 11 can be located at photovoltaic panel 11
Photovoltaic face on, or on the side wall of the side in the photovoltaic face of photovoltaic panel 11.When the highest point of the second photovoltaic panel 13 is located at
When the front of vertical line N, the calculation method of angle Z is also described above.
Alternatively, the setting height of the first photovoltaic panel 11 being arranged highly less than the second photovoltaic panel 14,
In present embodiment, the setting height of the first linkage section 121 of connecting bridge 12 is lower than the second linkage section of connecting bridge 12.To light
It lies prostrate unit 1 to carry out in side elevation, the highest point of the second photovoltaic panel 14 is located at the rear of the highest point of the first photovoltaic panel 11.First
Photovoltaic panel 11 has vertical line α towards the second photovoltaic panel 14, at this time the highest of the highest point of the first photovoltaic panel 11 and the second photovoltaic panel 14
There is line β between point2, vertical line α and line β2Between have angle theta2, the walking surface P of connecting bridge 122With line β2Vertically, angle Z12
With angle theta2The sum of be 180 °.Referring to Figure 10, in this embodiment, the first linkage section 121 or the second linkage section are in photovoltaic panel
Installation site on 11 can be located on the photovoltaic face of photovoltaic panel 11, or the side wall of the side positioned at the photovoltaic face of photovoltaic panel 11
On.
Referring to Figure 11, in cleaning running gear 2 during walking in photovoltaic panel 11, running gear 2 is cleaned along cleaning
Length direction (the X of running gear 22) (the Y in the width direction in photovoltaic panel 111)。
Referring to Figure 12 and Figure 13, cleaning running gear 2 includes fuselage 3, walking wheel assembly 4, traveling wheel wobble drive component
5, cleaning assemblies 6 and change gear assembly 7, walking wheel assembly 4, traveling wheel wobble drive component 5, cleaning assemblies 6 and change gear assembly 7 are set
It sets on fuselage 3, walking wheel assembly 4, traveling wheel wobble drive component 5 and change gear assembly 7 correspond, in the present embodiment, row
Walking wheel assembly 4 has four groups, and correspondingly traveling wheel wobble drive component 5 and change gear assembly 7 also have four groups.
Running gear 2 is being cleaned when carrying out climb and fall in connecting bridge 12, the fuselage 3 for cleaning running gear 2 is deformable, can
For being applicable in the various shape of connecting bridge 12.In the present embodiment, fuselage 3 is in quadrangle, and fuselage 3 includes two first crossbars 31
With two second crossbars 32, the length of first crossbar 31 is greater than the length of second crossbar 32, and two first crossbars 31 are arranged in parallel,
Two second crossbars 32 are arranged in parallel.Two second crossbars 32 are separately positioned between two first crossbars 31.Per adjacent the
It is articulated and connected between one cross bar 31 and second crossbar 32, in the present embodiment, second crossbar 32 is axial along second crossbar 32
Mounting rack 33 is respectively arranged on both ends, mounting rack 33 is in hollow cuboid, and one end of first crossbar 31 passes through mounting rack 33.It is logical
Hinge column is crossed across first crossbar 31, the both ends of hinge column are separately connected the bottom of second crossbar 32 Yu mounting rack 33, hinge column
It can be rotated in mounting rack 33, so that the angle between adjacent first crossbar 31 and second crossbar 32 is variable, so that cleaning row
The fuselage 3 of walking apparatus 2 can realize deformation.
Fuselage 3 is arranged in towards on the side of photovoltaic panel in walking wheel assembly 4, and in the present embodiment, walking wheel assembly 4 includes
Four traveling wheels, 41, four traveling wheel mounting bases 43 and four traction drive devices 43, traction drive device 42 are motor,
Traction drive device 42, traveling wheel 41 and traveling wheel mounting base 43 correspond, and traction drive device 42 drives traveling wheel
41 rotations travel cleaning running gear in photovoltaic panel；Traveling wheel 41 is arranged in simultaneously with traction drive device 42 walks
It takes turns in mounting base 43.
Between fuselage 3 and walking wheel assembly 4,41 wobble component of traveling wheel is used for the setting of traveling wheel wobble drive component 5
The walking surface of traveling wheel 41 is driven to carry out clock-type swing around fuselage 3.Due in fuselage 3 first crossbar 31 and second crossbar 32 it
Between be articulated and connected, when clean running gear travel to connecting bridge when, between adjacent first crossbar 31 and second crossbar 32
Angle is alterable, so that fuselage 3 is adapted to the shape of connecting bridge 12 in photovoltaic array, while cleaning the traveling wheel 41 in running gear 2
Can be swung around fuselage 3, convenient for traveling wheel 41 adapt to connecting bridge 12 tread position, convenient for connecting bridge 12 tread to row
The walking surface for walking wheel 41 is supported, so that cleaning running gear 2 is can adapt in photovoltaic array in connecting bridge 12
" bent angle " avoids cleaning running gear 2 from needing the insufficient feelings of 2 traveling wheel of cleaning running gear 41 occurred by " bent angle "
Condition.
In the present embodiment, fuselage 3 further includes two third cross bars 35 and two the 4th cross bars 36, third cross bar 35 and
Four cross bars 36 are separately positioned between two first crossbars 31, and second crossbar 32, third cross bar 35 and the 4th cross bar 36 are mutually flat
The same side of fuselage 3 is arranged in row, 32, third cross bars 35 of a second crossbar and the 4th cross bar 36 simultaneously.Walking
Wheel assembly 4 further includes swing component 44 and swing component fixing seat 45, and swing component fixing seat 45 is fixed on the 4th cross bar 36.Swing component
44 connect traveling wheels 41, and articulated section 441 is provided on swing component 44, and articulated section 441 and fuselage 3 are hinged.In the present embodiment, it puts
For moving part 44 in cross, swing component 44 includes vertical section 442 and horizontal segment 441, and articulated section 441 is the horizontal segment of swing component 44
441, the articulated section 441 of swing component 44 is articulated in swing component fixing seat 45, and the articulated section 441 of swing component 44 can be solid in swing component
Rotation in reservation 45.Alternatively, referring to Figure 14, articulated section 441 be may also be arranged in traveling wheel mounting base 43, this
When articulated section 441 can be shaft, shaft 441 connect with traveling wheel mounting base 43, and shaft 441 is articulated with the walking surface of traveling wheel 41
Minimum point and fuselage 3 between, so that the minimum point of traveling wheel 41 carries out clock-type swing around the shaft.
Traveling wheel wobble drive component 5 includes the first wobble component 8 and the second wobble component 9, traveling wheel wobble drive group
Part 5 is for driving traveling wheel 41 to swing around fuselage 3, and in the present embodiment, cleaning running gear 2 includes that four groups of traveling wheels swings are driven
Dynamic component 5, four groups of traveling wheel wobble drive components 5 respectively correspond four angles that fuselage 3 is arranged in, one group of traveling wheel wobble drive
Component 5 includes one group of first wobble component 8 and one group of second wobble component 9.
In the present embodiment, referring to Figure 13 and Figure 15, the first wobble component 8 include fixing seat 81, oscillatory gearing mechanism 82,
Screw rod 83, slide unit 84,86, two, the pull rod sleeve 87 of link block 85, two and first connecting rod 88, the setting of the first wobble component 8
In first crossbar 31, oscillatory gearing mechanism 82 is motor, and oscillatory gearing mechanism 82 and screw rod 83 are arranged in fixing seat 81, pendulum
Dynamic 82 connection wire rod 83 of driving device, screw rod 83 connect slide unit 84, and slide unit 84 connects link block 85, and the both ends of link block 85 are one by one
It is accordingly connect respectively with two pull rods 86, two pull rods 86 are connect with two sleeves 87 respectively correspondingly, the first connection
Bar 88 is each passed through two sleeves 87 along axial both ends correspondingly, and sleeve 87 can be moved along the axial direction of first connecting rod 88
Dynamic, first connecting rod 88 is connect with the vertical section 442 of swing component 44.Motor driven screw rod 83 rotates, and drives slide unit 84 mobile, sliding
The mobile drive of platform 84 connects the movement of 85, pull rod 86 and sleeve 87, to drive first connecting rod 88 and connection first
The movement of the vertical section 442 of the swing component 44 of connecting rod 88, since articulated section 441 is articulated with swing component fixing seat 45, to put
The swing of traveling wheel 41 is realized in the rotation of the mobile drive articulated section 441 of the vertical section 442 of moving part 44.Referring to Figure 13 and Figure 16,
In the present embodiment, one group of second wobble component 9 includes two the second connecting rods, 91, four limited blocks 92 and two connectors
93, the connector 93 that four limited blocks 92 are parallel to each other by two is arranged on the 4th cross bar 36, two the second connecting rods 91
It is vertical with first connecting rod 88 simultaneously to be fixedly connected, corresponding two limited blocks 92 of second connecting rod 91, each limited block 92
On be respectively arranged with pilot hole 921, second connecting rod 91 extends through two along the axial both ends of the second connecting rod 91
Pilot hole 921 in limited block 92, the second connecting rod 91 can move in the pilot hole 921 of limited block 92.In the present embodiment,
Two the second connecting rods 91 are located between two sleeves 87.In cleaning 2 driving process of running gear, clean in running gear 2
Close to connecting bridge traveling wheel 41 traveling to connecting bridge 12 the first linkage section 121 when, under the driving of oscillatory gearing mechanism 82,
Under transmission effect by the first wobble component 8, the swing of traveling wheel 41 is realized；When cleaning running gear 2 traveling to connecting bridge
Bridge joint sections on when, cleaning running gear 2 fuselage 3 start to deform, first crossbar 31 towards or away from second crossbar 32 deviate,
Variable angle between first crossbar 31 and second crossbar 32, since the fixing seat 81 in the first wobble component 8 is arranged first
On cross bar 31, thus with moving sleeve 87 along the axial movement of first connecting rod 88, while pushing the second connecting rod 91 in limited block
It moves, is fixedly connected since the second connecting rod 91 is vertical with first connecting rod 88, the second connecting rod 91 in pilot hole 921 in 92
Movement also along with the movement of first connecting rod 88, the swing of the mobile drive connection first connecting rod 88 of first connecting rod 88
The movement of the vertical section 442 of part 44 drives so that the articulated section 442 of swing component 44 be driven to rotate in swing component fixing seat 45
The swing of traveling wheel 41.In the present embodiment, third cross bar 35 is connected between the link block 85 of two group of first wobble component 8,
4th cross bar 36 is connected between the connector 93 in two group of second wobble component 9.
As another embodiment, referring to Figure 17, traveling wheel wobble drive component 5 includes torque output component 51, angle biography
Sensor 52 and control unit 53, in the present embodiment, torque output component 51 are used to drive turning for the articulated section 441 of swing component 44
Dynamic, torque output component 51 includes stepper motor 54 and worm-gear speed reducer 55, and stepper motor 54 connects worm and gear and slows down
Machine 55, worm-gear speed reducer 55 connect the horizontal segment 441 of swing component 44, and the setting of angular transducer 52 is being walked on wheel assembly 4,
In the present embodiment, traveling wheel 41 is arranged in traveling wheel mounting base 43, and angular transducer 52 is also disposed at traveling wheel mounting base
On 43, control unit 53 is connect with angular transducer 52, and control unit 53 is connect with torque output component 51.In the present embodiment
In, a hinge column 56 is respectively arranged on four worm-gear speed reducers 55, first crossbar 31 is articulated with hinge column 56, the
One cross bar 31 is connected between two hinge columns 56.The both ends of second crossbar 32 are connected separately with fixing sleeve 57, swing component 44
Horizontal segment 441 passes through fixing sleeve 57.When cleaning running gear 2 does not travel to connecting bridge 12, control unit 53 can be according to even
Connect the relative angle between the tread of bridge 12 and the photovoltaic face of photovoltaic panel come the driving numerical value of preset torque output precision 51 with
And the initial value of angular transducer 52 passes through angular transducer 52 during cleaning running gear 2 by connecting bridge 12
Self-view is detected, and the angle information of Self-variation is exported to control unit 53, control unit 53 is sent a control signal to
Torque output component 51 makes torque output component 51 that traveling wheel 41 be driven to swing corresponding angle, until angular transducer 52
Detection angles restore initial value, to realize during upper bridge, traveling wheel 41 carries out the swing of different angle.
Cleaning running gear 2 further includes change gear assembly 7, and change gear assembly 7 is for preventing cleaning running gear 2 from photovoltaic panel
It slides.Change gear assembly 7 includes multiple change gears 71 and change gear moving assembly, and change gear moving assembly drives change gear 71 to swing, referring to figure
11, during cleaning the movement of running gear 2, change gear 71 can be bonded with the side of photovoltaic panel always, and change gear 71 is along light
The side for lying prostrate plate is mobile, to prevent cleaning running gear 2 from falling from photovoltaic panel.In the present embodiment, along the length of fuselage 3
Direction is spent, the both ends of fuselage 3 are respectively arranged with change gear 71, since photovoltaic panel is obliquely installed, are provided on the highest point of photovoltaic panel
Two groups of change gear assemblies 7, to prevent cleaning running gear 2 from sliding from photovoltaic panel under the effect of gravity.In the minimum of photovoltaic panel
Two groups of change gear assemblies are may also set up on point, change gear assembly at this time includes that two change gears 71, at this time change gear 71 and traveling wheel are pacified
Dress seat 43 is fixedly connected, and is prevented in cleaning running gear 2 during traveling, may be mobile towards the highest point of photovoltaic panel.
In the present embodiment, the change gear 71 in cleaning running gear 2 during walking in photovoltaic panel, positioned at the highest point of photovoltaic panel
It is bonded with the side wall of the side of photovoltaic panel.
Change gear moving assembly includes multiple hook the 72, first fixed link 73, mobile bar 74, sliding block 75 and the second fixed link
76, change gear moving assembly is connect by 72 change gears 71 of multiple hooks with the connector 93 on the 4th cross bar 36.First fixed link 73
It is connect with change gear 71, the first fixed link 73 is connect with traveling wheel 41, and in the present embodiment, the first fixed link 73 is arranged in traveling wheel
The lower section of component 4, in the present embodiment, the first fixed link 73 connect traveling wheel 41, and the first fixed link 73 is arranged in traveling wheel
41 lower section, mobile bar 74 are connect with change gear 71, in the present embodiment, in sliding block 75 setting there are two inner hole, mobile bar 74 with
The second vertically connection of fixed link 76, mobile bar 74 and the second fixed link 76 extend through two inner holes 751 in sliding block 75.It is mobile
Bar 74 moves in sliding block 75, axial movement of the sliding block 75 along the second fixed link 76.During traveling wheel 41 is swung,
Change gear moving assembly driving change gear 71 is also swung, and change gear 71 is made to have face and being bonded on face with the side of photovoltaic panel always,
Keep the stability of cleaning running gear 2 in the process of walking.
Alternatively, the change gear 71 positioned at the highest point of photovoltaic panel is fixedly connected with walking wheel assembly 4, is walked
Traveling wheel mounting base 43 in wheel assembly 4 is fixedly connected with change gear 71, in the present embodiment, connects the connecting rod of change gear 71
711 perpendicular to traveling wheel 41 rotary centerline.When the change gear 71 in cleaning running gear 2 is fixedly connected with walking wheel assembly 4
When, the angle between change gear 71 and traveling wheel 41 remains unchanged, i.e., the relative position between change gear 71 and traveling wheel 41 is constant, this
When the position for being connected with the photovoltaic panel of connecting bridge 12 need to be moved down, but the position of connecting bridge 12 is constant, thus connecting bridge and light
The relative position variation of plate is lied prostrate, so that in traveling wheel 41 during swing, when band dynamic change gear 71 is swung, transposition under photovoltaic panel
It is 71 vacating space of change gear swung after whole, prevents the side of the photovoltaic panel at bridge joint from stopping the swing of change gear 71.
It in the present embodiment, include the first traveling wheel 46 and the second traveling wheel 47, the first walking in four traveling wheels 41
Wheel 46 and the second traveling wheel 47 are separately positioned on fuselage 3 along the both ends of the length direction of fuselage 3, the first traveling wheel 46 and the second row
Walk wheel 47 be arranged in fuselage 3 along fuselage 3 width direction it is ipsilateral.
Cleaning running gear 2 includes cleaning assemblies 6, and cleaning assemblies 6 is arranged in the first traveling wheel 46 and the second traveling wheel 47
Between.Cleaning assemblies 6 includes connection bar assembly, brush member 61, cleaning driving device 62 and fixation kit, cleans driving device
62 for driving brush member 61 to rotate, and brush member 61 is for cleaning the photovoltaic face of photovoltaic panel.In the present embodiment,
Connection bar assembly includes first connecting rod 63 and the second connecting rod 64, and brush member 61 is separately positioned on first connecting rod 63 and the
In two connecting rods 64, first connecting rod 63 and the second collinearly setting of connecting rod 64, the axial direction of first connecting rod 63, the second connecting rod
64 axial direction is identical as the length direction of fuselage 3.Referring to Figure 18 and Figure 19, fixation kit is used for cleaning assemblies 6 and traveling wheel
Component 4 is attached, and fixation kit includes connector 65, inflection point 66 is provided on connector 65, first connecting rod 63 is along first
The axial one end of connecting rod 63 is connect by connector 65 with the first traveling wheel 46 or the second traveling wheel 47,64 edge of the second connecting rod
Axial one end of second connecting rod 64 is connect by connector 65 with the first traveling wheel 46 or the second traveling wheel 47.First connection
Bar 63 and the second connecting rod 64 respectively can be between the first traveling wheel 46 and the second traveling wheels 47.In the present embodiment, it cleans
Driving device 62 is either-rotation motor, and first connecting rod 63 is along the axial other end of first connecting rod 63, the second connecting rod 64 along the
The axial other end of two connecting rod 64 is connect with either-rotation motor 62 respectively, and either-rotation motor 62 is located at first connecting rod 63 and second and connects
Between extension bar 64, first connecting rod 63 and the second connecting rod 64 simultaneously between the first traveling wheel 46 and the second traveling wheel 47,
First connecting rod 63 is collinearly connect with the second connecting rod.
Alternatively, first connecting rod 63 passes through connector 65 along the axial both ends of first connecting rod 63 respectively
It is connect with the first traveling wheel 46, the second traveling wheel 47, first connecting rod 63 can be located at the first traveling wheel 46 and the second traveling wheel 47
Between, at this point, cleaning driving device 62 is no longer either-rotation motor, the rotation of first connecting rod 63 can be driven with one-way motors, from
And the brush member on first connecting rod 63 is driven to rotate.
It is arranged on the first connecting rod 63 and the second connecting rod 64 in connection bar assembly due to brush member 61, the first row
It walks wheel 46 and the second traveling wheel 47 is separately positioned on fuselage 3 along the both ends of the length direction of fuselage 3, and first connecting rod 63,
Second connecting rod 64 is connect with the first traveling wheel 46, the second traveling wheel 47 respectively, and first connecting rod 63 is arranged in the first traveling wheel
46 and second between traveling wheel 47, so that the movement of first connecting rod 63, the second connecting rod 64 and the first traveling wheel 46, the second row
The movement for walking wheel 47 is synchronous simultaneously, and the movement also reality of first connecting rod 63, brush member 61 in the second connecting rod 64 is arranged in
It is now synchronous simultaneously with the movement of the first traveling wheel 46, the second traveling wheel 47, in cleaning running gear 2 during climbing bridge, due to
First connecting rod 63 is arranged between the first traveling wheel 46 and the second traveling wheel 47, so that between first connecting rod 63 and photovoltaic panel
It is kept fixed distance, when traveling wheel is by connecting bridge 12, first connecting rod 63 will not be generated with the side of photovoltaic panel and be contacted, together
Reason, the hairbrush being mounted on first connecting rod 63 will not be there is a situation where tilting, to avoid leading due to hairbrush Rig up error
Cause cleaning 2 span ability of the running gear and limited situation of cleaning capacity, and the both ends of first connecting rod 63 pass through have respectively
The connector 65 of inflection point 66 is connect with the first traveling wheel 46, the second traveling wheel 47, so that between traveling wheel and first connecting rod 63
Connection living, so that not interfereing with each other, being independent of each other between the rotation of traveling wheel and the rotation of brush member.
In the present embodiment, referring to Figure 11, the side of fuselage 3 towards either-rotation motor 62 is provided with shaft fixation kit 10,
Shaft fixation kit 10 includes shaft fixing piece 101, first rotating shaft 102, the second shaft 103 and shaft connecting rod 104, and shaft is fixed
Part 101 connects fuselage 3, and first rotating shaft 102 is arranged on shaft fixing piece 101, and the second shaft 103 is arranged in either-rotation motor 62
On, the both ends of shaft connecting rod 104 are hinged with first rotating shaft 102, the second shaft 103 respectively, and shaft connecting rod 104 is located at first rotating shaft
102 and second between shaft 103.
In the present embodiment, first connecting rod 63, the second shaft 103, the center of rotation of the first traveling wheel 46, the second walking
The center of rotation of wheel 47 is collinearly arranged, so that the shifting of the movement of the brush member 61 on first connecting rod 63 and the first traveling wheel 46
Synchronization extent between dynamic, the second traveling wheel 47 movement is more preferable.Similarly, due to the second connecting rod 64 and first connecting rod 63
Along the axial conllinear setting of first connecting rod 63, the rotation axis of the second connecting rod 64, the second shaft 103 and the first traveling wheel 41
The heart, the second traveling wheel 41 center of rotation be collinearly arranged.Meanwhile positioned at two walkings of the length direction along fuselage 2 of fuselage 2
Corresponding two articulated sections 441 of wheel institute and first rotating shaft 102 are collinearly arranged；Inflection point 66 in traveling wheel is corresponding with the traveling wheel
Articulated section 441 collinearly be arranged so that the deformation extent of fuselage is more preferable.
In the present embodiment, the connector 65 with inflection point 66 is single-unit formula universal joint.First traveling wheel 46 is towards
The side of two traveling wheels 47 is provided with the first hollow part, and the side of the second traveling wheel 47 towards the first traveling wheel 46 is provided with second
Hollow part 471 is provided with universal joint 65, the second hollow part of the second traveling wheel 47 in first hollow part of the first traveling wheel 41
Universal joint 65 is also equipped in 471.In this embodiment, the inflection point 66 of universal joint 65 is separately positioned on the first hollow part
In the second hollow part 471, the center line of the first traveling wheel 46 is by the inflection point in the first hollow part, in the second traveling wheel 47
Heart line is by the second hollow part 471 inflection point 66, and in the present embodiment, the first traveling wheel 46 and the second traveling wheel 47 are hollow
Cylindrical body, in 47 walking process of the first traveling wheel 46 and the second traveling wheel, the first traveling wheel 46 and the rotation of the second traveling wheel 47,
The pivot center of the first traveling wheel 46 and the second traveling wheel 47 is overlapped with its center line at this time, when cleaning 2 level of running gear is put
When setting, the pivot center of traveling wheel extends in the horizontal direction.Meanwhile in the present embodiment, the articulated section of the first traveling wheel 46 with
It is long between inflection point in length between the articulated section of second traveling wheel 47 and inflection point and the second traveling wheel in the first traveling wheel
Spend equal, the length of first connecting rod 63 is constant at this time, be equally applicable to cleaning running gear 2 in the process of walking there may be
Deformation.After one end connection universal joint 65 of first connecting rod 63, the hollow part of traveling wheel 41 is also set by bearing 67
Interior, bearing 67 can be used as revolving speed separator at this time, so that the working condition of connecting rod and the working condition of traveling wheel are not interfere with each other.
Alternatively, the center line of the first traveling wheel 46, the second traveling wheel 47 center line without with its
The inflection point 66 of corresponding two universal joints 65, first connecting rod 63 and the second connecting rod 64 are scalable at this time, are convenient for first
The length of connecting rod 63 is suitable for the cleaning issuable deformation in the process of walking of running gear 2.
In the present embodiment, fixation kit further includes encircling fastening assembly 68, and traveling wheel mounting base 43 includes the first side plate
431 and second side plate 432, the first side plate 431 is vertical with the second side plate 432 to be connect, and the first side plate 431 is horizontal positioned, encircles tight
Gu the lower section of the first side plate 431 is arranged in component 68, encircles fastening assembly 68 and be mounted on one of the first side plate 431 far from fuselage 3
On side.It is provided on traveling wheel towards the side of fixation kit and is provided with protruding block 411, which is that wheel hub extension is convex
Bittiness, encircling fastening assembly 68 includes first encircling part 681 and second and encircling part 682, and first, which encircles part 681 and second, encircles part
The first hollow portion 683 is provided between 682, wheel hub extends protruding block 411 and is connected in the first hollow portion 683 by bearing 69.
The second hollow portion 433 is provided on second side plate 432, the drive rod of traction drive device 42 sequentially passes through the second hollow portion
433, the first hollow portion 683 is connect with traveling wheel 41, and traction drive device 42 is arranged in traveling wheel mounting base 43.Similarly
Ground, the set-up mode for cleaning another group of cleaning assemblies 6 in running gear 2 are for example above-mentioned.
In the present embodiment, traveling wheel mounting base 43 is arranged in towards on the side of fuselage 3, when traveling wheel in swing component 44
When center line passes through the inflection point in the hollow part of traveling wheel, corresponding 41 top of traveling wheel of the inflection point 66 of universal joint 65
The articulated section 441 of swing component 44 is collinearly arranged, the articulated section 441 of the corresponding swing component 44 of the first traveling wheel 46, first rotating shaft 102
Collinearly it is arranged with the articulated section 441 of the corresponding swing component 44 of the second traveling wheel 47.In the first traveling wheel 46 and the second traveling wheel 47
Between, the inflection point 66 of two universal joints 65 and the second collinearly setting of shaft 103.
As another embodiment, cleaning running gear 2 includes two the first traveling wheel groups and two the second traveling wheel groups, and two
The first a traveling wheel group is arranged in the first end of length direction of the fuselage 3 along fuselage 3, and two the second traveling wheel group settings exist
Fuselage 3 is in the second end of the length direction of fuselage 3, the length direction of the first traveling wheel group and the second traveling wheel group in fuselage 3
On be oppositely arranged one by one, first walking wheel assembly include at least two first traveling wheels, the second traveling wheel group include at least two
Second traveling wheel, first connecting rod 63 are arranged between the first traveling wheel group and the second traveling wheel group being oppositely arranged.When first
When connecting rod is provided with 41 groups of the first traveling wheel between the second traveling wheel group, the movement of brush member 61 also with the first traveling wheel
Group, the movement of the second traveling wheel group are synchronous simultaneously, also can be avoided the salient angle that hairbrush touches connecting bridge.
Preferably climb to make to clean running gear 2, in the present embodiment, 2 settings on cleaning running gear
There are the first traveling wheel group and the second traveling wheel group, wherein the first traveling wheel group includes the first traveling wheel 46 and the second traveling wheel, the
Two traveling wheel groups include that third traveling wheel 48 and fourth line walk wheel, wherein the length of the first traveling wheel and the second traveling wheel along fuselage 3
Spend direction X2Setting, third traveling wheel 48 and fourth line walk wheel also along the length direction X of fuselage 32Setting.Referring to fig. 20, in this reality
It applies in example, the first traveling wheel 46 and third traveling wheel 47 are respectively along the width direction Y of fuselage 32Setting, the first traveling wheel 46 and the
Three traveling wheels 410 be arranged in fuselage 3 along fuselage 3 width direction it is ipsilateral, between the first traveling wheel 46 and third traveling wheel 410
Spacing be greater than connecting bridge length of grade.Spacing between first traveling wheel 46 and third traveling wheel 410 can for 300mm~
3000mm, wherein the optimal spacing between the first traveling wheel 46 and third traveling wheel 410 can be 1000mm~2100mm.It is cleaning
During running gear 2 is climbed, since the spacing between the first traveling wheel 46 and third traveling wheel 410 is greater than connecting bridge 12
Length of grade 122, so that being in the slope of connecting bridge 12 in both the first traveling wheel group of fuselage 3 or the second traveling wheel group one
On, the second traveling wheel group or the first traveling wheel group are in photovoltaic panel at this time, by clean 2 part of running gear pressure share to
Photovoltaic panel, avoids entirely cleaning running gear 2 and is all located on the slope of connecting bridge 12, goes up a slope to reduce cleaning running gear 2
Required driving force, while the traveling wheel group in the photovoltaic panel can be provided for the traveling wheel group in 12 slope surface of connecting bridge compared with
Big thrust or pulling force, while the traveling wheel group in slope surface gives the active force increase of the traveling wheel group in photovoltaic panel
The adhesive force of the orbital plane in traveling wheel group and photovoltaic panel in photovoltaic panel, makes cleaning running gear 2 be easier to go up a slope, climbs
Ability is more preferable.Alternatively, cleaning running gear 2 includes the first traveling wheel group 48 and the second traveling wheel group 49, ginseng
See Figure 21, fuselage 3 is arranged in along the same side of the length direction of fuselage 3 in the first traveling wheel group 48 and the second traveling wheel group 49,
First traveling wheel group 48 includes the first traveling wheel 481 and the second traveling wheel 482, and the second 49 groups of traveling wheel includes third traveling wheel
491 walk wheel 492 with fourth line, and the second traveling wheel 482 is disposed adjacent with third traveling wheel 491, the second traveling wheel 482 and the third line
Walk the length of grade that the spacing between wheel 491 is greater than connecting bridge 12.Fuselage 3 can be with the first traveling wheel group 48, the second traveling wheel group at this time
49 is hinged.Spacing between first traveling wheel 482 and third traveling wheel 491 can be 300mm~3000mm, wherein the first traveling wheel
Optimal spacing between 482 and third traveling wheel 491 can be 1000mm~2100mm.
In the present embodiment, connecting bridge 12 is arranged between two pieces of photovoltaic panels, the first traveling wheel group and the second traveling wheel group
Between spacing be greater than the monolithic photovoltaic panel adjacent with connecting bridge 12 width, can reduce cleaning running gear itself weight pair
The pressure of monolithic photovoltaic panel reduces the injury to photovoltaic panel.
When cleaning the traveling of running gear 2 to the first linkage section 121 in photovoltaic panel 11, driven by the first wobble component 8
Traveling wheel 41 is swung, until traveling wheel 41 stops pendulum when the walking surface of traveling wheel 41 is bonded with the tread of connecting bridge 12
It is dynamic.
Referring to fig. 22, when cleaning running gear 2 and going on bridge joint sections 122 close to the front side of bridge joint sections 122 wheel, cleaning walking
Device 2 is changing into " parallelogram " by " rectangle ".Since the first wobble component 8 connects first crossbar 31, deformed in fuselage 3
In the process, axial direction of the angle change drive sleeve 87 along first connecting rod 63 between adjacent first crossbar 31 and second crossbar 32
It is mobile, while pushing the movement of the second connecting rod 64 being fixedly connected vertical with first connecting rod 63, the shifting of the second connecting rod 64
The dynamic movement for driving first connecting rod 63, so that the movement for the swing component 44 connecting with first connecting rod 63 is driven, to realize
Interior side oscillation of the traveling wheel 41 to cleaning running gear 2, until angle is not between adjacent first crossbar 31 and second crossbar 32
It stops swinging when changing again.
When the rear side wheel for cleaning running gear 2 goes on bridge joint sections 122, cleaning running gear 2 is become by " parallelogram "
It is melted into " rectangle ".The variation of angle drives traveling wheel 41 towards cleaning again between adjacent first crossbar 31 and second crossbar 32
The outer side oscillation of running gear 2 until the rear side wheel of cleaning running gear 2 leaves bridge joint sections 122, and goes on the second linkage section
When 123, fuselage 3 stops swinging when becoming " rectangle " again.
Running gear 2 is cleaned before leaving the second linkage section 123, is swung by the first wobble component 8 driving traveling wheel 41, directly
Tread to traveling wheel 41 is bonded with the walking track in photovoltaic panel 11, complete cleaning 2 Shang Qiao of running gear and lower bridge it is complete
Process.
There are angle Z between the width direction in the photovoltaic face of the width direction and photovoltaic panel of the walking surface of connecting bridge 12, and
And the angle is not equal to 0, when perspective plane is in the photovoltaic face using photovoltaic panel, and is projected with projecting direction, the first photovoltaic
The installation site of connecting bridge 12 is located at same in the installation site of connecting bridge 12 on plate 11, connecting bridge 12 and the second photovoltaic panel 13
On straight line, avoid the case where bent angle occur between the first photovoltaic panel 11 and the second photovoltaic panel 13, to avoid cleaning walking dress
2 are set to turn；And it cleans and is articulated and connected between the first crossbar 31 and second crossbar 32 of the fuselage 3 of running gear 2, when clear
When in the clean traveling to connecting bridge 12 of running gear 2, the angle between adjacent first crossbar 31 and second crossbar 32 is alterable, makes
Fuselage 3 adapt to photovoltaic array in connecting bridge 12 various shape, while clean the traveling wheel 41 in running gear 2 can around fuselage into
Row clock-type is swung, and the angle of the tread of connecting bridge 12 is adapted to convenient for traveling wheel 41, makes the tread of connecting bridge 12 to traveling wheel
41 are supported, so that cleaning running gear 2 can adapt to the various shape in connecting bridge 12 in photovoltaic array, avoid
Cleaning running gear 2 needs the hypodynamic situation of required driving by the cleaning running gear 2 occurred when connecting bridge 12.
Finally it is emphasized that the above description is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is right
For those skilled in the art, the present invention can have various change and change, all within the spirits and principles of the present invention,
Any modification, equivalent substitution, improvement and etc. done, should all be included in the protection scope of the present invention.
Claims (9)
1. connecting bridge installation method, it is characterised in that: connecting bridge is between the first photovoltaic panel and the second photovoltaic panel, the connection
Angle Z is provided between the width direction in the photovoltaic face of the width direction of the walking surface of bridge and first photovoltaic panel1, the company
It connects and is provided with angle Z between the width direction of the walking surface of bridge and the width direction in the photovoltaic face of second photovoltaic panel2, described
Angle Z1Equal to the angle Z2, the angle Z1With the angle Z2It is not equal to 0.
2. connecting bridge installation method according to claim 1, it is characterised in that:
First photovoltaic panel and second photovoltaic panel are arranged side by side along the length direction of first photovoltaic panel, the connection
Bridge includes the first linkage section, bridge joint sections and the second linkage section, and first linkage section is connect with first photovoltaic panel, described
Second linkage section is connect with second photovoltaic panel, the bridge joint sections be located at first linkage section and second linkage section it
Between, the bridge joint sections are between first photovoltaic panel and second photovoltaic panel, and the first end of the bridge joint sections is described in
The width direction of first linkage section is connect with first linkage section, and the second end of the bridge joint sections is along second linkage section
Width direction is connect with second linkage section.
3. connecting bridge installation method according to claim 1 or 2, it is characterised in that:
The setting of first photovoltaic panel is highly less than the setting height of the second photovoltaic panel, in side elevation, second light
The highest point of volt plate is located at the front of the highest point of first photovoltaic panel；
First photovoltaic panel has vertical line α, the highest point of first photovoltaic panel and second light to second photovoltaic panel
Lying prostrate between the highest point of plate has line β, there is angle theta between the vertical line α and line β, the walking surface of the connecting bridge with it is described
Line β is vertical, the angle Z1Equal to the angle theta.
4. connecting bridge installation method according to claim 1 or 2, it is characterised in that:
The setting of first photovoltaic panel is highly less than the setting height of the second photovoltaic panel, in side elevation, second light
The highest point of volt plate is located at the rear of the highest point of first photovoltaic panel；
First photovoltaic panel has vertical line α, the highest point of first photovoltaic panel and second light to second photovoltaic panel
Lying prostrate between the highest point of plate has line β, there is angle theta between the vertical line α and line β, the walking surface of the connecting bridge with it is described
Line β is vertical, the angle Z1It is 180 ° with the sum of the angle theta.
5. photovoltaic cells, it is characterised in that: the photovoltaic cells include the first photovoltaic panel, the second photovoltaic panel and connecting bridge, institute
The both ends for stating connecting bridge are connect with first photovoltaic panel, second photovoltaic panel respectively, the width of the walking surface of the connecting bridge
Angle Z is provided between degree direction and the width direction in the photovoltaic face of first photovoltaic panel1, the walking surface of the connecting bridge
Angle Z is provided between the width direction in the photovoltaic face of width direction and second photovoltaic panel2, the angle Z1Equal to described
Angle Z2, the angle Z1With the angle Z2It is not equal to 0.
6. photovoltaic cells according to claim 5, it is characterised in that:
The connecting bridge includes the first linkage section, bridge joint sections and the second linkage section, first linkage section and first light
Plate connection is lied prostrate, second linkage section is connect with second photovoltaic panel, and the bridge joint sections are located at first photovoltaic panel and institute
It states between the second photovoltaic panel, width direction and first linkage section of the first end of the bridge joint sections along first linkage section
Connection, the second end of the bridge joint sections are connect along the width direction of second linkage section with second linkage section.
7. photovoltaic cells according to claim 5 or 6, it is characterised in that:
The setting of first photovoltaic panel is highly less than the setting height of the second photovoltaic panel, in side elevation, second light
The highest point of volt plate is located at the front of the highest point of first photovoltaic panel；
First photovoltaic panel has vertical line α, the highest point of first photovoltaic panel and second light to second photovoltaic panel
Lying prostrate between the highest point of plate has line β, there is angle theta between the vertical line α and line β, the walking surface of the connecting bridge with it is described
Line β is vertical, the angle Z1Equal to the angle theta.
8. photovoltaic cells according to claim 5 or 6, it is characterised in that:
The setting of first photovoltaic panel is highly less than the setting height of the second photovoltaic panel, in side elevation, second light
The highest point of volt plate is located at the rear of the highest point of first photovoltaic panel；
First photovoltaic panel has vertical line α, the highest point of first photovoltaic panel and second light to second photovoltaic panel
Lying prostrate between the highest point of plate has line β, there is angle theta between the vertical line α and line β, the walking surface of the connecting bridge with it is described
Line β is vertical, the angle Z1It is 180 ° with the sum of the angle theta.
9. photovoltaic array, it is characterised in that: the photovoltaic array includes multiple photovoltaic cells and cleaning running gear, the light
Volt unit is the described in any item photovoltaic cells of claim 5 to 8, and the cleaning running gear is moved up in the photovoltaic cells
It is dynamic.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910533396.9A CN110165995A (en) | 2019-06-19 | 2019-06-19 | Connecting bridge installation method, photovoltaic cells and photovoltaic array |
| PCT/CN2020/095704 WO2020253625A1 (en) | 2019-06-19 | 2020-06-12 | Traveling cleaning device, connection bridge installation method, climbing control assembly, photovoltaic unit, and photovoltaic array |
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| CN201910533396.9A CN110165995A (en) | 2019-06-19 | 2019-06-19 | Connecting bridge installation method, photovoltaic cells and photovoltaic array |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110535423A (en) * | 2019-09-30 | 2019-12-03 | 北京中电博顺智能设备技术有限公司 | A kind of photovoltaic plate array attachment device |
| WO2020253625A1 (en) * | 2019-06-19 | 2020-12-24 | 崔正磊 | Traveling cleaning device, connection bridge installation method, climbing control assembly, photovoltaic unit, and photovoltaic array |
| CN113522916A (en) * | 2021-06-20 | 2021-10-22 | 深圳怪虫机器人有限公司 | Full-automatic cleaning photovoltaic array layout method |
| CN114888021A (en) * | 2022-04-21 | 2022-08-12 | 中国电建集团华东勘测设计研究院有限公司 | Cleaning device, cleaning system and cleaning method for photovoltaic panel |
-
2019
- 2019-06-19 CN CN201910533396.9A patent/CN110165995A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020253625A1 (en) * | 2019-06-19 | 2020-12-24 | 崔正磊 | Traveling cleaning device, connection bridge installation method, climbing control assembly, photovoltaic unit, and photovoltaic array |
| CN110535423A (en) * | 2019-09-30 | 2019-12-03 | 北京中电博顺智能设备技术有限公司 | A kind of photovoltaic plate array attachment device |
| CN113522916A (en) * | 2021-06-20 | 2021-10-22 | 深圳怪虫机器人有限公司 | Full-automatic cleaning photovoltaic array layout method |
| CN114888021A (en) * | 2022-04-21 | 2022-08-12 | 中国电建集团华东勘测设计研究院有限公司 | Cleaning device, cleaning system and cleaning method for photovoltaic panel |
| CN114888021B (en) * | 2022-04-21 | 2023-07-07 | 中国电建集团华东勘测设计研究院有限公司 | Cleaning device, cleaning system and cleaning method for photovoltaic panel |
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Application publication date: 20190823 |