Cleaning walking device and photovoltaic array

Abstract

The present invention provides a cleaning walking device and a photovoltaic array. The photovoltaic array comprises a cleaning walking device, the cleaning walking device comprises a fuselage, a walking wheel assembly and a walking wheel swinging driving assembly, the walking wheel assembly comprises a plurality of walking wheels, the walking wheel assembly is connected to the fuselage, the fuselage is deformable, the walking wheel swinging assembly is used to drive the walking surface of the walking wheel to swing around the fuselage, when the cleaning walking device travels onto a connecting bridge, the fuselage can change its shape when crossing the slope of the connecting bridge, so as to adapt to the shape of the connecting bridge in the photovoltaic array, and at the same time, the walking wheels in the cleaning walking device can swing in a bell-like manner around the fuselage, so as to facilitate the walking wheels to adapt to the angle of the walking surface of the connecting bridge, so that the walking surface of the connecting bridge supports the walking wheels, so that the cleaning walking device can adapt to various shapes of the connecting bridge in the photovoltaic array, and avoid the situation where the driving force of the cleaning walking device is insufficient when the cleaning walking device passes through the connecting bridge.

Description

Technical Field

[0001] The invention relates to the field of solar energy equipment, in particular to a cleaning walking device and a photovoltaic array. Background Art

[0002] In the existing photovoltaic panel array, each column of photovoltaic panel assemblies includes multiple photovoltaic panels. In a column of photovoltaic panel assemblies, the photovoltaic panels are arranged at an angle, and according to the actual environment of the photovoltaic panels, a connecting bridge is arranged between two adjacent photovoltaic panels and between two adjacent photovoltaic panels. Since there may be a height difference and front-to-back misalignment between two adjacent photovoltaic panels, the low photovoltaic panel, the high photovoltaic panel and the connecting section between the above two form a "curve" with a slope, which requires that when the cleaning robot walking on this path passes through this path, the walking wheels of the cleaning robot must have a "turning action", but this "turning action" will cause the cleaning robot to have an unbalanced walking wheel resistance during the walking process, so that the walking mechanism will go astray, and the walking wheels will derail until one of the walking wheels is stuck and cannot continue to walk; at the same time, this "curve" with a slope will cause the front and rear walking wheels of the walking mechanism to be in different path bridge sections respectively, and the walking wheels cannot contact the bridge section surface, causing the driving force of the cleaning robot to decrease, making it difficult for the cleaning robot to go uphill. Summary of the invention

[0003] The first object of the present invention is to provide a cleaning walking device that can adapt to the shape of the connecting bridge.

[0004] A second object of the present invention is to provide a photovoltaic array having a cleaning walking device that can adapt to the shape of a connecting bridge.

[0005] In order to achieve the above-mentioned first purpose, the cleaning walking device provided by the present invention includes a body, a walking wheel assembly and a walking wheel swing drive assembly, the walking wheel assembly includes multiple walking wheels, the walking wheel assembly is connected to the body, the body is deformable, and the walking wheel swing drive assembly is used to drive the walking surface of the walking wheel to swing around the body.

[0006] It can be seen from the above scheme that when the cleaning walking device travels onto the connecting bridge, the fuselage can change shape when crossing the slope of the connecting bridge, so as to adapt to the shape of the connecting bridge in the photovoltaic array. At the same time, the walking wheels in the cleaning walking device can swing around the fuselage in a bell-like manner, so that the walking wheels can adapt to the angle of the running surface of the connecting bridge, so that the running surface of the connecting bridge supports the walking wheels, thereby enabling the cleaning walking device to adapt to various shapes of the connecting bridge in the photovoltaic array, avoiding insufficient driving force of the cleaning walking device when the cleaning walking device passes through the connecting bridge.

[0007] A further solution is that the running wheel assembly includes a swinging member, the swinging member is connected to the running wheel, and a hinged portion is provided on the swinging member, and the hinged portion is hinged to the fuselage.

[0008] It can be seen that the swing member is connected to the running wheel, and the hinged part on the swing member is hinged to the fuselage. The hinged part on the swing member is driven to rotate relative to the fuselage, driving the running wheel connected to the swing member to swing around the fuselage.

[0009] A further solution is that the walking wheel swing drive assembly includes a first swing assembly, the first swing assembly includes a swing drive device, a pull rod and a first connecting rod, the first connecting rod is connected to the swing member, the pull rod is connected to the first connecting rod, and the swing drive device drives the pull rod to move.

[0010] It can be seen that the swing drive assembly drives the pull rod to move. Since the pull rod is connected to the first connecting rod, and the first connecting rod is connected to the swing member, the movement of the pull rod drives the movement of the first connecting rod, and the movement of the first connecting rod drives the hinge part on the swing member to rotate.

[0011] A further solution is that the fuselage includes at least two first cross bars and at least two second cross bars, the second cross bar is arranged between the two second cross bars, and the first cross bar is hingedly connected to the second cross bar; the walking wheel swing drive assembly includes a second swing assembly, the second swing assembly includes a second connecting rod, and the first connecting rod is vertically connected to the second connecting rod; the change in the angle between adjacent first cross bars and second cross bars drives the pull rod to move along the axial direction of the first connecting rod; the change in the angle between adjacent first cross bars and second cross bars drives the second connecting rod to move.

[0012] It can be seen that when the first cross bar and the second cross bar change, the driving pull rod moves along the axial direction of the first connecting rod, and also drives the second connecting rod to move. Since the second connecting rod is connected to the first connecting rod, it drives the first connecting rod to rotate, thereby driving the swinging member connected to the first connecting rod to swing.

[0013] A further solution is that the second swing assembly further includes a limit block, the second connecting rod passes through the limit block, and the second connecting rod moves in the limit block.

[0014] It can be seen that the limiting block limits the moving direction of the second connecting rod, so that during the deformation of the fuselage, the rotating block can rotate accurately, thereby driving the swinging member to swing.

[0015] A further solution is that the driving swing drive assembly includes a third swing assembly, the third swing assembly includes a torque output assembly, an angle sensor and a control unit, the angle sensor is arranged on the walking wheel assembly, the control unit is connected to the angle sensor, the torque output assembly drives the swing part to rotate around the hinge, and the control unit is connected to the torque output assembly.

[0016] It can be seen that when the cleaning walking device has not yet traveled onto the connecting bridge, the control unit can preset the driving value of the torque output component and the initial value of the angle sensor according to the relative angle between the traveling surface of the connecting bridge and the photovoltaic surface of the photovoltaic panel. In the process of the cleaning walking device passing through the connecting bridge, the angle sensor detects its own angle and outputs its own changing angle information to the control unit. The control unit sends a control signal to the torque output component, so that the torque output component drives the walking wheel to swing to a corresponding angle until the angle detected by the angle sensor returns to the initial value.

[0017] A further solution is that the cleaning walking device also includes a hanging wheel assembly, the hanging wheel assembly includes at least one hanging wheel and a hanging wheel moving assembly, the hanging wheel is arranged on the walking wheel assembly, the hanging wheel moving assembly drives the hanging wheel to swing around the fuselage, the hanging wheel moving assembly includes a first fixed rod, a moving rod, a slider and a second fixed rod, the first fixed rod is connected to the hanging wheel, the first fixed rod is connected to the walking wheel, the moving rod is connected to the hanging wheel, the moving rod is vertically connected to the second fixed rod, the moving rod and the second fixed rod respectively pass through the slider, the moving rod moves in the slider, and the slider moves along the axial direction of the second fixed rod.

[0018] It can be seen that during the movement of the cleaning walking device, the hanging wheel is set on the side of the photovoltaic panel to prevent the cleaning walking device from slipping on the inclined photovoltaic panel. During the swinging of the walking wheel, the hanging wheel moving assembly drives the hanging wheel to swing as well, so that the hanging wheel is always in surface-to-surface contact with the side of the photovoltaic panel, thereby maintaining the stability of the cleaning walking device during the walking process.

[0019] A further solution is that the cleaning walking device also includes a hanging wheel assembly, the hanging wheel assembly includes at least one hanging wheel, the walking wheel assembly includes a walking wheel mounting seat, the walking wheel is mounted on the walking wheel mounting seat, and the hanging wheel is fixedly connected to the walking wheel mounting seat.

[0020] It can be seen that the hanging wheel is fixedly connected to the walking wheel mounting seat in the walking wheel assembly, so that the angle between the hanging wheel and the walking wheel remains unchanged. At the same time, the hanging wheel is still set on the side of the photovoltaic panel to prevent the cleaning walking device from slipping off the photovoltaic panel.

[0021] A further solution is that the walking wheel assembly includes a swinging member, which is connected between the fuselage and the walking wheel. The swinging member is provided with a hinged portion, which is hinged to the walking wheel, and the hinged portion is arranged between the lowest point of the walking surface of the walking wheel and the fuselage.

[0022] It can be seen that the hinged portion of the swinging member is connected to the running wheel. When the fuselage is deformed, the hinged portion can be driven to move, thereby driving the running wheel hinged to the hinged portion to swing.

[0023] To achieve the second purpose mentioned above, the photovoltaic array provided by the present invention includes multiple photovoltaic panels and a slope control component, the slope control component includes a photovoltaic unit and a cleaning walking device, the photovoltaic unit includes a first photovoltaic panel, a second photovoltaic panel and a connecting bridge, the connecting bridge is arranged between the first photovoltaic panel and the second photovoltaic panel, the cleaning walking device walks on the photovoltaic unit and the photovoltaic panel, and the cleaning walking device is the above-mentioned cleaning walking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the photovoltaic unit in the slope control component of the cleaning walking device in the photovoltaic array embodiment of the present invention.

[0025] Figure 2 yes Figure 1 Enlarged view of point B in the middle.

[0026] Figure 3 It is a schematic diagram of the connection between the photovoltaic panel and the connecting bridge obtained by taking the running surface of the connecting bridge as the horizontal plane in the slope control component of the cleaning walking device in the photovoltaic array embodiment of the present invention.

[0027] Figure 4 It is a schematic diagram of calculating the angle Z in the slope control component of the cleaning walking device in the photovoltaic array embodiment of the present invention.

[0028] Figure 5 It is a schematic diagram of the installation of a photovoltaic unit in one implementation manner of a slope control component of a cleaning walking device in a photovoltaic array embodiment of the present invention.

[0029] Figure 6 It is a schematic diagram of the installation of another implementation of the photovoltaic unit in the slope control assembly of the cleaning walking device in the photovoltaic array embodiment of the present invention.

[0030] Figure 7 It is a side view of a slope control component of a cleaning walking device in an embodiment of a photovoltaic array of the present invention.

[0031] Figure 8 It is a stereogram of an embodiment of a cleaning walking device of the present invention.

[0032] Fig. 9 It is an exploded view of an embodiment of a cleaning walking device of the present invention.

[0033] Fig.10 It is a schematic diagram of another embodiment of the arrangement of the hinged portion in the cleaning walking device of the present invention.

[0034] Fig.11 It is a structural diagram of the cleaning walking device embodiment of the present invention after the fuselage is removed.

[0035] Fig.12It is a structural diagram of an embodiment of the cleaning walking device of the present invention after removing the fuselage and the second swinging assembly.

[0036] Fig.13 It is a stereoscopic diagram of another embodiment of the cleaning walking device of the present invention.

[0037] Fig.14 It is a cross-sectional view of a cleaning component installed on a traveling wheel in an embodiment of a cleaning traveling device of the present invention.

[0038] Fig.15 It is an exploded view of the cleaning component when it is installed on the traveling wheel in the embodiment of the cleaning traveling device of the present invention.

[0039] Fig.16 It is a side view schematic diagram of a cleaning travel device climbing a slope in a cleaning travel device slope control assembly in an embodiment of a photovoltaic array of the present invention.

[0040] Fig.17 It is a side view schematic diagram of another embodiment of the cleaning travel device in the slope control assembly of the cleaning travel device in the photovoltaic array embodiment of the present invention when climbing a slope.

[0041] Fig.18 It is a three-dimensional schematic diagram of the cleaning travel device climbing a slope in the cleaning travel device over-slope control assembly in the photovoltaic array embodiment of the present invention.

[0042] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0043] The photovoltaic array of the present invention includes a plurality of photovoltaic panels and a slope control assembly, wherein the plurality of photovoltaic panels form a plurality of rows of photovoltaic panels, the slope control assembly includes a photovoltaic unit and a cleaning travel device, a row of photovoltaic arrays may include a plurality of photovoltaic units, the photovoltaic unit includes two adjacent photovoltaic panels and a connecting bridge, and the connecting bridge is arranged between the two adjacent photovoltaic panels. A driving track is arranged on the photovoltaic panel, and the cleaning travel device travels on the driving track of the photovoltaic panel and on the connecting bridge.

[0044] See also Figure 1 The photovoltaic unit 1 includes a first photovoltaic panel 11, a second photovoltaic panel 13 and a connecting bridge 12. In this embodiment, the first photovoltaic panel 11 and the second photovoltaic panel 13 are respectively tilted and tilted at the same angle. The first photovoltaic panel 11 and the second photovoltaic panel 13 are arranged side by side along the length direction Y3 of the first photovoltaic panel 11. The connecting bridge 12 is arranged between the first photovoltaic panel 11 and the second photovoltaic panel 13. In this embodiment, the connecting bridge 12 is installed in such a way that the first connecting end and the second connecting end of the connecting bridge 12 are connected to the first photovoltaic panel 11 and the second photovoltaic panel 13 in a one-to-one correspondence. Figure 2, an angle Z1 is set between the width direction X1 of the walking surface of the connecting bridge 12 and the width direction Y1 of the photovoltaic surface of the first photovoltaic panel 11. Similarly, an angle Z2 is set between the width direction of the walking surface of the connecting bridge 12 and the width direction of the photovoltaic surface of the second photovoltaic panel 13. The angle Z1 is equal to the angle Z2, and the angle Z1 and the angle Z2 are not equal to 0. As another embodiment, there may be a gap at the connection between the connecting bridge 12 and the photovoltaic panel, and the gap must be sufficient to allow the cleaning walking device to transition from the photovoltaic panel to the connecting bridge 12, or from the connecting bridge 12 to the photovoltaic panel.

[0045] In the present embodiment, the connecting bridge 12 comprises a first connecting section 121, a bridging section 122 and a second connecting section 123. The bridging section 123 is formed between the first connecting section 121 and the second connecting section 123. The first connecting section 121 is connected to the first photovoltaic panel 11, the second connecting section 123 is connected to the second photovoltaic panel 13, the bridging section 122 is located between the first photovoltaic panel 11 and the second photovoltaic panel 13, the first connecting end of the connecting bridge 12 is on the first connecting section 121, and the second connecting end of the connecting bridge 12 is located on the second connecting section 123. In the present embodiment, there is an angle Z1 (Z1 is not equal to 0) between the running surface of the first connecting section 121 and the photovoltaic surface of the first photovoltaic panel 11, there is an angle Z2 between the running surface of the second connecting section 123 and the photovoltaic surface of the second photovoltaic panel 13, the angle Z1 is equal to the angle Z2, and the angle Z1 and the angle Z2 are set in the same manner. The first end of the bridge section 122 is connected to the first connection section 121 along the width direction of the first connection section 121, and the second end of the bridge section 122 is connected to the second connection section 123 along the width direction of the second connection section 123. The connecting bridge 12 is connected to the first photovoltaic panel 11 through the first connection section 121, and the connecting bridge 12 is connected to the second photovoltaic panel 13 through the second connection section 123. The first connection section 121 and the second connection section 123 are respectively arranged on two photovoltaic panels, so that the cleaning walking device enters the connecting bridge 12 in advance on the photovoltaic panel and quickly adapts to the tilted connecting bridge 12. A photovoltaic array includes multiple columns of photovoltaic units, and the two photovoltaic panels in each photovoltaic unit can continue to be adjacent to the photovoltaic panel, so that the photovoltaic panels in each column of photovoltaic units extend in one direction, and the first connection section 121 and the second connection section 123 of the connecting bridge 12 can also be extended in the photovoltaic unit. In addition, the walking surface of the connecting bridge 12 can also be a plane, a convex surface or a concave surface, and the connecting bridge 12 can be an S-shaped, a stepped shape or other shapes in the side projection.

[0046] Since there is an angle Z between the width direction of the walking surface of the connecting bridge 12 and the width direction of the photovoltaic surface of the photovoltaic panel, and the angle is not equal to 0, see Figure 3When the photovoltaic surface of the photovoltaic panel is used as the projection surface, and the angle between the projection direction and the projection surface is 90 degrees and the difference between the angle Z, the installation position of the connecting bridge 12 on the first photovoltaic panel 11, the connecting bridge 12 and the installation position of the connecting bridge on the second photovoltaic panel 13 are located on the same straight line belt, that is, the first connecting section 121, the bridging section 122 and the second connecting section 123 are located on the same straight line belt, avoiding the occurrence of a bend between the first photovoltaic panel 11 and the second photovoltaic panel 13, avoiding the cleaning walking device from turning on the connecting bridge 12, and thus avoiding the unbalanced walking of the cleaning walking device caused by turning.

[0047] See also Figure 4 In one implementation of the present embodiment, the first connection end of the connection bridge 12 is located on the first connection segment 121, the first connection segment 121 is connected to the first photovoltaic panel 11, the second connection end of the connection bridge 12 is located on the second connection segment 123, the second connection segment 123 is connected to the second photovoltaic panel 13, the setting height of the first photovoltaic panel 11 is less than the setting height of the second photovoltaic panel 13, in the present implementation, the setting height of the first connection segment 121 of the connection bridge 12 is lower than the second connection segment 123 of the connection bridge 12. In the side projection of the photovoltaic unit 1, there is a vertical line N passing through the highest point of the first photovoltaic panel 11, the left side of the vertical line N is the front of the first photovoltaic panel 11, and the right side of the vertical line N is the rear of the first photovoltaic panel. In the present embodiment, the vertical line N passes through the highest point of the first photovoltaic panel 11 and the highest point of the second photovoltaic panel 13 at the same time. The first photovoltaic panel 11 has a vertical line α toward the second photovoltaic panel 13, the highest point of the first photovoltaic panel 11 and the highest point of the second photovoltaic panel 13 are connected by a line β1, an angle θ1 is formed between the vertical line α and the line β1, and the walking surface P1 of the connecting bridge is perpendicular to the line β1, and the angle Z 11 is equal to the angle θ1. Figure 5 In this embodiment, the installation position of the first connecting segment 121 or the second connecting segment on the photovoltaic panel 11 can be located on the photovoltaic surface of the photovoltaic panel 11, or on the side wall of one side of the photovoltaic surface of the photovoltaic panel 11. When the highest point of the second photovoltaic panel 13 is located in front of the vertical line N, the calculation method of the angle Z is also as described above.

[0048] As another embodiment, the setting height of the first photovoltaic panel 11 is less than the setting height of the second photovoltaic panel 14. In this embodiment, the setting height of the first connecting section 121 of the connecting bridge 12 is lower than the second connecting section of the connecting bridge 12. In the side projection of the photovoltaic unit 1, the highest point of the second photovoltaic panel 14 is located behind the highest point of the first photovoltaic panel 11. There is a vertical line α from the first photovoltaic panel 11 to the second photovoltaic panel 14. At this time, there is a connecting line β2 between the highest point of the first photovoltaic panel 11 and the highest point of the second photovoltaic panel 14. There is an angle θ2 between the vertical line α and the connecting line β2. The walking surface P2 of the connecting bridge 12 is perpendicular to the connecting line β2, and the angle Z is θ2.12 The sum of the angle θ2 is 180°. Figure 6 In this embodiment, the installation position of the first connecting segment 121 or the second connecting segment on the photovoltaic panel 11 can be located on the photovoltaic surface of the photovoltaic panel 11, or on the side wall of one side of the photovoltaic surface of the photovoltaic panel 11.

[0049] See also Figure 7 When the cleaning walking device 2 moves on the photovoltaic panel 11 , the cleaning walking device 2 spans over the width direction ( Y1 ) of the photovoltaic panel 11 along the length direction ( X2 ) of the cleaning walking device 2 .

[0050] See also Figure 8 and Fig. 9 The cleaning walking device 2 includes a body 3, a walking wheel assembly 4, a walking wheel swing driving assembly 5, a cleaning assembly 6 and a hanging wheel assembly 7. The walking wheel assembly 4, the walking wheel swing driving assembly 5, the cleaning assembly 6 and the hanging wheel assembly 7 are arranged on the body 3. The walking wheel assembly 4, the walking wheel swing driving assembly 5 and the hanging wheel assembly 7 correspond to each other one by one. In this embodiment, there are four groups of walking wheel assemblies 4, and correspondingly, there are also four groups of walking wheel swing driving assemblies 5 and hanging wheel assemblies 7.

[0051] When the cleaning walking device 2 goes up and down the connecting bridge 12, the body 3 of the cleaning walking device 2 can be deformed and can be used to adapt to various shapes of the connecting bridge 12. In this embodiment, the body 3 is quadrilateral, and the body 3 includes two first cross bars 31 and two second cross bars 32. The length of the first cross bar 31 is greater than the length of the second cross bar 32. The two first cross bars 31 are arranged in parallel, and the two second cross bars 32 are arranged in parallel. The two second cross bars 32 are respectively arranged between the two first cross bars 31. Each adjacent first cross bar 31 is hingedly connected to the second cross bar 32. In this embodiment, the second cross bar 32 is respectively provided with a mounting frame 33 at both ends along the axial direction of the second cross bar 32. The mounting frame 33 is a hollow rectangular parallelepiped, and one end of the first cross bar 31 passes through the mounting frame 33. The first cross bar 31 is passed through the hinge column, and the two ends of the hinge column are respectively connected to the second cross bar 32 and the bottom of the mounting frame 33. The hinge column can rotate in the mounting frame 33, so that the angle between the adjacent first cross bar 31 and the second cross bar 32 can be changed, so that the body 3 of the cleaning walking device 2 can be deformed.

[0052] The walking wheel assembly 4 is arranged on the side of the fuselage 3 facing the photovoltaic panel. In the present embodiment, the walking wheel assembly 4 includes four walking wheels 41, four walking wheel mounting seats 43 and four walking wheel driving devices 42. The walking wheel driving device 42 is a motor. The walking wheel driving device 42, the walking wheel 41 and the walking wheel mounting seat 43 correspond one to one. The walking wheel driving device 42 drives the walking wheel 41 to rotate so that the cleaning walking device travels on the photovoltaic panel. The walking wheel 41 and the walking wheel driving device 42 are arranged on the walking wheel mounting seat 43 at the same time.

[0053] The walking wheel swing drive assembly 5 is arranged between the fuselage 3 and the walking wheel assembly 4, and the walking wheel 41 swing assembly is used to drive the walking surface of the walking wheel 41 to swing around the fuselage 3. Since the first cross bar 31 and the second cross bar 32 in the fuselage 3 are hingedly connected, when the cleaning walking device travels to the connecting bridge, the angle between the adjacent first cross bar 31 and the second cross bar 32 can be changed, so that the fuselage 3 can adapt to the shape of the connecting bridge 12 in the photovoltaic array, and at the same time, the walking wheel 41 in the cleaning walking device 2 can swing around the fuselage 3, so that the walking wheel 41 can adapt to the position of the walking surface of the connecting bridge 12, so that the walking surface of the connecting bridge 12 can support the walking surface of the walking wheel 41, so that the cleaning walking device 2 can adapt to the "bend angle" in the connecting bridge 12 in the photovoltaic array, avoiding the situation where the cleaning walking device 2 needs to pass through the "bend angle" and the walking wheel 41 of the cleaning walking device 2 is insufficient.

[0054] In this embodiment, the fuselage 3 further includes two third cross bars 35 and two fourth cross bars 36, the third cross bars 35 and the fourth cross bars 36 are respectively arranged between the two first cross bars 31, the second cross bars 32, the third cross bars 35 and the fourth cross bars 36 are parallel to each other, and one second cross bar 32, one third cross bar 35 and one fourth cross bar 36 are arranged on the same side of the fuselage 3 at the same time. The running wheel assembly 4 further includes a swinging member 44 and a swinging member fixing seat 45, and the swinging member fixing seat 45 is fixed on the fourth cross bar 36. The swinging member 44 is connected to the running wheel 41, and a hinge 441 is arranged on the swinging member 44, and the hinge 441 is hinged to the fuselage 3. In this embodiment, the swing member 44 is cross-shaped, and the swing member 44 includes a vertical section 442 and a horizontal section. The hinged portion 441 is the horizontal section of the swing member 44. The hinged portion 441 of the swing member 44 is hinged on the swing member fixing seat 45, and the hinged portion 441 of the swing member 44 can rotate in the swing member fixing seat 45. As another embodiment, see Fig.10 The hinged portion 441 may also be disposed on the running wheel mounting seat 43. In this case, the hinged portion 441 may be a rotating shaft, the rotating shaft 441 is connected to the running wheel mounting seat 43, and the rotating shaft 441 is hinged between the lowest point of the running surface of the running wheel 41 and the fuselage 3, so that the lowest point of the running wheel 41 performs a bell-like swing around the rotating shaft.

[0055] The walking wheel swing drive assembly 5 includes a first swing assembly 8 and a second swing assembly 9. The walking wheel swing drive assembly 5 is used to drive the walking wheel 41 to swing around the fuselage 3. In this embodiment, the cleaning walking device 2 includes four groups of walking wheel swing drive assemblies 5. The four groups of walking wheel swing drive assemblies 5 are respectively arranged at the four corners of the fuselage 3. One group of walking wheel swing drive assemblies 5 includes a group of first swing assemblies 8 and a group of second swing assemblies 9.

[0056] In this embodiment, see Fig. 9 and Fig.11 The first swing assembly 8 includes a fixed seat 81, a swing driving device 82, a screw rod 83, a slide 84, a connecting block 85, two pull rods 86, two sleeves 87 and a first connecting rod 88. The first swing assembly 8 is arranged on the first cross bar 31. The swing driving device 82 is a motor. The swing driving device 82 and the screw rod 83 are arranged on the fixed seat 81. The swing driving device 82 is connected to the screw rod 83, the screw rod 83 is connected to the slide 84, and the slide 84 is connected to the connecting block 85. The two ends of the connecting block 85 are respectively connected to the two pull rods 86 in a one-to-one manner, and the two pull rods 86 are respectively connected to the two sleeves 87 in a one-to-one manner. The two ends of the first connecting rod 88 along the axial direction pass through the two sleeves 87 in a one-to-one manner, and the sleeve 87 can move along the axial direction of the first connecting rod 88. The first connecting rod 88 is connected to the vertical section 442 of the swing member 44. The motor drives the screw rod 83 to rotate, driving the slide 84 to move. The movement of the slide 84 drives the connection block 85, the pull rod 86 and the sleeve 87 to move, thereby driving the first connecting rod 88 and the vertical section 442 of the swing member 44 connected to the first connecting rod 88 to move. Since the hinge 441 is hinged to the swing member fixing seat 45, the movement of the vertical section 442 of the swing member 44 drives the rotation of the hinge 441, thereby realizing the swing of the walking wheel 41. Fig. 9 and Fig.12In this embodiment, a set of second swinging components 9 includes two second connecting rods 91, four limit blocks 92 and two connecting members 93. The four limit blocks 92 are arranged on the fourth crossbar 36 through two mutually parallel connecting members 93. The two second connecting rods 91 are vertically fixedly connected to the first connecting rod 88 at the same time. One second connecting rod 91 corresponds to two limit blocks 92. Each limit block 92 is provided with a guide hole 921. The two ends of the second connecting rod 91 along the axial direction of the second connecting rod 91 respectively penetrate the guide holes 921 in the two limit blocks 92. The second connecting rod 91 can move in the guide holes 921 of the limit blocks 92. In this embodiment, the two second connecting rods 91 are located between the two sleeves 87. During the travel of the cleaning walking device 2, when the walking wheel 41 of the cleaning walking device 2 close to the connecting bridge travels to the first connecting section 121 of the connecting bridge 12, the walking wheel 41 is swung under the drive of the swing drive device 82 and the transmission action of the first swing assembly 8; when the cleaning walking device 2 travels to the bridging section of the connecting bridge, the body 3 of the cleaning walking device 2 begins to deform, the first cross bar 31 shifts toward or away from the second cross bar 32, and the angle between the first cross bar 31 and the second cross bar 32 changes. Since the fixed seat 81 in the first swing assembly 8 is set The third cross bar 31 is placed on the first cross bar 31, thereby driving the sleeve 87 to move along the axial direction of the first connecting rod 88, and at the same time pushing the second connecting rod 91 to move in the guide hole 921 in the limit block 92. Since the second connecting rod 91 is vertically fixedly connected to the first connecting rod 88, the movement of the second connecting rod 91 is also accompanied by the movement of the first connecting rod 88. The movement of the first connecting rod 88 drives the movement of the vertical section 442 of the swing member 44 connected to the first connecting rod 88, thereby driving the hinge 441 of the swing member 44 to rotate in the swing member fixing seat 45, driving the swing of the walking wheel 41. In this embodiment, the third cross bar 35 is connected between the connecting blocks 85 of the two groups of first swing assemblies 8, and the fourth cross bar 36 is connected between the connecting members 93 in the two groups of second swing assemblies 9.

[0057] As another example, see Fig.13The walking wheel swing driving assembly 5 includes a torque output assembly 51, an angle sensor 52 and a control unit 53. In this embodiment, the torque output assembly 51 is used to drive the rotation of the hinged portion 441 of the swinging member 44. The torque output assembly 51 includes a stepping motor 54 and a worm gear reducer 55. The stepping motor 54 is connected to the worm gear reducer 55. The worm gear reducer 55 is connected to the horizontal section of the swinging member 44. The angle sensor 52 is arranged on the walking wheel assembly 4. In this embodiment, the walking wheel 41 is arranged on the walking wheel mounting seat 43. The angle sensor 52 is also arranged on the walking wheel mounting seat 43. The control unit 53 is connected to the angle sensor 52. The control unit 53 is connected to the torque output assembly 51. In this embodiment, a hinge column 56 is respectively arranged on the four worm gear reducers 55. The first cross bar 31 is hinged to the hinge column 56. The first cross bar 31 is connected between the two hinge columns 56. The two ends of the second cross bar 32 are respectively connected with fixed sleeves 57, and the horizontal section of the swinging member 44 passes through the fixed sleeve 57. When the cleaning walking device 2 has not yet traveled onto the connecting bridge 12, the control unit 53 can preset the driving value of the torque output component 51 and the initial value of the angle sensor 52 according to the relative angle between the driving surface of the connecting bridge 12 and the photovoltaic surface of the photovoltaic panel. In the process of the cleaning walking device 2 passing through the connecting bridge 12, the angle sensor 52 detects its own angle and outputs its own changing angle information to the control unit 53. The control unit 53 sends a control signal to the torque output component 51, so that the torque output component 51 drives the walking wheel 41 to swing to a corresponding angle until the angle sensor 52 detects that the angle has returned to the initial value, thereby realizing that the walking wheel 41 swings at different angles during the process of getting on the bridge.

[0058] The cleaning travel device 2 also includes a hanging wheel assembly 7, which is used to prevent the cleaning travel device 2 from sliding off the photovoltaic panel. The hanging wheel assembly 7 includes a plurality of hanging wheels 71 and a hanging wheel moving assembly, and the hanging wheel moving assembly drives the hanging wheels 71 to swing. Figure 7 , during the movement of the cleaning walking device 2, the hanging wheel 71 can always fit with the side of the photovoltaic panel, and the hanging wheel 71 moves along the side of the photovoltaic panel, thereby preventing the cleaning walking device 2 from falling from the photovoltaic panel. In this embodiment, hanging wheels 71 are respectively provided at both ends of the fuselage 3 along the length direction of the fuselage 3. Due to the inclined setting of the photovoltaic panel, two sets of hanging wheel assemblies 7 are provided at the highest point of the photovoltaic panel, thereby preventing the cleaning walking device 2 from sliding off the photovoltaic panel under the action of gravity. Two sets of hanging wheel assemblies can also be provided at the lowest point of the photovoltaic panel. At this time, the hanging wheel assembly includes two hanging wheels 71. At this time, the hanging wheel 71 is fixedly connected to the walking wheel mounting seat 43 to prevent the cleaning walking device 2 from moving toward the highest point of the photovoltaic panel during the driving process. In this embodiment, during the walking process of the cleaning walking device 2 on the photovoltaic panel, the hanging wheel 71 located at the highest point of the photovoltaic panel fits with the side wall of one side of the photovoltaic panel.

[0059] The hanging wheel moving assembly includes a plurality of hooks 72, a first fixed rod 73, a moving rod 74, a slider 75 and a second fixed rod 76. The hanging wheel moving assembly is connected to the connecting piece 93 on the fourth cross bar 36 through the plurality of hooks 72, the hanging wheel 71. The first fixed rod 73 is connected to the hanging wheel 71, and the first fixed rod 73 is connected to the walking wheel 41. In this embodiment, the first fixed rod 73 is arranged below the walking wheel assembly 4. In this embodiment, the first fixed rod 73 is connected to the walking wheel 41, and the first fixed rod 73 is arranged below the walking wheel 41. The moving rod 74 is connected to the hanging wheel 71. In this embodiment, two inner holes are arranged in the slider 75. The moving rod 74 is vertically connected to the second fixed rod 76. The moving rod 74 and the second fixed rod 76 respectively penetrate the two inner holes 751 in the slider 75. The moving rod 74 moves in the slider 75, and the slider 75 moves along the axial direction of the second fixed rod 76. During the swinging of the traveling wheel 41, the hanging wheel moving assembly drives the hanging wheel 71 to swing as well, so that the hanging wheel 71 is always in surface-to-surface contact with the side surface of the photovoltaic panel, thereby maintaining the stability of the cleaning traveling device 2 during the walking process.

[0060] As another embodiment, the hanging wheel 71 located at the highest point of the photovoltaic panel is fixedly connected to the travel wheel assembly 4, and the travel wheel mounting seat 43 in the travel wheel assembly 4 is fixedly connected to the hanging wheel 71. In this embodiment, the connecting rod 711 connecting the hanging wheel 71 is perpendicular to the rotation center line of the travel wheel 41. When the hanging wheel 71 in the cleaning travel device 2 is fixedly connected to the travel wheel assembly 4, the angle between the hanging wheel 71 and the travel wheel 41 remains unchanged, that is, the relative position between the hanging wheel 71 and the travel wheel 41 remains unchanged. At this time, the position of the photovoltaic panel connected with the connecting bridge 12 needs to be moved down, but the position of the connecting bridge 12 remains unchanged, so that the relative position of the connecting bridge and the photovoltaic panel changes, so that when the travel wheel 41 swings and drives the hanging wheel 71 to swing, the photovoltaic panel moves down and adjusts to make room for the swinging hanging wheel 71, so as to prevent the side of the photovoltaic panel at the bridge from blocking the swing of the hanging wheel 71.

[0061] In this embodiment, the four running wheels 41 include a first running wheel 46 and a second running wheel 47. The first running wheel 46 and the second running wheel 47 are respectively arranged at the two ends of the fuselage 3 along the length direction of the fuselage 3, and the first running wheel 46 and the second running wheel 47 are arranged on the same side of the fuselage 3 along the width direction of the fuselage 3.

[0062] The cleaning walking device 2 includes a cleaning assembly 6, and the cleaning assembly 6 is arranged between the first walking wheel 46 and the second walking wheel 47. The cleaning assembly 6 includes a connecting rod assembly, a brush assembly 61, a cleaning drive device 62 and a fixing assembly. The cleaning drive device 62 is used to drive the brush assembly 61 to rotate, and the brush assembly 61 is used to clean the photovoltaic surface of the photovoltaic panel. In this embodiment, the connecting rod assembly includes a first connecting rod 63 and a second connecting rod 64. The brush assembly 61 is respectively arranged on the first connecting rod 63 and the second connecting rod 64. The first connecting rod 63 and the second connecting rod 64 are arranged in the same line. The axial direction of the first connecting rod 63 and the axial direction of the second connecting rod 64 are the same as the length direction of the fuselage 3. See Fig.14 and Fig.15 The fixing assembly is used to connect the cleaning assembly 6 with the walking wheel assembly 4. The fixing assembly includes a connecting member 65, on which an inflection point 66 is provided. One end of the first connecting rod 63 along the axial direction of the first connecting rod 63 is connected to the first walking wheel 46 or the second walking wheel 47 through the connecting member 65, and one end of the second connecting rod 64 along the axial direction of the second connecting rod 64 is connected to the first walking wheel 46 or the second walking wheel 47 through the connecting member 65. The first connecting rod 63 and the second connecting rod 64 can be located between the first walking wheel 46 and the second walking wheel 47, respectively. In this embodiment, the cleaning drive device 62 is a bidirectional motor, and the other end of the first connecting rod 63 along the axial direction of the first connecting rod 63 and the other end of the second connecting rod 64 along the axial direction of the second connecting rod 64 are respectively connected to the bidirectional motor, and the bidirectional motor is located between the first connecting rod 63 and the second connecting rod 64. The first connecting rod 63 and the second connecting rod 64 are simultaneously located between the first walking wheel 46 and the second walking wheel 47, and the first connecting rod 63 and the second connecting rod are connected in a collinear manner.

[0063] As another embodiment, the first connecting rod 63 is connected to the first travel wheel 46 and the second travel wheel 47 at both ends along the axial direction of the first connecting rod 63 through connecting members 65 respectively, and the first connecting rod 63 can be located between the first travel wheel 46 and the second travel wheel 47. At this time, the cleaning drive device 62 is no longer a bidirectional motor, and a unidirectional motor can be used to drive the rotation of the first connecting rod 63, thereby driving the brush assembly on the first connecting rod 63 to rotate.

[0064] Since the brush assembly 61 is arranged on the first connecting rod 63 and the second connecting rod 64 in the connecting rod assembly, the first walking wheel 46 and the second walking wheel 47 are respectively arranged on the two ends of the fuselage 3 along the length direction of the fuselage 3, and the first connecting rod 63 and the second connecting rod 64 are respectively connected to the first walking wheel 46 and the second walking wheel 47, and the first connecting rod 63 is arranged between the first walking wheel 46 and the second walking wheel 47, so that the movement of the first connecting rod 63 and the second connecting rod 64 is synchronized with the movement of the first walking wheel 46 and the second walking wheel 47, and the movement of the brush assembly 61 arranged on the first connecting rod 63 and the second connecting rod 64 is also synchronized with the movement of the first walking wheel 46 and the second walking wheel 47. During the bridge process, since the first connecting rod 63 is arranged between the first walking wheel 46 and the second walking wheel 47, the first connecting rod 63 maintains a fixed distance from the photovoltaic panel. When the walking wheel passes through the connecting bridge 12, the first connecting rod 63 will not come into contact with the edge of the photovoltaic panel. Similarly, the brush installed on the first connecting rod 63 will not be lifted up, thereby avoiding the situation where the crossing ability and cleaning ability of the cleaning walking device 2 are limited due to improper installation of the brush. The two ends of the first connecting rod 63 are respectively connected to the first walking wheel 46 and the second walking wheel 47 through a connecting piece 65 with an inflection point 66, so that the walking wheel and the first connecting rod 63 are flexibly connected, so that the rotation of the walking wheel and the rotation of the brush assembly do not interfere with or affect each other.

[0065] In this embodiment, see Figure 7 A rotating shaft fixing assembly 10 is provided on the side of the fuselage 3 facing the bidirectional motor. The rotating shaft fixing assembly 10 includes a rotating shaft fixing part 101, a first rotating shaft 102, a second rotating shaft 103 and a rotating shaft connecting rod 104. The rotating shaft fixing part 101 is connected to the fuselage 3. The first rotating shaft 102 is arranged on the rotating shaft fixing part 101. The second rotating shaft 103 is arranged on the bidirectional motor. The two ends of the rotating shaft connecting rod 104 are respectively hinged to the first rotating shaft 102 and the second rotating shaft 103. The rotating shaft connecting rod 104 is located between the first rotating shaft 102 and the second rotating shaft 103.

[0066] In this embodiment, the first connecting rod 63, the second rotating shaft 103, the rotation axis of the first running wheel 46, and the rotation axis of the second running wheel 47 are arranged in a colinear manner, so that the movement of the brush assembly 61 on the first connecting rod 63 is more synchronized with the movement of the first running wheel 46 and the movement of the second running wheel 47. Similarly, since the second connecting rod 64 and the first connecting rod 63 are arranged in a colinear manner along the axial direction of the first connecting rod 63, the second connecting rod 64, the second rotating shaft 103 and the rotation axis of the first running wheel 41 and the rotation axis of the second running wheel 41 are arranged in a colinear manner. At the same time, the two hinged parts 441 corresponding to the two running wheels located along the length direction of the fuselage 2 are arranged in a colinear manner with the first rotating shaft 102; the inflection point 66 in the running wheel is arranged in a colinear manner with the hinged part 441 corresponding to the running wheel, so that the deformation degree of the fuselage is better.

[0067] In this embodiment, the connecting member 65 with the inflection point 66 is a single-section universal joint. A first hollow portion is provided on the side of the first running wheel 46 facing the second running wheel 47, a second hollow portion 471 is provided on the side of the second running wheel 47 facing the first running wheel 46, a universal joint 65 is provided in the first hollow portion of the first running wheel 41, and a universal joint 65 is also provided in the second hollow portion 471 of the second running wheel 47. In this embodiment, the inflection point 66 of the universal joint 65 is respectively arranged in the first hollow part and the second hollow part 471, the center line of the first walking wheel 46 passes through the inflection point in the first hollow part, and the center line of the second walking wheel 47 passes through the inflection point 66 in the second hollow part 471. In this embodiment, the first walking wheel 46 and the second walking wheel 47 are both hollow cylinders. During the walking process of the first walking wheel 46 and the second walking wheel 47, the first walking wheel 46 and the second walking wheel 47 rotate. At this time, the rotation axis of the first walking wheel 46 and the second walking wheel 47 coincides with their center lines. When the cleaning walking device 2 is placed horizontally, the rotation axis of the walking wheel extends in the horizontal direction. At the same time, in this embodiment, the length between the hinged part of the first walking wheel 46 and the hinged part of the second walking wheel 47 is equal to the length between the inflection point in the first walking wheel and the inflection point in the second walking wheel. At this time, the length of the first connecting rod 63 remains unchanged, and it can also be applied to the deformation that may occur in the walking process of the cleaning walking device 2. After one end of the first connecting rod 63 is connected to the universal joint 65, it is also arranged in the hollow part of the running wheel 41 through the bearing 67. At this time, the bearing 67 can be used as a speed separator so that the working state of the connecting rod and the working state of the running wheel do not interfere with each other.

[0068] As another embodiment, the center line of the first walking wheel 46 and the center line of the second walking wheel 47 do not pass through the inflection point 66 of the two corresponding universal joints 65. At this time, the first connecting rod 63 and the second connecting rod 64 are both retractable, so that the length of the first connecting rod 63 is suitable for the deformation that may occur during the walking process of the cleaning walking device 2.

[0069] In this embodiment, the fixing assembly further includes an embracing fastening assembly 68, the running wheel mounting seat 43 includes a first side plate 431 and a second side plate 432, the first side plate 431 and the second side plate 432 are vertically connected, the first side plate 431 is placed horizontally, the embracing fastening assembly 68 is arranged below the first side plate 431, and the embracing fastening assembly 68 is installed on the side of the first side plate 431 away from the fuselage 3. The running wheel is provided with a protruding block 411 on the side facing the fixing assembly, and the protruding block 411 is a hub extension protruding block. The embracing fastening assembly 68 includes a first embracing member 681 and a second embracing member 682, a first hollow portion 683 is arranged between the first embracing member 681 and the second embracing member 682, and the hub extension protruding block 411 is connected to the first hollow portion 683 through a bearing 69. The second side plate 432 is provided with a second hollow portion 433, and the driving rod of the walking wheel driving device 42 passes through the second hollow portion 433 and the first hollow portion 683 in sequence to be connected with the walking wheel 41, and the walking wheel driving device 42 is arranged on the walking wheel mounting seat 43. Similarly, the arrangement of another group of cleaning components 6 in the cleaning walking device 2 is as described above.

[0070] In this embodiment, the swing member 44 is arranged on the side of the running wheel mounting seat 43 facing the fuselage 3. When the center line of the running wheel passes through the inflection point in the hollow part of the running wheel, the inflection point 66 of the universal joint 65 is arranged in a collinear manner with the hinged portion 441 of the swing member 44 above the corresponding running wheel 41. The hinged portion 441 of the swing member 44 corresponding to the first running wheel 46, the first rotating shaft 102 and the hinged portion 441 of the swing member 44 corresponding to the second running wheel 47 are arranged in a collinear manner. Between the first running wheel 46 and the second running wheel 47, the inflection points 66 of the two universal joints 65 and the second rotating shaft 103 are arranged in a collinear manner.

[0071] As another embodiment, the cleaning walking device 2 includes two first walking wheel groups and two second walking wheel groups, the two first walking wheel groups are arranged on the first end of the fuselage 3 along the length direction of the fuselage 3, the two second walking wheel groups are arranged on the second end of the fuselage 3 along the length direction of the fuselage 3, the first walking wheel group and the second walking wheel group are arranged one by one opposite to each other in the length direction of the fuselage 3, the first walking wheel assembly includes at least two first walking wheels, the second walking wheel group includes at least two second walking wheels, and the first connecting rod 63 is arranged between the first walking wheel group and the second walking wheel group that are arranged opposite to each other. When the first connecting rod is arranged between the first walking wheel group 41 and the second walking wheel group, the movement of the brush assembly 61 is also synchronized with the movement of the first walking wheel group and the second walking wheel group, and the brush can also be prevented from touching the convex corner of the connecting bridge.

[0072] In order to make the cleaning walking device 2 climb the slope better, in this embodiment, a first walking wheel group and a second walking wheel group are arranged on the cleaning walking device 2, wherein the first walking wheel group includes a first walking wheel 46 and a second walking wheel, and the second walking wheel group includes a third walking wheel and a fourth walking wheel, wherein the first walking wheel and the second walking wheel are arranged along the length direction X2 of the fuselage 3, and the third walking wheel and the fourth walking wheel are also arranged along the length direction X2 of the fuselage 3. Fig.16 In this embodiment, the first running wheel 46 and the third running wheel 47 are respectively arranged along the width direction Y2 of the fuselage 3, the first running wheel 46 and the third running wheel 410 are arranged on the same side of the fuselage 3 along the width direction of the fuselage 3, and the distance between the first running wheel 46 and the third running wheel 410 is greater than the slope length of the connecting bridge. The distance between the first running wheel 46 and the third running wheel 410 can be 300mm to 3000mm, wherein the optimal distance between the first running wheel 46 and the third running wheel 410 can be 1000mm to 2100mm. During the process of the cleaning walking device 2 climbing the slope, since the distance between the first walking wheel 46 and the third walking wheel 410 is greater than the slope length 122 of the connecting bridge 12, one of the first walking wheel group or the second walking wheel group on the fuselage 3 is on the slope of the connecting bridge 12. At this time, the second walking wheel group or the first walking wheel group is on the photovoltaic panel, and the pressure of part of the cleaning walking device 2 is distributed to the photovoltaic panel, so as to avoid the entire cleaning walking device 2 being located on the slope of the connecting bridge 12, thereby reducing the driving force required for the cleaning walking device 2 to climb the slope. At the same time, the walking wheel group on the photovoltaic panel can provide a larger thrust or pull force for the walking wheel group on the slope of the connecting bridge 12. At the same time, the walking wheel group on the slope surface gives the walking wheel group on the photovoltaic panel. The force increases the contact between the walking wheel group on the photovoltaic panel and the track surface on the photovoltaic panel, making it easier for the cleaning walking device 2 to climb the slope and having better climbing ability. As another embodiment, the cleaning walking device 2 includes a first walking wheel group 48 and a second walking wheel group 49, see Fig.17 , the first running wheel group 48 and the second running wheel group 49 are arranged on the same side of the fuselage 3 along the length direction of the fuselage 3, the first running wheel group 48 includes a first running wheel 481 and a second running wheel 482, the second running wheel group 49 includes a third running wheel 491 and a fourth running wheel 492, the second running wheel 482 and the third running wheel 491 are arranged adjacent to each other, and the distance between the second running wheel 482 and the third running wheel 491 is greater than the slope length of the connecting bridge 12. At this time, the fuselage 3 can be hinged with the first running wheel group 48 and the second running wheel group 49. The distance between the first running wheel 481 and the third running wheel 491 can be 300mm to 3000mm, wherein the optimal distance between the first running wheel 481 and the third running wheel 491 can be 1000mm to 2100mm.

[0073] In this embodiment, the connecting bridge 12 is arranged between two photovoltaic panels, and the distance between the first walking wheel group and the second walking wheel group is greater than the width of a single photovoltaic panel adjacent to the connecting bridge 12, which can reduce the pressure of the weight of the cleaning walking device itself on the single photovoltaic panel and reduce damage to the photovoltaic panel.

[0074] When the cleaning travel device 2 travels to the first connecting section 121 on the photovoltaic panel 11, the travel wheel 41 is driven to swing by the first swinging assembly 8 until the travel surface of the travel wheel 41 fits the travel surface of the connecting bridge 12, and then the travel wheel 41 stops swinging.

[0075] See also Fig.18 When the front wheel of the cleaning walking device 2 near the bridge section 122 goes onto the bridge section 122, the cleaning walking device 2 changes from a "rectangle" to a "parallelogram". Since the first swinging assembly 8 is connected to the first cross bar 31, during the deformation of the fuselage 3, the angle change between the adjacent first cross bar 31 and the second cross bar 32 drives the sleeve 87 to move along the axial direction of the first connecting rod 63, and at the same time pushes the movement of the second connecting rod 64 vertically fixedly connected to the first connecting rod 63. The movement of the second connecting rod 64 drives the movement of the first connecting rod 63, thereby driving the movement of the swinging member 44 connected to the first connecting rod 63, so that the walking wheel 41 swings toward the inside of the cleaning walking device 2 until the angle between the adjacent first cross bar 31 and the second cross bar 32 no longer changes and stops swinging.

[0076] When the rear wheels of the cleaning walking device 2 go onto the bridge section 122, the cleaning walking device 2 changes from a "parallelogram" to a "rectangle". The change in the angle between the adjacent first crossbar 31 and the second crossbar 32 drives the walking wheel 41 to swing toward the outside of the cleaning walking device 2 again, until the rear wheels of the cleaning walking device 2 leave the bridge section 122 and go onto the second connecting section 123, and the body 3 changes back to a "rectangle" and stops swinging.

[0077] Before the cleaning walking device 2 leaves the second connecting section 123, the first swing assembly 8 drives the walking wheel 41 to swing until the running surface of the walking wheel 41 fits with the walking track on the photovoltaic panel 11, completing the entire process of the cleaning walking device 2 going up and down the bridge.

[0078] There is an angle Z between the width direction of the walking surface of the connecting bridge 12 and the width direction of the photovoltaic surface of the photovoltaic panel, and the angle is not equal to 0. When the photovoltaic surface of the photovoltaic panel is used as the projection surface and the projection is performed in the projection direction, the installation position of the connecting bridge 12 on the first photovoltaic panel 11, the connecting bridge 12 and the installation position of the connecting bridge 12 on the second photovoltaic panel 13 are located on the same straight line, avoiding the occurrence of a bend between the first photovoltaic panel 11 and the second photovoltaic panel 13, thereby avoiding the cleaning walking device 2 from turning; and the first cross bar 31 and the second cross bar 32 of the fuselage 3 of the cleaning walking device 2 are hingedly connected. When the cleaning walking device 2 is When the walking device 2 moves onto the connecting bridge 12, the angle between the adjacent first cross bar 31 and the second cross bar 32 can be changed, so that the fuselage 3 can adapt to various shapes of the connecting bridge 12 in the photovoltaic array. At the same time, the walking wheel 41 in the cleaning walking device 2 can swing around the fuselage in a bell-like manner, so that the walking wheel 41 can adapt to the angle of the running surface of the connecting bridge 12, so that the running surface of the connecting bridge 12 supports the walking wheel 41, so that the cleaning walking device 2 can adapt to various shapes of the connecting bridge 12 in the photovoltaic array, avoiding the situation where the required driving force of the cleaning walking device 2 is insufficient when the cleaning walking device 2 needs to pass through the connecting bridge 12.

[0079] The device needs to pass through a "corner" and the driving force of the cleaning walking device is insufficient.

[0080] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cleaning walking device, comprising a body and a walking wheel assembly, wherein the walking wheel assembly comprises a plurality of walking wheels, the walking wheel assembly is connected to the body, and the body is deformable, characterized in that: The cleaning walking device also includes: A walking wheel swing driving assembly, the walking wheel swing driving assembly is used to drive the walking surface of the walking wheel to swing around the fuselage; The running wheel assembly includes a swinging member, the swinging member is connected between the fuselage and the running wheel, the swinging member is provided with a hinged portion, the hinged portion is hinged to the running wheel, and the hinged portion is provided between the lowest point of the running surface of the running wheel and the fuselage; The walking wheel swing drive assembly includes a first swing assembly, the first swing assembly includes a swing drive device, a pull rod and a first connecting rod, the first connecting rod is connected to the swing member, the pull rod is connected to the first connecting rod, and the swing drive device drives the pull rod to move; The fuselage comprises at least two first cross bars and at least two second cross bars, wherein the second cross bars are arranged between two of the second cross bars, and the first cross bars are hingedly connected to the second cross bars; The walking wheel swing driving assembly includes a second swing assembly, the second swing assembly includes a second connecting rod, and the first connecting rod is vertically connected to the second connecting rod; The change in the angle between the adjacent first crossbars and the second crossbars drives the pull rod to move along the axial direction of the first connecting rod; The change in the angle between the adjacent first crossbars and the second crossbars drives the second connecting rod to move; The walking wheel swing drive assembly includes a third swing assembly, and the third swing assembly includes a torque output assembly, an angle sensor and a control unit. The angle sensor is arranged on the walking wheel assembly, and the control unit is connected to the angle sensor. The torque output assembly drives the swing member to rotate around the hinge part, and the control unit is connected to the torque output assembly.

2. The cleaning walking device according to claim 1, characterized in that: The second swing assembly further includes a limit block, the second connecting rod passes through the limit block, and the second connecting rod moves in the limit block.

3. The cleaning walking device according to claim 1, characterized in that: The cleaning walking device also includes a hanging wheel assembly, which includes at least one hanging wheel and a hanging wheel moving assembly, the hanging wheel is arranged on the walking wheel assembly, and the hanging wheel moving assembly drives the hanging wheel to swing around the fuselage, and the hanging wheel moving assembly includes a first fixed rod, a moving rod, a slider and a second fixed rod, the first fixed rod is connected to the hanging wheel, the first fixed rod is connected to the walking wheel, the moving rod is connected to the hanging wheel, the moving rod is vertically connected to the second fixed rod, the moving rod and the second fixed rod respectively pass through the slider, the moving rod moves in the slider, and the slider moves along the axial direction of the second fixed rod.

4. The cleaning walking device according to claim 1, characterized in that: The cleaning walking device also includes a hanging wheel assembly, the hanging wheel assembly includes at least one hanging wheel, the walking wheel assembly includes a walking wheel mounting seat, the walking wheel is mounted on the walking wheel mounting seat, and the hanging wheel is fixedly connected to the walking wheel mounting seat.

5. A photovoltaic array, characterized in that: The photovoltaic array includes multiple photovoltaic panels and a slope control component, the slope control component includes a photovoltaic unit and a cleaning walking device, the photovoltaic unit includes a first photovoltaic panel, a second photovoltaic panel and a connecting bridge, the connecting bridge is arranged between the first photovoltaic panel and the second photovoltaic panel, the cleaning walking device walks on the photovoltaic unit and the photovoltaic panel, and the cleaning walking device is the cleaning walking device described in any one of claims 1 to 4.

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