A walking device for photovoltaic panels and a photovoltaic system

Abstract

The present invention provides a walking device and a photovoltaic system for photovoltaic panels, comprising four walking drive components and a walking frame, wherein the walking drive component comprises a mounting frame component, a driving wheel and two positioning wheels, wherein the driving wheel is rotatably arranged on the mounting frame component, and the two positioning wheels are rotatably arranged on the mounting frame component, wherein the axes of the two positioning wheels are parallel, the axes of the positioning wheels are perpendicular to the axes of the driving wheels, the two positioning wheels are located on the axial sides of the driving wheels, and the two positioning wheels are arranged along the walking direction of the driving wheels, and the head and tail ends of the four brackets of the walking frame are hinged in sequence to form four hinged positions, and the four mounting frame components are hingedly arranged on the walking frame, and one walking drive component is close to one hinged position, and the rotation axis of the mounting frame component is parallel to the rotation axis of the bracket. The four driving wheels can rotate and turn independently, and the driving wheels walk in the same direction as the photovoltaic panels or the track path, thereby improving the walking passability and stability.

Description

Technical Field

[0001] The invention relates to the field of photovoltaic power generation equipment, and in particular to a walking device for photovoltaic panels and a photovoltaic system. Background Art

[0002] Photovoltaic is the abbreviation of solar photovoltaic power generation system, which is a photovoltaic panel made of battery semiconductor materials to produce photovoltaic effect, radiate sunlight to the photovoltaic panel, and then the photovoltaic panel can generate electricity. And the solar photovoltaic power generation system is classified into two types: one is centralized, such as large-scale northwest ground photovoltaic power generation system, and the other is distributed, such as photovoltaic power generation system on the roof of industrial and commercial factory buildings or residential roofs.

[0003] In large-scale northwest ground photovoltaic power generation systems, in order to cooperate with better light radiation, photovoltaic panels must not only be arranged at an angle, but the extension direction of the continuously arranged photovoltaic panels also needs to be adaptively extended along a non-straight line. Adjacent photovoltaic panels are not only misaligned in the horizontal direction to achieve horizontal turning, but also have a drop in the vertical direction to adapt to the rise and fall of the terrain. These misalignments or drops are connected by connecting bridges, so that a walking device equipped with a sweeping brush can walk on the photovoltaic panels and clean the surface of the photovoltaic panels.

[0004] When there is a drop or misalignment between adjacent PV strings, the existing connecting bridge only makes a straight line connection between the corresponding vertices of adjacent components between the PV strings, which makes it impossible for the walking device on the PV strings to fully fit the walking wheel surface with the bridge surface, and the walking direction of the walking wheel is inconsistent with the direction of the connecting bridge, and even the upper and lower bridges are not coplanar and the distance is inconsistent, which makes the walking mechanism unable to smoothly cross between adjacent strings.

[0005] The front and rear wheels of the existing walking device cannot achieve independent turning, so that the walking wheels of the device cannot keep the same direction as the track path during walking, which makes it easy for the walking device to have walking difficulties or even get stuck when passing through a path that requires turning.

[0006] Not only do the photovoltaic panels need to be arranged at an offset through a connecting bridge, but the photovoltaic panels also need to be arranged at an angle, which makes the walking posture of the walking device difficult to control, affecting the walking stability and related cleaning performance. Summary of the invention

[0007] The first object of the present invention is to provide a walking device that utilizes a deformable walking frame in conjunction with four-wheel independent steering drive to achieve more stable rotational walking.

[0008] A second object of the present invention is to provide a photovoltaic system having the above-mentioned running device.

[0009] In order to achieve the first purpose of the present invention, the present invention provides a walking device for photovoltaic panels, including four walking drive components and a walking frame, the walking drive component including a mounting frame component, a driving wheel, and a driving module, the driving wheel is rotatably arranged on the mounting frame component, the driving module is connected to the driving wheel and drives the driving wheel to rotate, the walking frame includes four brackets, the head and tail ends of the four brackets are hinged in sequence to form four hinge positions, the four mounting frame components are hinged on the walking frame, one walking drive component is close to one hinge position, and the rotation axis of the mounting frame component is parallel to the rotation axis of the bracket; the two walking drive components located on the same side in the width direction also include two positioning wheels, the two positioning wheels are rotatably arranged on the mounting frame component, the axes of the two positioning wheels are parallel, the axes of the positioning wheels are perpendicular to the axes of the driving wheels, the two positioning wheels are located on the axial sides of the driving wheels, and the two positioning wheels are arranged along the walking direction of the driving wheels.

[0010] It can be seen from the above scheme that the walking frame composed of four rotatable brackets can adapt to the turning of the connecting bridge and the offset of the photovoltaic panel, and at the same time, through four independent walking drive components, not only the driving wheels can move or stop independently, but also through the two positioning wheels located on the axial side, since the two positioning wheels are arranged along the walking direction, the two positioning wheels can rotate along the edge of the width direction of the photovoltaic panel or the connecting bridge, and then the driving wheels can rotate accordingly, thereby realizing that the four driving wheels can independently rotate along the extension direction of the photovoltaic panel or the connecting bridge, so that the driving wheels and the photovoltaic panel or the track path keep walking in the same direction, thereby improving the walking passability and stability.

[0011] A further solution is that the mounting frame assembly includes a first mounting frame, and the driving wheel and the two positioning wheels are rotatably arranged on the first mounting frame.

[0012] A further solution is that the walking device further includes a connecting rod, which is hinged between two first mounting frames located in the width direction.

[0013] As can be seen from the above, by arranging the driving wheel and the two positioning wheels on the first mounting frame, the positioning wheel can stably drive the steering of the driving wheel, and by arranging the connecting rod along the width direction and connecting it between the two first mounting frames, the two front driving wheels and the two rear driving wheels in the walking direction can be rotated in conjunction, and the front and rear driving wheels rotate independently, so that it can better adapt to changes in the photovoltaic panels or track paths, making the walking device smoother.

[0014] A further solution is that the mounting frame assembly includes a first mounting frame and a second mounting frame, the driving wheel is rotatably arranged on the first mounting frame, the two positioning wheels are rotatably arranged on the second mounting frame, the first mounting frame and the second mounting frame are respectively hinged to the walking frame, and the rotation axis of the first mounting frame is parallel to the rotation axis of the second mounting frame; the walking device also includes a connecting rod, which is hinged between the first mounting frame and the second mounting frame of the same mounting frame assembly.

[0015] A further solution is that the connecting rod is hinged to two first mounting frames and two second mounting frames located in the width direction.

[0016] As can be seen from the above, by respectively arranging the driving wheel and the positioning wheel on the first mounting frame and the second mounting frame, and then linking them through connecting rods, the positioning wheel can stably drive the steering of the driving wheel, and the two first mounting frames and the two second mounting frames in the width direction can be connected by connecting rods, so as to realize the linked rotation of the two front driving wheels and the two rear driving wheels in the walking direction, which can also better adapt to the changes of photovoltaic panels or track paths, making the walking device smoother.

[0017] A further solution is that the positioning wheel is arranged in a cylindrical shape, and the positioning wheel extends along the axial direction of the positioning wheel toward the lower side of the driving wheel.

[0018] A further solution is that the two positioning wheels are respectively located at the front end and the rear end of the axis of the driving wheel based on the walking direction.

[0019] As can be seen from the above, the driving wheel is used to walk on the photovoltaic panels, and the positioning wheel extending downward and in a cylindrical shape rolls with the edge of the photovoltaic panel in the width direction. By utilizing the arrangement of the front and rear ends, the extension direction of the photovoltaic panels and the connecting bridge can be stably known, and it can adapt well to the vertical drop, and can cooperate both when climbing and going downhill, so that the driving wheel and the photovoltaic panel or the track path can move in the same direction.

[0020] A further solution is that the four brackets are two length brackets extending along the walking direction and two width brackets along the width direction, the two length brackets are parallel to each other, the two width brackets are parallel to each other, and the walking device also includes a first rotating shaft; located at the first end in the width direction, the length bracket, the width bracket and the mounting frame assembly are connected by the first rotating shaft and can rotate around the first rotating shaft respectively.

[0021] A further solution is that the walking device also includes a second rotating shaft; located at the second end in the width direction, the width bracket and the mounting frame assembly are connected through the second rotating shaft and can rotate around the second rotating shaft respectively.

[0022] As can be seen from the above, by utilizing the first rotating shaft to connect the length bracket, the width bracket and the mounting frame assembly at the first end in the width direction, the length bracket, the width bracket and the mounting frame assembly are all rotated around the first rotating shaft, and at the second end in the width direction, the length bracket and the mounting frame assembly are connected by the second rotating shaft, and the walking drive assembly at the second end in the width direction is utilized to drive the deflection of the length bracket, thereby effectively driving the offset and shape change of the walking frame.

[0023] In order to achieve the second purpose of the present invention, the present invention provides a photovoltaic system, including the walking device and photovoltaic panels of the above-mentioned scheme, the driving wheel is located on the photovoltaic panel for walking, and the positioning wheel rolls with the edge of the photovoltaic panel in the width direction.

[0024] It can be seen from the above scheme that by utilizing the independent rotation and independent driving of the driving wheel and cooperating with the positioning wheel according to the direction of the edge, the driving wheel can better adapt to the changes in the photovoltaic panel or track path, making the walking device move more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural diagram of the first embodiment of the photovoltaic system of the present invention.

[0026] Figure 2 It is a structural diagram of the walking device in the first embodiment of the photovoltaic system of the present invention.

[0027] Figure 3 It is a structural diagram of the walking device in the first embodiment of the photovoltaic system of the present invention from another perspective.

[0028] Figure 4 It is a structural diagram of the walking device in the first embodiment of the photovoltaic system of the present invention in a climbing walking state.

[0029] Figure 5 It is a structural diagram of the front wheel in the front bending state in the first embodiment of the photovoltaic system of the present invention.

[0030] Figure 6 It is a structural diagram of the front wheel in a bending state in the first embodiment of the photovoltaic system of the present invention.

[0031] Figure 7 It is a structural diagram of the front wheel in the bent state in the first embodiment of the photovoltaic system of the present invention.

[0032] Figure 8 It is a structural diagram of the rear wheel in a bending state in the first embodiment of the photovoltaic system of the present invention.

[0033] Fig. 9 It is a structural diagram of the rear wheel bending state in the first embodiment of the photovoltaic system of the present invention.

[0034] Fig.10It is a structural diagram of the front and rear wheels in the first embodiment of the photovoltaic system of the present invention after turning.

[0035] Fig.11 It is a structural diagram of the walking device in the second embodiment of the photovoltaic system of the present invention in a turning walking state.

[0036] Fig.12 It is a partial structural diagram of the walking device in the third embodiment of the photovoltaic system of the present invention.

[0037] Fig.13 It is a structural diagram of the first embodiment of the photovoltaic panel device of the present invention without connecting bridges.

[0038] Fig.14 It is a structural diagram of the first embodiment of the photovoltaic panel device of the present invention.

[0039] Fig.15 It is a structural diagram of the second embodiment of the photovoltaic panel device of the present invention.

[0040] Fig.16 It is a structural diagram of the third embodiment of the photovoltaic panel device of the present invention.

[0041] Fig.17 It is a structural diagram of a fourth embodiment of a photovoltaic panel device of the present invention.

[0042] Fig.18 It is a structural diagram of the fifth embodiment of the photovoltaic panel device of the present invention.

[0043] Fig.19 It is a structural diagram of the sixth embodiment of the photovoltaic panel device of the present invention without connecting bridges.

[0044] Fig. 20 It is a structural diagram of the sixth embodiment of the photovoltaic panel device of the present invention.

[0045] Fig.21 It is a structural diagram of the seventh embodiment of the photovoltaic panel device of the present invention.

[0046] Fig. 22 It is a structural diagram of the eighth embodiment of the photovoltaic panel device of the present invention.

[0047] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0048] Photovoltaic system first embodiment:

[0049] Reference Figures 1 to 4The photovoltaic system includes a walking device 1, a photovoltaic panel 21, a photovoltaic panel 22 and a connecting bridge 31. The photovoltaic panels 21 and 22 are arranged in parallel and coplanar. The photovoltaic panels 21 and 22 are offset and misaligned, so they are connected through the connecting bridge 31 inclined at the edge of the photovoltaic panel. The driving wheel 122 of the walking device 1 can walk on the photovoltaic panels 21 and 22, and can be transferred from the photovoltaic panel 21 to the photovoltaic panel 22 through the connection of the connecting bridge 31. Of course, in an actual photovoltaic system, multiple photovoltaic panels are included that are distributed in rows, and the multiple photovoltaic panels are also arranged along the length direction X thereof.

[0050] The walking device 1 includes four walking drive components 12, a walking frame 11 and two angle sensors 130. The walking frame 11 includes four brackets. The head and tail ends of the four brackets are hinged in sequence to form four hinge positions. Specifically, the four brackets are two length brackets 112 extending along the walking direction X and two width brackets 111 along the width direction Y. The two length brackets 112 are parallel to each other and have equal lengths. The two width brackets 111 are parallel to each other and have equal lengths. The width bracket 111 is provided with two parallel mounting brackets 113 on the end of the width direction Y. The two mounting brackets 113 are spaced apart and form mounting grooves. At the four corners, the ends of the length bracket 112 are located in the mounting grooves between the two mounting brackets 113. The ends of the length bracket 112 are connected to the two mounting brackets 113 through the rotating shaft 131, so that the length bracket 112 and the width bracket 111 can both rotate around the rotating shaft 131, and the walking frame 11 can walk in a parallelogram or rectangular state.

[0051] The walking drive assembly 12 includes a mounting frame assembly, a driving wheel 122, a driving module and two positioning wheels 125. In this embodiment, the mounting frame assembly includes an integrated first mounting frame 121, and the driving wheel 122 is rotatably arranged on the first mounting frame 121. The driving module (not shown) can adopt conventional driving methods such as a motor or a rotating wheel hub. The driving module is connected to the driving wheel 122 and drives the driving wheel 122 to rotate around its axis, thereby driving the driving wheel 122 to move in the walking direction X.

[0052] The two positioning wheels 125 are rotatably arranged on the first mounting frame 121 through the rotating shaft 126 respectively. The positioning wheels 125 rotate around the rotating shaft 126. The positioning wheels 125 are arranged in a cylindrical shape. The positioning wheels 125 extend along the axial direction of the positioning wheel 125 toward the radial lower side of the driving wheel 122. The axial directions of the two positioning wheels 125 are parallel, and the axial directions of the positioning wheels 125 are perpendicular to the axial direction of the driving wheel 122. The two positioning wheels 125 are located on the axial side of the driving wheel 122 and on the outer side of the driving wheel 122 relative to the photovoltaic panel. The two positioning wheels 125 are arranged along the walking direction X of the driving wheel 122, and the two positioning wheels 125 are respectively located at the front end and the rear end of the axis of the driving wheel 122 based on the walking direction X.

[0053] In specific settings, the top end of the positioning wheel 125 can be located on the upper side of the bottom end of the positioning wheel 125, and the bottom end of the positioning wheel 125 can be located on the lower side of the bottom end of the positioning wheel 125, so that the positioning wheel 125 can adapt to the rear end of the photovoltaic panel and roll with the length side of the photovoltaic panel. After the two positioning wheels 125 are adjacent to the length side, contour or connecting bridge 31 of the photovoltaic panel in the width direction, the two positioning wheels 125 can drive the driving wheel 122 to rotate or calibrate the angle, so that the driving force of the driving wheel 122 when rotating is aligned with the length side of the photovoltaic panel or the extension direction of the connecting bridge 31, thereby increasing the power on the wheel.

[0054] Regarding the installation of the first mounting frame 121, at the first end in the width direction Y, the length bracket 112, the two mounting brackets 113 and the first mounting frame 121 are connected by the first rotating shaft 131 and can rotate around the first rotating shaft 131 respectively, and the first rotating shaft 131 is parallel to the rotating shaft 126. At the second end in the width direction Y, the first mounting frame 121 and the first rotating shaft 131 are offset, and the two mounting brackets 113 and the first mounting frame 121 are connected by the second rotating shaft 129, so that the width bracket and the first mounting frame 121 can rotate around the second rotating shaft 129 respectively, and the first rotating shaft 131 is parallel to the second rotating shaft 129. In addition, a walking drive assembly 12 is arranged close to a hinge position, so that the posture of the walking frame can be effectively controlled.

[0055] Two hinged parts 123 are provided on the first mounting frame 121, and the two hinged parts 123 are located above the driving wheel 122. The two hinged parts 123 are arranged along the walking direction X, and the two hinged parts 123 are respectively located at the front end and the rear end of the driving wheel 122 in the walking direction X, and the two hinged parts 123 are symmetrically arranged with the first rotating shaft 131 or the second rotating shaft 129. A connecting rod 124 is hingedly provided at the hinged part 123, and the connecting rod 124 extends along the width direction. One connecting rod 124 is hinged between the two hinged parts 123 located in the width direction Y, and then the two connecting rods 124 are also located on both sides of the first rotating shaft 131 or the second rotating shaft 129. After the first mounting frame 121 on one side rotates, it will drive the first mounting frame 121 on the other side, so that the two driving wheels 122 on the front side in the walking direction rotate in the same direction, and the two driving wheels 122 on the rear side in the walking direction rotate in the same direction.

[0056] Two angle sensors 130 are respectively arranged on the width bracket 111 on the front and rear sides of the walking direction X. The angle sensor 130 can adopt a conventional angle sensor such as an angle encoder. The shell of the angle sensor 130 is fixedly connected to the mounting bracket 113, and the detection axis of the angle sensor 130 is connected to the second rotating shaft 129 and is coaxially arranged. Since the second rotating shaft 129 is fixedly connected to the first mounting bracket 121 and rotates in the same direction, the deflection angle of the width bracket 111 and the first mounting bracket 121 can be obtained through the angle detection of the angle sensor 130, or the deflection angle of the width bracket 111 and the driving wheel 122 can be obtained.

[0057] A position detection sensor 128 and a mounting bracket 127 are also provided on each travel drive assembly 12. The mounting bracket 127 is provided in a T-shape. The position detection sensor 128 can be an infrared sensor. The position detection sensor 128 is provided at the lower end of the mounting bracket 127. The position detection sensor 128 is located on the axial side of the driving wheel 122, between the two positioning wheels 125, and also on the lower side of the driving wheel. In addition, the position detection sensors 128 on the front and rear sides of the travel direction X are different in height in the vertical direction, while the position detection sensors 128 on the width direction Y are the same in height in the vertical direction.

[0058] The photovoltaic panel 21 is provided with a first position marker 231 and a second position marker 241 on its length side in the width direction, and the photovoltaic panel 22 is provided with a first position marker 232 and a second position marker 242 on its length side in the width direction. The first position marker 231 and the first position marker 232 are located at the front and rear ends of the connecting bridge 31 in the walking direction X, the second position marker 241 is located at the rear end of the first position marker 231, and the second position marker 242 is located at the front end of the first position marker 232. Of course, since the walking device can reciprocate in the walking direction X, the front and rear ends are relative and can be swapped. When designing the specific height, the position markers are respectively provided with trigger points or reflection points of different heights to match position detection sensors of different heights, so that different walking wheels approaching or away from the connecting bridge 31 can be clearly identified, and different frame postures can be walked.

[0059] like Figure 4 As shown, the photovoltaic panel 21 is parallel to the photovoltaic panel 22, but there is a height difference. They are connected by a connecting bridge 31 inclined in the vertical direction, and the length side of the photovoltaic panel 21 and the length side of the photovoltaic panel 22 are coplanar. When the driving wheel climbs or goes downhill, the positioning wheel 125 can maintain rolling cooperation with the photovoltaic panel 21, the connecting bridge 31, and the photovoltaic panel 22 respectively.

[0060] The following is an explanation of the walking deviation correction method of the photovoltaic system. Figure 1When the walking device 1 walks on the photovoltaic panel 21, the walking frame 11 can walk in a rectangular frame posture, which is a conventional walking posture, and is matched with a preset conventional offset angle. The walking frame 11 can be equipped with a sweeping brush to clean the photovoltaic panel. Since the photovoltaic panel is arranged at an angle, the angle is detected by two angle sensors 130, and then the walking speed of the four driving wheels 122 is controlled respectively, so that the walking frame 11 maintains a rectangular frame posture.

[0061] Reference Figure 5 The driving wheel 122 on the upper front side first reaches the upper connecting bridge 31, and the upper position detection sensor detects the upper first position marking member 231, and then controls the driving wheel 122 on the upper front side to stop, and the driving wheel 122 on the lower front side then reaches the lower connecting bridge 31, and the lower position detection sensor detects the lower first position marking member 231, and then stops walking in a normal walking posture, and then walks in a turning posture.

[0062] Reference Figure 6 When walking in a turning posture, since the two positioning wheels 125 can obtain the extension direction of the connecting bridge 31 and drive the driving wheel 122 to turn, the angle sensor 130 can obtain the turning offset angle and set the turning offset angle as the preset offset angle when walking in a turning posture, and then control the walking speed of the four driving wheels 122 respectively, so that the walking frame 11 walks in a turning posture.

[0063] Reference Figure 7 , then the upper position detection sensor detects the upper first position marker 232, and the lower position detection sensor detects the lower first position marker 232, and the two front driving wheels 122 are about to turn, and the two positioning wheels 125 can obtain the extension direction of the photovoltaic panel 21 and drive the driving wheels 122 to turn. The angle sensor 130 can obtain the transition offset angle and set the transition offset angle as the preset offset angle when walking in the transition posture, and then control the walking speed of the four driving wheels 122 respectively, so that the walking frame 11 walks in the transition posture.

[0064] Reference Figure 8 The upper position detection sensor detects the upper first position marker 231, and the lower position detection sensor detects the lower first position marker 231. The two positioning wheels 125 on the rear side then drive the driving wheel 122 to turn. Then the angle sensor 130 can obtain the turning offset angle and set the turning offset angle as the preset offset angle when walking in a turning posture, and then control the walking speeds of the four driving wheels 122 respectively, so that the walking frame 11 walks in a turning posture.

[0065] Reference Fig. 9 and Fig.10Finally, the upper position detection sensor detects the upper first position marker 232, and the lower position detection sensor detects the lower first position marker 232. Then, the two positioning wheels 125 can obtain the extension direction of the photovoltaic panel 21 and drive the driving wheel 122 to turn. The angle sensor 130 detects the angle and controls the walking speed of the four driving wheels 122 respectively, so that the walking frame 11 maintains a rectangular frame posture. And after the front or rear position detection sensor detects the second position marker 242, the walking device 1 can be driven to accelerate. In addition, when the front or rear position detection sensor detects the second position marker 241, the walking device 1 can be driven to decelerate in preparation for the rotation action.

[0066] Photovoltaic system second embodiment:

[0067] Reference Fig.11 On the basis of the first embodiment, for adjusting the installation position of the first mounting frame 121, the first mounting frame 121 can be set on the four hinged positions of the walking frame 11, and the length bracket 112, the width bracket 111 and the first mounting frame 121 are connected by a rotating shaft. The length bracket 112, the width bracket 111 and the first mounting frame 121 rotate around the rotating shaft respectively, and as the two positioning wheels 125 roll with the connecting bridge 31, the driving wheel 122 is driven to turn, so that the driving wheel 122 moves along the extension direction of the connecting bridge 31. In addition, an angle sensor can also be set on the rotating shaft at the hinged position to obtain the deflection angle to realize the posture control of the walking frame 11. As long as the angle sensor can detect the relative rotation angle between two adjacent brackets, or the angle sensor detects the relative rotation angle between a bracket and the rotating shaft, and then can detect the posture of the walking frame, the purpose of the present invention can also be achieved.

[0068] Photovoltaic system second embodiment:

[0069] Reference Fig.12On the basis of the first embodiment, in addition to the integrated first mounting frame 121, the mounting frame assembly may include a first mounting frame 141 and a second mounting frame 142, the driving wheel 122 is rotatably disposed on the first mounting frame 141, the two positioning wheels 125 are rotatably disposed on the second mounting frame 142, the first mounting frame 141 is hinged to the two mounting frames 113 of the width bracket 111 through the rotating shaft 151, and the second mounting frame 142 is hinged to the two mounting frames 113 of the width bracket 111 through the rotating shaft 152, The rotating shaft 151 is parallel to the rotating shaft 152, and the upper parts of the first mounting frame 141 and the second mounting frame 142 are respectively provided with hinged parts. In addition to being hinged between the hinged parts of the first mounting frame 141 and the second mounting frame 142, the connecting rod 124 is also hinged to the two first mounting frames 141 and the two second mounting frames 142 located in the width direction Y. Then, after the two positioning wheels 125 roll in cooperation with the photovoltaic panel and the connecting bridge, the driving wheel 122 can be synchronously driven to turn, which can also achieve the purpose of the present invention.

[0070] In addition to this embodiment, two positioning wheels can be set on the two travel drive components located on the same side in the width direction. The two positioning wheels set on one side can also realize the rotational drive of the drive wheel, and the purpose of the invention of this case can also be achieved.

[0071] Photovoltaic panel device first embodiment:

[0072] For the arrangement of the photovoltaic panels in the above embodiment, there are various connection situations, see Fig.13 The photovoltaic panel device includes a first photovoltaic panel 41, a second photovoltaic panel 42 and a connecting bridge, the first photovoltaic panel 41 has a first width side 411 close to the second photovoltaic panel 42, the first photovoltaic panel 41 has a first length side 412 at both ends of the width direction of the first width side 411, the second photovoltaic panel 42 has a second width side 421 close to the first photovoltaic panel 41, the second photovoltaic panel 42 has a second length side 422 at both ends of the width direction of the second width side 421, the length of the first width side 411 is equal to the length of the second width side 421, the first width side 411 and the second width side 421 are separated, and the first width side 411 and the second width side 421 are arranged non-parallel.

[0073] Reference Fig.14The connecting bridge is connected between the first photovoltaic panel 41 and the second photovoltaic panel 42. The connecting bridge includes a first extension section, a second extension section and a first turning section. The first extension section is provided with a first extension side ae and a first extension side cg at both ends in the width direction. The first extension side ae and the first extension side cg are of unequal length. The second extension section is provided with a second extension side bf and a second extension side dh at both ends in the width direction. The second extension side bf and the second extension side dh are of unequal length. The first turning section is provided with a first turning side ef and a first turning side gh at both ends in the width direction. The first turning side ef and the first turning side gh are of equal length and arranged in parallel. Then, the first turning section can be arranged in a parallelogram shape.

[0074] At the top in the width direction, the first length side 412, the first extension side ae, the first turning side ef, the second extension side bf and the second length side 422 are connected in sequence, the first extension side ae and the first length side 412 are arranged in a collinear manner, and the second extension side bf and the second length side 422 are arranged in a collinear manner.

[0075] The first length side 412, the first extension side cg, the first turning side gh, the second extension side dh and the second length side 422 are sequentially connected in the width direction. The first extension side cg and the first length side 412 are arranged in a collinear manner, and the second extension side dh and the second length side 422 are arranged in a collinear manner.

[0076] Of course, the corresponding positions of the first photovoltaic panel 41, the second photovoltaic panel 42 and the connecting bridge can be provided with position markings as described in the above embodiment, and the walking device of the above embodiment can move smoothly and stably on the photovoltaic panel device.

[0077] Photovoltaic panel device second embodiment:

[0078] Reference Fig.15 In the basic concept of the first embodiment of the photovoltaic panel device, when there is a height difference between the first photovoltaic panel 41 and the second photovoltaic panel 42, the connecting bridge may include a first extension section, a second extension section, a first turning section, a second turning section and a flat connection section.

[0079] The first extension section is provided with a first extension side ae and a first extension side ci at both ends in the width direction, and the lengths of the first extension side ae and the first extension side ci are unequal. The second extension section is provided with a second extension side bh and a second extension side dl at both ends in the width direction, and the lengths of the second extension side bh and the second extension side dl are unequal. The first turning section is provided with a first turning side ef and a first turning side ij at both ends in the width direction, and the lengths of the first turning side ef and the first turning side ij are equal and arranged in parallel. The second turning section is provided with a second turning side gh and a second turning side kl at both ends in the width direction, and the lengths of the second turning side gh and the second turning side kl are equal and arranged in parallel. The flat-joining section is provided with a flat-joining side fg and a flat-joining side jk at both ends in the width direction, and the lengths of the flat-joining side fg and the flat-joining side jk are equal and arranged in parallel. The first turning section is arranged in a parallelogram to achieve adjustment of the access position, the flat section and the second turning section are arranged in a rectangular shape, and the second turning section is arranged inclined to the vertical direction, that is, the flat plane where the flat section is located is inclined to the second turning plane where the second turning section is located, and the turning plane where the second turning section is located is respectively inclined to the first photovoltaic panel and the second photovoltaic panel.

[0080] At the top in the width direction, the first length side, the first extended side ae, the first turning side ef, the butt side fg, the second turning side gh, the second extended side bh and the second length side are connected in sequence, the first extended side ae and the first length side are arranged collinearly, and the second extended side bh and the second length side are arranged collinearly.

[0081] At the bottom in the width direction, the first length side, the first extension side ci, the first turning side ij, the butt side jk, the second turning side kl, the second extension side dl and the second length side are connected in sequence. The first extension side ci and the first length side are arranged in a collinear manner, and the second extension side dl and the second length side are arranged in a collinear manner.

[0082] Before climbing the slope through the second turning section, the positions of the first turning section and the flat joint section are first adjusted, and the second turning section and the flat joint section are arranged in a rectangular shape, so that the forward direction of the driving wheel is aligned with the direction of the second turning section after adjustment at the flat joint section. In this way, the walking device does not deflect horizontally when climbing or descending a slope, thereby improving the overall climbing and descending stability of the walking device and also improving the walking passability on the photovoltaic panel device.

[0083] In addition, in this embodiment, the lengths of the first extension side ci and the second extension side dl are relatively short, but in other applications of photovoltaic panels, the first extension side ci and the second extension side dl can be set to be 0 in length, and then the first turning side ij or the second turning side kl is directly connected to the length side. This can also achieve the purpose of the present invention.

[0084] Photovoltaic panel device third embodiment:

[0085] Reference Fig.16 In the basic concept of the second embodiment of the photovoltaic panel device, the connecting bridge includes a first extension section acmn, a flat section mngk, a first turning section gkhl and a second extension section hldb connected in sequence, which can be basically arranged according to the above embodiment to also realize the connection between the first photovoltaic panel and the second photovoltaic panel.

[0086] In addition, the photovoltaic panels 431 and 432 on the same side may also be adjacent to each other in an offset manner. Specifically, the first width side 433 of the photovoltaic panel 431 is parallel to the second width side 433 of the photovoltaic panel 432, the first width side 433 is adjacent to the second width side 433, and the first length side and the second length side of the photovoltaic panel on the same side are arranged in different lines.

[0087] The connecting bridge may also include an offset section, which is provided with an offset edge ef and an offset edge ij at both ends in the width direction. The lengths of the offset edge ef and the offset edge ij are equal and parallel. The offset edge ef is inclined to the first length edge located above and connected between the first length edge and the second length edge. The offset edge ij is inclined to the first length edge located below and connected between the first length edge and the second length edge.

[0088] Through the offset design of the offset section efij, and in conjunction with the first extension section acmn, the flat section mngk, the first turning section gkhl and the second extension section hldb, the connection between the two photovoltaic panels is smoother, which is conducive to the passage of the walking device.

[0089] Photovoltaic panel device fourth embodiment:

[0090] Reference Fig.17 Based on the basic concept of the first embodiment of the photovoltaic panel device, the setting of the connecting bridge can be further simplified. The connecting bridge includes a first extension segment acfi and a second extension segment bdfi. The first extension segment acfi includes a first extension side af and a first extension side ci arranged at both ends in the width direction. The second extension segment bdfi includes a second extension side bf and a second extension side di arranged at both ends in the width direction. The first extension side af is collinear with the first length side above the first photovoltaic panel, the first extension side ci is collinear with the first length side below the first photovoltaic panel, the second extension side bf is collinear with the first length side above the second photovoltaic panel, the second extension side di is collinear with the first length side below the second photovoltaic panel, and the first extension side af is intersected and connected with the second extension side bf, and the first extension side ci is intersected and connected with the second extension side di.

[0091] Photovoltaic panel device fifth embodiment:

[0092] Reference Fig.18Based on the basic concept of the fourth embodiment of the photovoltaic panel device, the connecting bridge also includes a first turning section efhi and a second turning section fgij. The first extension section acfi, the first turning section efhi, the second turning section fgij and the second extension section bdfi are connected in sequence. The first turning section efhi and the second turning section fgij can be arranged in a parallelogram or a rectangle, thereby effectively reducing the size of the turning angle and facilitating the passage of the walking device.

[0093] Photovoltaic panel device sixth embodiment:

[0094] Reference Fig.19 and Fig. 20 The photovoltaic panel device includes a first photovoltaic panel 51, a second photovoltaic panel 52 and a connecting bridge, the first photovoltaic panel 51 has a first width side 511 close to the second photovoltaic panel 52, the first photovoltaic panel 51 has a first length side 512 at both ends of the width direction of the first width side 511, the second photovoltaic panel 52 has a second width side 521 close to the first photovoltaic panel 51, the second photovoltaic panel 52 has a second length side 522 at both ends of the width direction of the second width side 521, the length of the first width side 511 is equal to the length of the second width side 521, and the first width side 511 is parallel to the second width side 521.

[0095] The connecting bridge includes a first extension section AEHC, a first turning section EFIH, a flat section FGJI and a second extension section GBDJ. The first extension section is provided with a first extension edge AE and a first extension edge HC at both ends in the width direction, the second extension section GBDJ is provided with a second extension edge BG and a second extension edge DJ at both ends in the width direction, the first turning section EFIH is provided with a first turning edge EF and a first turning edge IH at both ends in the width direction, the flat section FGJI is provided with a flat edge FG and a flat edge JI at both ends in the width direction, the second extension section GBDJ is provided with a second extension edge GB and a second extension edge DJ at both ends in the width direction, the first length edge, the first extension edge, the first turning edge, the flat edge, the second extension edge and the second length edge on the same side are connected in sequence, the plane where the first extension section is located is inclined to the plane where the second extension section is located, the plane where the first extension section AEHC is located is coplanar with the first photovoltaic panel 51, the second extension section GBDJ is inclined to the second photovoltaic panel 52, and the plane where the flat section FGJI is located is horizontally arranged.

[0096] By setting the connecting bridge of this embodiment, the relative slope is effectively reduced, so that the walking device can climb the slope stably.

[0097] Photovoltaic panel device seventh embodiment:

[0098] Reference Fig.21Under the basic concept of the sixth embodiment of the photovoltaic panel device, when there is a small amount of horizontal misalignment and a small amount of vertical drop between the photovoltaic panels, the relative position of the photovoltaic panels can be offset by the offset section, specifically by connecting through the offset edge EF and the offset edge HI, and directly connecting between the photovoltaic panels through the first turning section ABCD, the turning edge AB is coplanar with the two length edges on the upper side, the turning edge CD is coplanar with the two length edges on the lower side, and the plane where the first turning section ABCD is located is inclined to the two photovoltaic panels respectively.

[0099] Photovoltaic panel device eighth embodiment:

[0100] Reference Fig. 22 In addition to connecting the photovoltaic panels with a connecting bridge, a ferry frame 62 is also provided at the end of the row of photovoltaic panels. The ferry frame 62 is provided with running wheels 623 at the bottom, and the running wheels 623 run on the track 624 to enable the ferry frame 62 to switch up and down between photovoltaic panels in different arrangements.

[0101] The ferry frame 62 is provided with parallel second length sides 622 at both ends in the width direction, the upper second length side 622 is supported by a support column 620, the two second length sides 622 are parallel, a vertical bracket 621 is provided between the two second length sides 622, the vertical bracket 621 is respectively perpendicular to the second length sides 622, and then the vertical bracket 621 is extended along the vertical line between the two second length sides 622. The first photovoltaic panel 61 has a first width side 611 close to the ferry frame, the first photovoltaic panel 61 has parallel first length sides 612 at both ends in the width direction of the first width side 611, the length of the vertical bracket 621 is equal to the length of the first width side 611, and the first width side 411 and the vertical bracket 621 are arranged non-parallel.

[0102] The connecting bridge includes a first extension section and a second extension section. The first extension section is provided with a first extension side ae and a first extension side cf at both ends in the width direction. The first extension side ae and the first extension side cf are unequal in length. The second extension section is provided with a second extension side be and a second extension side df at both ends in the width direction. The second extension side be and the second extension side df are unequal in length. The upper and lower second length sides, the first extension side, the second extension side and the first length side are connected in sequence. The first extension side and the second length side are arranged in a collinear manner. The second extension side and the first length side are arranged in a collinear manner.

[0103] Then the walking device can move between the ferry frame 62 and the photovoltaic panel. Of course, the vertical bracket 621 may not be provided, and the movement of the walking device can still be achieved without a certain degree of support. In addition to the extension section, a turning section and a flat joint section may be provided according to the basic concept of the above embodiment, which can also achieve the purpose of the present invention.

[0104] As can be seen from the above, the walking frame composed of four rotatable brackets can adapt to the turning of the connecting bridge and the offset of the photovoltaic panel, and at the same time, through four independent walking drive components, not only the driving wheels can move or stop independently, but also through the two positioning wheels located on the axial side, since the two positioning wheels are arranged along the walking direction, the two positioning wheels can rotate along the edge of the photovoltaic panel in the width direction or the connecting bridge, and then the driving wheels can rotate accordingly, thereby realizing that the four driving wheels can independently rotate along the extension direction of the photovoltaic panel or the connecting bridge, so that the driving wheels and the photovoltaic panel or the track path keep walking in the same direction, thereby improving the walking passability and stability.

[0105] In addition, through the walking frame composed of four rotatable brackets, the walking frame can adapt to the turning of the connecting bridge and the offset of the photovoltaic panel, and at the same time, through four independent walking drive components, not only the driving wheels can move or stop independently, but also through the positioning wheels located on the axial side, the driving wheels can rotate accordingly, so that the four driving wheels can independently rotate with the extension direction of the photovoltaic panel or the connecting bridge, so that the driving wheels and the photovoltaic panel or the track path keep walking in the same direction, improving the walking passability and stability. In addition, the offset of the bracket and the walking direction of the driving wheel can be obtained through the angle sensor, and then the current posture of the walking frame can be known, and then the four driving wheels can be controlled to move, stop or speed respectively, so that the walking frame can walk in a preset posture, which not only further provides walking stability.

[0106] Furthermore, by setting the extension section, the turning section and the translation section in the connecting bridge, and by organically combining the extension section, the turning section and the translation section, the connecting bridge is connected between the first photovoltaic panel and the second photovoltaic panel, and the extension side and the length side are arranged in a collinear manner, so that the walking device can be smoothly transferred from the first photovoltaic panel to the second photovoltaic panel. In addition, according to the height difference between the first photovoltaic panel and the second photovoltaic panel, and the horizontal offset, the first turning section, the flat connection section and the second turning section can be arranged in a parallelogram or rectangle, respectively, and the flat connection section can be offset or adjusted. When climbing or descending a slope inclined to the vertical direction, the rectangular turning section fully cooperates with the driving wheel of the walking device, and then the separation of climbing and descending and horizontal turning is achieved, and then the walking smoothness is fully improved to avoid slipping or jamming.

Claims

1. A walking device for photovoltaic panels, characterized in that: include: Four travel drive assemblies, each of which includes a mounting frame assembly, a driving wheel, and a driving module, wherein the driving wheel is rotatably disposed on the mounting frame assembly, and the driving module is connected to the driving wheel and drives the driving wheel to rotate; A walking frame, the walking frame comprising four brackets, the head and tail ends of the four brackets are hinged in sequence to form four hinge positions, four mounting frame assemblies are hingedly arranged on the walking frame, one walking drive assembly is close to one hinge position, and the rotation axis of the mounting frame assembly is parallel to the rotation axis of the bracket; The two travel drive assemblies located on the same side in the width direction further include two positioning wheels, the two positioning wheels are rotatably arranged on the mounting frame assembly, the axial directions of the two positioning wheels are parallel, the axial directions of the positioning wheels are perpendicular to the axial directions of the driving wheels, the two positioning wheels are located on the axial sides of the driving wheels, and the two positioning wheels are arranged along the travel direction of the driving wheels; The two positioning wheels are respectively located at the front end and the rear end of the axis of the driving wheel based on the walking direction; The four brackets are respectively two length brackets extending along the walking direction and two width brackets along the width direction, the two length brackets are parallel to each other, the two width brackets are parallel to each other, and the walking device also includes a first rotating shaft; Located at the first end in the width direction, the length bracket, the width bracket and the mounting bracket assembly are connected by the first rotating shaft and rotate around the first rotating shaft respectively; The walking device also includes a second rotating shaft; Located at the second end in the width direction, the width bracket and the mounting frame assembly are connected through the second rotating shaft and rotate around the second rotating shaft respectively.

2. The walking device according to claim 1, characterized in that: The mounting frame assembly comprises a first mounting frame, and the driving wheel and the two positioning wheels are rotatably arranged on the first mounting frame.

3. The walking device according to claim 2, characterized in that: The walking device further comprises a connecting rod, which is hinged between two of the first mounting frames located in the width direction.

4. The walking device according to claim 1, characterized in that: The mounting frame assembly comprises a first mounting frame and a second mounting frame, the driving wheel is rotatably arranged on the first mounting frame, the two positioning wheels are rotatably arranged on the second mounting frame, the first mounting frame and the second mounting frame are respectively hinged to the walking frame, and the rotation axis of the first mounting frame is parallel to the rotation axis of the second mounting frame; The walking device also includes a connecting rod, which is hinged between the first mounting frame and the second mounting frame of the same mounting frame assembly.

5. The walking device according to claim 4, characterized in that: The connecting rod is hinged to two of the first mounting brackets and two of the second mounting brackets located in the width direction.

6. The walking device according to any one of claims 1 to 5, characterized in that: The positioning wheel is provided in a cylindrical shape and extends along the axial direction of the positioning wheel toward the lower side of the driving wheel.

7. A photovoltaic system, characterized in that It comprises the walking device and photovoltaic panel as described in any one of claims 1 to 6 above, wherein the driving wheel is located on the photovoltaic panel for walking, and the positioning wheel is in rolling cooperation with the edge of the photovoltaic panel in the width direction.

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