Photovoltaic shuttle

Abstract

The application discloses a photovoltaic ferry vehicle, which comprises a chassis assembly, a first adjusting assembly and a second adjusting assembly. The first adjusting assembly comprises a first support and a first adjusting module. The first adjusting module is arranged on the chassis assembly, and the first support is used for walking of a photovoltaic cleaning device. The first adjusting module and the first support are connected and the height of the first support and the included angle between the first support and a first direction are adjusted. The second adjusting assembly comprises a second support and a second adjusting module. The second support is used for walking of the photovoltaic cleaning device and is used for connection with a photovoltaic assembly. The second adjusting module is arranged on the first support, and the second adjusting module and the second support are connected and the position of the second support in a second direction and the included angle between the second support and the second direction are adjusted. The first direction, the second direction and the height direction have included angles between each other. In the photovoltaic ferry vehicle, the height of the second support and the included angle between the second support and the second direction can be adjusted to adapt to photovoltaic assemblies of different heights, and the included angle between the second support and the first direction can be adjusted to adapt to photovoltaic assemblies of different inclination angles, so that the adaptability of the photovoltaic ferry vehicle to different heights and different inclination angles of the photovoltaic assembly is improved, and the use performance of the photovoltaic ferry vehicle is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning, and more particularly to a photovoltaic transfer vehicle. BACKGROUND

[0002] The photovoltaic cleaning device is used for cleaning photovoltaic modules, but the photovoltaic cleaning device can only walk on the same row of photovoltaic modules for operation. The photovoltaic transfer vehicle is usually used to transport the photovoltaic cleaning device from one row of photovoltaic modules to another row of photovoltaic modules.

[0003] The heights of different rows of photovoltaic modules are more likely to be different, and the inclination angles of different rows of photovoltaic modules are more likely to be different, but the photovoltaic transfer vehicle has poor adaptability to the height of the photovoltaic module and poor adaptability to the inclination angle of the photovoltaic module, resulting in poor use performance of the photovoltaic transfer vehicle.

[0004] In summary, how to improve the use performance of the photovoltaic transfer vehicle is a problem to be solved by the person skilled in the art at present. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a photovoltaic transfer vehicle to improve the use performance of the photovoltaic transfer vehicle.

[0006] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0007] A photovoltaic transfer vehicle comprises a chassis assembly, a first adjusting assembly, and a second adjusting assembly.

[0008] The first adjusting assembly comprises a first support and a first adjusting module, the first adjusting module is arranged on the chassis assembly, and the first support is used for walking of the photovoltaic cleaning device; the first adjusting module and the first support are connected and adjust the height of the first support and the included angle between the first support and a first direction.

[0009] The second adjusting assembly comprises a second support and a second adjusting module; the second support is used for walking of the photovoltaic cleaning device and is used for connection with the photovoltaic module; the second adjusting module is arranged on the first support, the second adjusting module and the second support are connected and adjust the position of the second support in a second direction and the included angle between the second support and the second direction; the first direction, the second direction, and the height direction have included angles between each other.

[0010] Optionally, the second support comprises a support frame and a clamping piece; one end of the clamping piece in the second direction is arranged on the support frame, and the other end of the clamping piece in the second direction is used for clamping on the photovoltaic module.

[0011] Optionally, the clamping member is rotatably arranged on the support frame, so that the clamping member and the photovoltaic module can be adjusted at an angle.

[0012] Optionally, the second support frame further comprises an elastic member, the elastic member connecting the clamping member and the support frame, and in the case that the clamping member clamps the photovoltaic module, the elastic member is elastically deformed and makes the clamping member abut against the photovoltaic module.

[0013] Optionally, the elastic member is a spring, one end of the elastic member being connected to the clamping member, the other end of the elastic member being connected to the support frame, and the elastic member being located on one side of the rotation axis of the clamping member.

[0014] Optionally, the clamping member is a component capable of being elastically deformed, and in the case that the clamping member clamps the photovoltaic module, the clamping member is elastically deformed and abuts against the photovoltaic module.

[0015] Optionally, the clamping member is provided with a buffer member for contacting the photovoltaic module.

[0016] Optionally, the first adjusting assembly further comprises a transition pull rod assembly capable of allowing the photovoltaic cleaning device to move, the transition pull rod assembly and the first support frame being slidably connected in the second direction; one end of the second support frame in the second direction is rotatably arranged on the transition pull rod assembly, and the other end of the second support frame in the second direction is used for connecting with the photovoltaic module.

[0017] Optionally, the first support frame is provided with a pull rod limiting member, the pull rod limiting member and the transition pull rod assembly being slidably connected in the second direction, and the pull rod limiting member limiting the transition pull rod assembly from deviating from the second direction, the first support frame being used for allowing the photovoltaic cleaning device to move through the pull rod limiting member.

[0018] Optionally, the pull rod limiting member is arranged on the transition pull rod assembly, the transition pull rod assembly comprising a transition pull rod and a pulling positioning block, the pulling positioning block being fixed on the periphery of the transition pull rod, and the pulling positioning block and the pull rod limiting member being in contact and slidably connected, the second support frame being rotatably arranged on the transition pull rod.

[0019] Optionally, the first adjusting module comprises a first driving module, the first driving module being connected with the first support frame, the first driving module being capable of driving the first support frame to move along the height direction to adjust the height of the first support frame, and the first driving module being capable of driving the first support frame to rotate around the first axis to adjust the angle between the first support frame and the first direction.

[0020] The second adjusting module comprises a second driving module, the second driving module is connected with the second support, the second driving module can drive the second support to move along the second direction to adjust the position of the second support in the second direction, and the second driving module can drive the second support to rotate around the second axis to adjust the included angle between the second support and the second direction.

[0021] Optionally, the first driving module and the second driving module are both driving modules, and the driving module comprises a transmission shaft, a reversing device and a driving unit.

[0022] The driving unit can drive the transmission shaft to move along its axis and rotate around its axis, the reversing input shaft of the reversing device is fixedly connected with the transmission shaft, the reversing output shaft of the reversing device is fixedly connected with the first support, the reversing device is used for converting the rotation of the transmission shaft into the rotation of the reversing output shaft, and the reversing output shaft rotates around its axis.

[0023] In the first driving module, the axial direction of the transmission shaft is the height direction, the first axis is the axis of the reversing output shaft, and the driving unit is arranged on the chassis assembly; in the second driving module, the axial direction of the transmission shaft is the second direction, the second axis is the axis of the reversing output shaft, and the driving unit is arranged on the first support.

[0024] Optionally, the driving unit comprises a first transmission mechanism, a second transmission mechanism, a first driving component and a second driving component.

[0025] The transmission shaft is sleeved with a nut and a transmission sleeve, the nut and the transmission shaft cooperate to form a lead screw mechanism, the transmission sleeve and the transmission shaft are connected through a key transmission, and the nut and the transmission sleeve are distributed along the axial direction of the transmission shaft.

[0026] The nut is rotatably arranged around its axis and fixedly arranged in its axial direction; the first driving component drives the nut to rotate around its axis through the first transmission mechanism.

[0027] The transmission sleeve is rotatably arranged around its axis and fixedly arranged in its axial direction; the second driving component drives the transmission sleeve to rotate around its axis through the second transmission mechanism.

[0028] Optionally, the driving module further comprises a nut mounting rack and a transmission sleeve mounting rack.

[0029] The nut mounting frame is fixed with a first mounting sleeve, the first mounting sleeve is sleeved on the nut, and the first mounting sleeve and the nut are rotationally matched, the nut is fixedly arranged in the axial direction of the nut through the first transmission mechanism;

[0030] The transmission sleeve mounting frame is fixed with a second mounting sleeve, the second mounting sleeve is sleeved on the transmission sleeve, and the second mounting sleeve and the transmission sleeve are rotationally matched, the transmission sleeve is fixedly arranged in the axial direction of the transmission sleeve through the second transmission mechanism;

[0031] In the first driving module, the nut mounting frame and the transmission sleeve mounting frame are both fixed to the chassis assembly; in the second driving module, the nut mounting frame and the transmission sleeve mounting frame are both fixed to the first support.

[0032] Optionally, the first adjusting module and the second adjusting module both further include a sliding rod and a guide sleeve, the sliding rod and the guide sleeve are sleeved and slidably matched;

[0033] In the first driving module, one of the guide sleeve and the sliding rod is fixed to the chassis assembly, and the other is rotationally connected to the first support; in the second driving module, one of the guide sleeve and the sliding rod is fixed to the first support, and the other is rotationally connected to the second support.

[0034] Optionally, the guide sleeve is sleeved on the sliding rod; one end of the sliding rod inside the guide sleeve has a protruding part, the protruding part is provided with a piston ring, the piston ring and the guide sleeve are in contact and slidably matched; a shaft sleeve is fixed to the top end of the guide sleeve, the sliding rod penetrates through the shaft sleeve, and the sliding rod and the shaft sleeve are in contact and slidably matched.

[0035] In the photovoltaic transfer vehicle provided in the application, the first adjusting module of the first adjusting assembly can indirectly adjust the height of the second support and the included angle between the second support and the first direction; in the second adjusting assembly, the second adjusting module can adjust the position of the second support in the second direction and the included angle between the second support and the second direction. In this way, by adjusting the height of the second support, the included angle between the second support and the first direction, the position of the second support in the second direction, and the included angle between the second support and the second direction, the second support and the photovoltaic assembly can be connected. The adjustment of the height of the second support and the included angle between the second support and the second direction can be suitable for photovoltaic assemblies of different heights, and the adjustment of the included angle between the second support and the first direction can be suitable for photovoltaic assemblies of different inclination angles, thereby improving the adaptability of the photovoltaic transfer vehicle to photovoltaic assemblies of different heights and different inclination angles and effectively improving the use performance of the photovoltaic transfer vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only need to be drawn for the embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of the provided drawings.

[0037] Figure 1 A use schematic diagram of the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0038] Figure 2 A structure schematic diagram of the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0039] Figure 3 A partial structure schematic diagram of the chassis assembly and the first adjusting assembly in the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0040] Figure 4 A partial structure schematic diagram of the driving module in the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0041] Figure 5 A partial structure schematic diagram of the first driving module and the first support in the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0042] Figure 6 A structure schematic diagram of the guiding module in the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0043] Figure 7 A structure schematic diagram of the first support and the second adjusting assembly in the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0044] Figure 8 A structure schematic diagram of the second support and the photovoltaic assembly in the photovoltaic ferry provided by the embodiment of the present application is shown in the figure. Figure 7 An enlarged structure schematic diagram of part A in the figure is shown in the figure.

[0045] Figure 9 A structure schematic diagram of the second support and the photovoltaic assembly in the photovoltaic ferry provided by the embodiment of the present application is shown in the figure.

[0046] Figure 10 An enlarged structure schematic diagram of part B in the figure is shown in the figure. Figure 9 An enlarged structure schematic diagram of part B in the figure is shown in the figure.

[0047] Figure 11 An enlarged structure schematic diagram of part C in the figure is shown in the figure. Figure 9 An enlarged structure schematic diagram of part C in the figure is shown in the figure.

[0048] Figure 12 A structure schematic diagram of the photovoltaic ferry in the initial state provided by the embodiment of the present application is shown in the figure.

[0049] Figure 13Structure schematic view of the photovoltaic shuttle vehicle in the connection state and the photovoltaic cleaning device moving to the photovoltaic module provided by the embodiment of the present application;

[0050] Figure 14 Structure schematic view of the photovoltaic shuttle vehicle in the connection state and the photovoltaic cleaning device moving to the photovoltaic module provided by the embodiment of the present application.

[0051] Legend of reference signs:

[0052] 100-photovoltaic shuttle vehicle, 200-photovoltaic cleaning device, 300-photovoltaic module;

[0053] 10-chassis assembly, 101-chassis, 102-traveling module;

[0054] 20-first adjusting assembly, 201-first support, 202-first adjusting module, 2021-first driving module, 203-first mounting seat, 204-first rotating shaft, 205-second mounting seat, 206-transition pull rod assembly, 2061-transition pull rod, 2062-pull rod positioning block, 207-pull rod limiting piece, 208-limiting part, 209-fourth mounting seat;

[0055] 30-second adjusting assembly, 301-second support, 3011-supporting frame, 3012-lap joint, 3013-third rotating shaft, 3014-buffering piece, 3015-elastic piece, 302-second adjusting module, 3021-second driving module; 303-second rotating shaft, 304-fourth rotating shaft, 305-fifth mounting seat, 306-third mounting seat;

[0056] 1-guiding module, 11-guiding sleeve, 12-piston ring, 13-sliding rod, 131-protruding part, 14-shaft sleeve, 141-flange, 15-shaft sleeve end cover, 16-hinged support; 2-driving module, 21-transmission shaft, 2101-outer spline, 2102-outer thread, 22-nut, 23-first mounting sleeve, 24-nut mounting rack, 25-transmission sleeve, 26-second mounting sleeve, 27-transmission sleeve mounting rack, 28-first driving part, 29-first transmission mechanism, 291-first driving pulley, 292-first driven pulley, 293-first transmission belt, 210-first driving rack, 211-second transmission mechanism, 2111-second driving pulley, 2112-second driven pulley, 2113-second transmission belt, 212-second driving part, 213-second driving rack, 214-commutator, 2141-commutator output shaft, 215-driving unit; 3-first channel; 4-second channel; 5-third channel;

[0057] L1-first axis, L2-second axis. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0059] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. The terms used in the following embodiments are only for the purpose of describing the specific embodiments, and are not intended to be limiting to the present application. As used in the specification and the appended claims of the present application, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “one or more,” in the embodiments of the present application, refer to one, two, or more than two; “and / or” describes the associated objects in the conjunctive relationship, which means that there can be three relationships; for example, A and / or B, which means that A exists alone, A and B exist together, B exists alone, and A, B can be singular or plural. The character “ / ” generally represents an “or” relationship between the associated objects.

[0060] In the present specification, the reference to “one embodiment” or “some embodiments” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Therefore, the statements “in one embodiment,” “in some embodiments,” “in other embodiments,” “in additional embodiments,” and the like appearing in various places throughout the specification are not necessarily all referring to the same embodiment, but are meant to signify one or more, but not all embodiments, unless otherwise specifically indicated. The terms “comprising,” “including,” “having” and their conjugates mean “including but not limited to,” unless otherwise specifically indicated.

[0061] The plurality referred to in the embodiments of the present application means greater than or equal to two. It should be noted that in the description of the embodiments of the present application, the terms “first,” “second,” and the like are used only for the purpose of distinguishing the described purposes, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0062] “Parallel” and “perpendicular” referred to in the present application are “substantially parallel” and “substantially perpendicular” in actual operation. “Substantially parallel” can be understood as parallel with some error, and similarly, “substantially perpendicular” can be understood as perpendicular with some error.

[0063] The embodiment of the present application provides a photovoltaic shuttle vehicle to improve the use performance of the photovoltaic shuttle vehicle.

[0064] As shown in Figure 1 and Figure 2 The photovoltaic shuttle vehicle 100 provided by the embodiment of the present application comprises a chassis assembly 10, a first adjusting assembly 20 and a second adjusting assembly 30.

[0065] The chassis assembly 10 supports the first adjusting assembly 20, and the first adjusting assembly 20 supports the second adjusting assembly 30, so that the chassis assembly 10 supports the first adjusting assembly 20 and the second adjusting assembly 30.

[0066] The chassis assembly 10 is used for driving the first adjusting assembly 20 and the second adjusting assembly 30 to walk, so that the photovoltaic shuttle vehicle reaches a set position. Figure 3 As shown in

[0067] The walking module 102 can comprise walking wheels or walking tracks. The walking module 102 can be a rail type walking module, for example, the walking module 102 comprises rail type walking wheels or rail type walking tracks. The walking module 102 can also be a non-rail type walking module, for example, the walking module 102 comprises non-rail type walking wheels or non-rail type walking tracks, and the non-rail type walking wheels can be rudders or other wheels.

[0068] The walking module 102 further comprises a walking driving unit, and the walking driving unit drives the walking wheels or the walking tracks to walk.

[0069] The specific structure of the walking module 102 is selected according to actual conditions, and the embodiment of the present application does not limit this.

[0070] The chassis 101 plays a supporting role, and the first adjusting assembly 20 is arranged on the chassis 101. The specific structure of the chassis 101 is selected according to actual conditions, and the embodiment of the present application does not limit this.

[0071] The first adjusting assembly 20 comprises a first support 201 and a first adjusting module 202.

[0072] The first support 201 is in a rectangular shape or other shapes, and the embodiment of the present application does not limit this.

[0073] The first adjusting module 202 is arranged on the chassis assembly 10, and the first adjusting module 202 is arranged on the chassis 101 of the chassis assembly 10. The first support 201 is used for walking of the photovoltaic cleaning device, and can be understood as that the first support 201 is provided with a first channel 3 used for walking of the photovoltaic cleaning device 200. The first adjusting module 202 is connected with the first support 201 and adjusts the height of the first support 201 and the included angle between the first support 201 and the first direction.

[0074] It should be noted that the height direction of the first support 201 is the height direction of the entire photovoltaic ferry vehicle 100, and can be understood as a vertical direction. The first direction and the height direction have an included angle, for example, the first direction is perpendicular to the height direction. The photovoltaic assembly 300 is usually arranged to be inclined relative to a set direction, that is, the photovoltaic assembly 300 has an inclined direction, and the first direction is the set direction or the first direction has a small included angle with the set direction, based on which it can be understood that the first direction and the set direction are consistent.

[0075] In actual cases, by adjusting the included angle between the first support 201 and the first direction, the plane on which the first support 201 is located and the plane on which the photovoltaic assembly 300 is located are parallel, which can be understood as that the inclined direction of the first support 201 is consistent with the inclined direction of the photovoltaic assembly 300, so as to facilitate the connection between the second support 301 and the photovoltaic assembly 300 mentioned below; by adjusting the height of the first support 201, the height of the second support 301 mentioned below and the height of the photovoltaic assembly 300 are adapted, so as to facilitate the connection between the second support 301 and the photovoltaic assembly 300.

[0076] In order to adjust the included angle between the first support 201 and the first direction, the height of the two ends of the first support 201 in the first direction can be adjusted, or the rotation angle of the first support 201 can be adjusted. In order to simplify the structure, the first support 201 can be rotatably arranged around the first axis L1. In this way, the first adjusting module 202 adjusts the included angle between the first support 201 and the first direction by adjusting the rotation angle of the first support 201 around the first axis L1. The first axis L1 can be parallel to the second direction, and the height direction and the second direction are both perpendicular to the first direction; or the first axis L1 and the second direction have an included angle, the first axis L1 and the first direction have an included angle, and the first axis L1 and the height direction have an included angle, in this case, the first direction, the height direction and the second direction have an included angle.

[0077] Continuing to refer to Figure 1 and Figure 2 , the second adjusting assembly 30 includes a second support 301 and a second adjusting module 302.

[0078] The second support 301 is used for the photovoltaic cleaning device 200 to walk, and can be understood as that the second support 301 is provided with a second channel 4 for the photovoltaic cleaning device 200 to walk. The first channel 3 and the second channel 4 are distributed along the walking direction of the photovoltaic cleaning device 200.

[0079] The second support 301 is also used for connection with the photovoltaic module 300. For example, the second support 301 can directly contact the photovoltaic module 300, or there is a gap between the second support 301 and the photovoltaic module 300, and the gap is small and allows the photovoltaic cleaning device 200 to move from the second support 301 to the photovoltaic module 300 and to move from the photovoltaic module 300 to the second support 301.

[0080] The second adjusting module 302 is arranged on the first support 201, and the second adjusting module 302 is connected with the second support 301 and adjusts the position of the second support 301 in the second direction and the included angle between the second support 301 and the second direction. Among them, the first direction, the second direction and the height direction have an included angle between each other.

[0081] Since the second adjusting module 302 is arranged on the first support 201, and the second adjusting module 302 is connected with the second support 301, the included angle between the first support 201 and the first direction and the included angle between the second support 301 and the first direction are consistent, and the height of the second support 301 is related to the height of the first support 201, so that the attitude of the second support 301 is adjusted by adjusting the attitude of the first support 201 (the height of the first support 201 and the included angle between the first support 201 and the first direction).

[0082] In order to adjust the included angle between the second support 301 and the second direction, the height of the two ends of the second support 301 in the second direction can be adjusted, or the rotation angle of the second support 301 can be adjusted. In order to simplify the structure, the second support 301 can be rotatably arranged around the second axis L2, so that the second adjusting module 302 adjusts the included angle between the second support 301 and the second direction by adjusting the rotation angle of the second support 301 around the second axis L2. Among them, the second axis L2 can be perpendicular to the second direction, and the height direction and the first direction are both perpendicular to the second direction, in this case, the second axis L2 can be parallel to the inclination direction of the second support 301 relative to the first direction, and the second direction is also perpendicular to the inclination direction of the second support 301 relative to the first direction. Alternatively, the second axis L2 and the second direction are relatively inclined, the second axis L2 and the height direction are relatively inclined, and the second axis L2 and the first direction are relatively inclined, in this case, the first direction, the second direction and the height direction have an included angle between each other.

[0083] The photovoltaic ferry vehicle provided in the application can indirectly adjust the height of the second support 301 and the angle between the second support 301 and the first direction through the first adjusting module 202; and the second adjusting module 302 can adjust the position of the second support 301 in the second direction and the angle between the second support and the second direction. In this way, multi-dimensional adjustment of the second support 301 is realized, and the second support 301 and the photovoltaic module 300 can be connected by adjusting the height of the second support 301, the angle between the second support 301 and the first direction, the position of the second support 301 in the second direction, and the angle between the second support 301 and the second direction. The height of the second support 301 and the angle between the second support 301 and the second direction can be adjusted to adapt to photovoltaic modules 300 of different heights, and the angle between the second support 301 and the first direction can be adjusted to adapt to photovoltaic modules 300 of different inclination angles, thereby improving the adaptability of the photovoltaic ferry vehicle 100 to photovoltaic modules 300 of different heights and different inclination angles, and effectively improving the use performance of the photovoltaic ferry vehicle 100.

[0084] In the embodiment of the application, adjusting the angle between the second support 301 and the second direction can indirectly adjust the height of the end of the second support 301 used for connecting the photovoltaic module 300, thereby facilitating the adaptation of the height of the second support 301 to the height of the photovoltaic module 300. Therefore, adjusting the height of the second support 301 and the angle between the second support 301 and the second direction to adapt to photovoltaic modules 300 of different heights reduces the adjustment precision compared with adjusting the height of the second support 301 to adapt to photovoltaic modules 300 of different heights, and facilitates the connection of the second support 301 and the photovoltaic module 300.

[0085] In the embodiment of the application, adjusting the angle between the second support 301 and the second direction can indirectly adjust the position of the end of the second support 301 used for connecting the photovoltaic module 300 in the second direction, thereby facilitating the adaptation of the position of the second support 301 in the second direction to the position of the photovoltaic module 300 in the second direction. Therefore, adjusting the position of the second support 301 in the second direction and the angle between the second support 301 and the second direction to realize the connection of the second support 301 and the photovoltaic module 300 in the second direction effectively reduces the adjustment precision compared with adjusting the position of the second support 301 in the second direction, and facilitates the connection of the second support 301 and the photovoltaic module 300.

[0086] In the embodiments of the present application, the position of the second support 301 in the second direction is adjustable, and the angle between the second support 301 and the second direction is adjustable. In this way, moving the second support 301 to the position closest to the first support 201 along the second direction and adjusting the angle between the second support 301 and the second direction to the minimum can reduce the volume of the entire photovoltaic ferry 100, and the movement stability of the photovoltaic ferry 100 can be improved when the photovoltaic ferry 100 moves in a small volume state (the second support 301 is located at the position closest to the first support 201 along the second direction, and the angle between the second support 301 and the second direction is adjusted to the minimum).

[0087] The photovoltaic ferry 100 provided by the embodiments of the present application has the following use method:

[0088] As shown in Figure 12 , the photovoltaic ferry 100 with the photovoltaic cleaning device 200 moves to the vicinity of the photovoltaic module 300 to preliminarily position and align the photovoltaic ferry 100 and the photovoltaic module 300. For example, in the second direction, the photovoltaic ferry 100 moves to one side of the photovoltaic module 300, and the photovoltaic cleaning device 200 is located on the first support 201. The preliminary positioning and alignment of the photovoltaic ferry 100 and the photovoltaic module 300 can be achieved by RTK (Real-time kinematic, real-time dynamic carrier phase difference technology), feature points or other methods.

[0089] As shown in Figure 12 , the first adjusting module 202 adjusts the height of the first support 201 and the angle between the first support 201 and the first direction, so that the angle between the first support 201 and the first direction is the same as the angle between the photovoltaic module 300 and the first direction (the inclination angle of the first support 201 is the same as the inclination angle of the photovoltaic module 300), and the height of the first support 201 is close to the height of the photovoltaic module 300. In this case, the photovoltaic ferry 100 (the second support 301) has a larger distance from the photovoltaic module 300 in the second direction, and the photovoltaic ferry 100 (the second support 301) has a smaller distance from the photovoltaic module 300 in the height direction.

[0090] As shown in Figure 13As shown, the second adjusting module 302 drives the second support 301 to move along the second direction to the photovoltaic module 300, and adjusts the included angle between the second support 301 and the second direction, reduces or eliminates the distance between the second support 301 and the photovoltaic module 300 in the second direction, and reduces or eliminates the distance between the second support 301 and the photovoltaic module 300 in the height direction, so as to realize the connection between the second support 301 and the photovoltaic module 300, and the first support 201 and the second support 301 form a channel for the photovoltaic cleaning device 200 to move, and the photovoltaic cleaning device 200 can move from the first support 201 to the second support 301, and then move to the photovoltaic module 300 through the second support 301;

[0091] As shown in Figure 14 , after the photovoltaic cleaning device 200 cleans the photovoltaic module 300 where the photovoltaic cleaning device 200 is located, the photovoltaic cleaning device 200 moves from the photovoltaic module 300 to the second support 301, and then returns to the initial position (as shown in Figure 12 ) on the first support 201 through the second support 301 and stops, and the returning of the photovoltaic cleaning device 200 is completed; after the photovoltaic cleaning device 200 returns, the photovoltaic cleaning device 200 stops, the second support 301 returns to the initial position (as shown in Figure 12 ), and the first support 201 can return to the initial position (as shown in Figure 12 ) or remain unchanged.

[0092] As shown in Figure 2 and Figure 14 , in order to facilitate the photovoltaic cleaning device 200 to return to the initial position, the first support 201 is provided with a limiting part 208, which is used for limiting cooperation with the photovoltaic cleaning device 200 to limit the photovoltaic cleaning device 200 from moving out of the first channel 3.

[0093] The limiting part 208 can be provided with a detector such as a pressure-sensitive switch (not shown in the figure), and the detector is connected with the first adjusting module 202 and the second adjusting module 302. In this way, when the detector detects that the photovoltaic cleaning device 200 reaches the set position, the first adjusting module 202 adjusts the first support 201 to reset (return to the initial position), and the second adjusting module 302 adjusts the second support 301 to reset (return to the initial position).

[0094] The above detector can also be connected with the controller of the photovoltaic cleaning device 200, so that when the detector detects that the photovoltaic cleaning device 200 reaches the set position, the photovoltaic cleaning device 200 stops under the control of the controller.

[0095] The following Figures 3-7 , Figure 9 and Figure 10The first adjusting module 202 and the first support 201 of the first adjusting assembly 20 are specifically described.

[0096] In the embodiments of the present application, the first adjusting module 202 comprises a first driving module 2021, the first driving module 2021 is connected with the first support 201, the first driving module 2021 can drive the first support 201 to move along the height direction to adjust the height of the first support 201, and the first driving module 2021 can drive the first support 201 to rotate around the first axis L1 to adjust the included angle between the first support 201 and the first direction.

[0097] The specific structure of the first driving module 2021 is selected according to the actual situation. In some embodiments, the first driving module 2021 can comprise a first driving device and a second driving device, the first driving device drives the first support 201 to move along the height direction, and the second driving device drives the first support 201 to rotate around the first axis L1. The first driving device carries the first support 201 and the second driving device, so that the first driving device drives the first support 201 and the second driving device to move along the height direction; or the second driving device carries the first support 201 and the first driving device, so that the second driving device drives the first support 201 and the first driving device to rotate around the first axis L1.

[0098] In some other embodiments, the first driving module 2021 is a driving module 2. The driving module 2 comprises a transmission shaft 21, a reversing device 214 and a driving unit 215.

[0099] The driving unit 215 is arranged on the chassis assembly 10, and the driving unit 215 can drive the transmission shaft 21 to move along its axis and can drive the transmission shaft 21 to rotate around its axis. The axial direction of the transmission shaft 21 is the height direction.

[0100] The reversing input shaft (not shown in the figure) of the reversing device 214 is fixedly connected with the transmission shaft 21, the reversing output shaft 2141 of the reversing device 214 is fixedly connected with the first support 201, the reversing device 214 is used for converting the rotation of the transmission shaft 21 into the rotation of the reversing output shaft 2141, the reversing output shaft 2141 rotates around its axis, and the axis of the reversing output shaft 2141 is the first axis L1.

[0101] After the driving module 2 is adopted, the transmission shaft 21 moves along its axial direction to adjust the height of the first support 201, and the transmission shaft 21 rotates around its axis to adjust the included angle between the first support 201 and the first direction. In this way, the structure of the first driving module 2021 is simplified, and the adjustment of the first support 201 is also simplified.

[0102] In order to facilitate the installation of the reversing device 214, the reversing input shaft of the reversing device 214 and the transmission shaft 21 are fixedly connected through a threaded connecting piece.

[0103] In order to simplify the structure of the commutator 214, the axis of the commutating output shaft 2141 can be parallel to the second direction.

[0104] In order to facilitate the fixed connection of the first support 201 and the commutating output shaft 2141, the first support 201 is fixed with a first mounting seat 203, and the first mounting seat 203 is fixedly connected with the commutating output shaft 2141.

[0105] The commutator 214 can include a bevel gear transmission mechanism or a worm gear mechanism, and the specific structure of the commutator 214 is not limited in the embodiments of the present application.

[0106] The specific structure of the driving unit 215 is selected according to the actual situation. In some embodiments, the driving unit 215 includes a first transmission mechanism 29, a second transmission mechanism 211, a first driving component 28, and a second driving component 212.

[0107] The first driving component 28 is arranged on the chassis assembly 10. For example, the first driving component 28 can be fixed to the chassis 101 of the chassis assembly 10 through a first driving frame 210. The structure of the first driving frame 210 is selected according to the actual situation, and the embodiments of the present application do not limit this.

[0108] The second driving component 212 is arranged on the chassis assembly 10. For example, the second driving component 212 can be fixed to the chassis 101 of the chassis assembly 10 through a second driving frame 213. The structure of the second driving frame 213 is selected according to the actual situation, and the embodiments of the present application do not limit this.

[0109] In the above-mentioned driving module 2, the first driving component 28 acts on the transmission shaft 21 through the first transmission mechanism 29, and the second driving component 212 acts on the transmission shaft 21 through the second transmission mechanism 211, without the first driving component 28 bearing the second driving component 212 and the second driving component 212 bearing the first driving component 28, thereby simplifying the structure of the entire first driving module 2021.

[0110] The transmission shaft 21 is sleeved with a nut 22 and a transmission sleeve 25, the nut 22 and the transmission shaft 21 cooperate to form a lead screw mechanism, the transmission sleeve 25 and the transmission shaft 21 are drivingly connected through a key (not shown in the figure), and the nut 22 and the transmission sleeve 25 are distributed along the axial direction of the transmission shaft 21.

[0111] For example, the nut 22 and the transmission shaft 21 are threadedly connected to form a lead screw mechanism, or the nut 22 and the transmission shaft 21 are connected through a spiral line and a ball to form a ball screw mechanism, which is one of the lead screw mechanisms.

[0112] The transmission sleeve 25 and the transmission shaft 21 are connected by spline transmission. The transmission shaft 21 is provided with an external spline 2101 and an external thread 2102, the length direction of the external spline 2101 is the axial direction of the transmission shaft 21, and the transmission sleeve 25 is provided with an internal spline (not shown in the figure) matched with the external spline 2101. Of course, the transmission sleeve 25 and the transmission shaft 21 are connected by flat key transmission, and are not limited to the above structure.

[0113] The nut 22 is rotatably arranged around its axial line, and the nut 22 is fixedly arranged in its axial direction; the first driving component 28 drives the nut 22 to rotate around its axial line through the first transmission mechanism 29.

[0114] In order to facilitate the installation of the nut 22, the driving module 2 further comprises a nut mounting frame 24 fixed to the chassis assembly 10, the nut mounting frame 24 is fixed with a first mounting sleeve 23, the first mounting sleeve 23 is sleeved on the nut 22, and the first mounting sleeve 23 and the nut 22 are rotatably matched, and the nut 22 is fixedly arranged in its axial direction through the first transmission mechanism 29. The first transmission mechanism 29 is fixedly arranged in the axial direction of the transmission shaft 21, and a part of the first transmission mechanism 29 is fixedly connected with the nut 22, so that the transmission connection between the first transmission mechanism 29 and the nut 22 is realized, and the nut 22 is fixedly arranged in its axial direction.

[0115] Of course, the first mounting sleeve 23 and the first transmission mechanism 29 can also limit the nut 22 in the axial direction of the transmission shaft 21 to fix the nut 22 in its axial direction. For example, the nut mounting frame 24 limits the nut 22 to move in the axial direction to one end, and the first transmission mechanism 29 limits the nut 22 to move in the axial direction to the other end.

[0116] It should be noted that the first mounting sleeve 23 and the nut 22 are both parts of a screw nut. The screw nut is a standard part, and the screw nut can be used instead of the first mounting sleeve 23 and the nut 22.

[0117] The transmission sleeve 25 is rotatably arranged around its axial line, and the transmission sleeve 25 is fixedly arranged in its axial direction; the second driving component 212 drives the transmission sleeve 25 to rotate around its axial line through the second transmission mechanism 211.

[0118] In order to facilitate the installation of the transmission sleeve 25, the drive module 2 further comprises a transmission sleeve mounting frame 27 fixed to the chassis assembly 10, the second mounting sleeve 26 is fixed to the transmission sleeve mounting frame 27, the second mounting sleeve 26 is sleeved on the transmission sleeve 25, and the second mounting sleeve 26 and the transmission sleeve 25 are rotationally matched, and the transmission sleeve 25 is fixedly arranged in the axial direction of the transmission sleeve 25 through the second transmission mechanism 211. Wherein, the second transmission mechanism 211 is fixedly arranged in the axial direction of the transmission shaft 21, and a part of the second transmission mechanism 211 is fixedly connected with the transmission sleeve 25, so that the transmission connection between the second transmission mechanism 211 and the transmission sleeve 25 is realized, and the transmission sleeve 25 is fixedly arranged in the axial direction.

[0119] Of course, the second mounting sleeve 26 and the second transmission mechanism 211 can also limit the transmission sleeve 25 in the axial direction of the transmission shaft 21 to fix the transmission sleeve 25 in the axial direction. For example, the transmission sleeve mounting frame 27 limits the transmission sleeve 25 to move to one end in the axial direction, and the second transmission mechanism 211 limits the transmission sleeve 25 to move to the other end in the axial direction.

[0120] It should be noted that the second mounting sleeve 26 and the transmission sleeve 25 are both parts of the spline nut. The spline nut is a standard part, and the spline nut can be used instead of the second mounting sleeve 26 and the transmission sleeve 25.

[0121] As described above, the nuts 22 and the transmission sleeve 25 are distributed in the axial direction of the transmission shaft 21, and the first mounting sleeve 23 and the second mounting sleeve 26 are distributed in the axial direction of the transmission shaft 21. In order to simplify the structure, the nut mounting frame 24 and the transmission sleeve mounting frame 27 are distributed in the axial direction of the transmission shaft 21, and one of the nut mounting frame 24 and the transmission sleeve mounting frame 27 is fixed to the chassis assembly 10 through the other. For example, the nuts 22 are higher than the transmission sleeve 25, the nut mounting frame 24 is higher than the transmission sleeve mounting frame 27, and the nut mounting frame 24 is fixed to the chassis assembly 10 through the transmission sleeve mounting frame 27.

[0122] The nut mounting frame 24 and the transmission sleeve mounting frame 27 can be an integrated structure or a split structure, which can be selected according to the actual situation.

[0123] In order to make full use of the height space, the first transmission mechanism 29 and the second transmission mechanism 211 are distributed in the axial direction of the transmission shaft 21, and the first drive part 28 and the second drive part 212 are distributed in the axial direction of the transmission shaft 21. Correspondingly, the first drive frame 210 and the second drive frame 213 are distributed in the axial direction of the transmission shaft 21, and one of the first drive frame 210 and the second drive frame 213 is fixed to the chassis assembly 10 through the other. For example, the first drive frame 210 is fixed to the chassis assembly 10 through the second drive frame 213.

[0124] The first driving frame 210 and the second driving frame 213 can be an integrated structure or a split structure, which is selected according to actual conditions.

[0125] The types of the first driving component 28 and the second driving component 212 are selected according to actual conditions, for example, the first driving component 28 and the second driving component 212 are both motors or rotary air cylinders, etc.

[0126] The types of the first transmission mechanism 29 and the second transmission mechanism 211 are selected according to actual conditions. For example, the first transmission mechanism 29 and the second transmission mechanism 211 are both belt transmission mechanisms. The first transmission mechanism 29 includes a first driving pulley 291, a first driven pulley 292, and a first transmission belt 293, and the first transmission belt 293 is arranged around the first driving pulley 291 and the first driven pulley 292. The first driving pulley 291 is arranged on the output shaft of the first driving component 28, and the first driving pulley 291 can be axially positioned on the output shaft of the first driving component 28 by a snap spring or a locking nut. The first driving component 28 drives the first driving pulley 291 to rotate around its axis, and the first driving pulley 291 drives the first driven pulley 292 to rotate around the axis of the first driven pulley 292 through the first transmission belt 293. The first driven pulley 292 is sleeved on the nut 22, and the first driven pulley 292 and the nut 22 are fixedly connected. In order to facilitate disassembly, the first driven pulley 292 and the nut 22 can be fixedly connected by a threaded connecting piece.

[0127] It should be noted that the first driving component 28 is fixedly arranged, and the first driving component 28 is fixedly arranged in the axial direction of the transmission shaft 21. The first driving pulley 291 is fixedly arranged in the axial direction of the transmission shaft 21. Correspondingly, the first transmission belt 293 and the first driven pulley 292 are also fixedly arranged in the axial direction of the transmission shaft 21.

[0128] The second transmission mechanism 211 includes a second driving pulley 2111, a second driven pulley 2112, and a second transmission belt 2113, and the second transmission belt 2113 is arranged around the second driving pulley 2111 and the second driven pulley 2112. The second driving pulley 2111 is arranged on the output shaft of the second driving component 212, and the second driving pulley 2111 can be axially positioned on the output shaft of the second driving component 212 by a snap spring or a locking nut. The second driving component 212 drives the second driving pulley 2111 to rotate around its axis, and the second driving pulley 2111 drives the second driven pulley 2112 to rotate around the axis of the second driven pulley 2112 through the second transmission belt 2113. The second driven pulley 2112 is sleeved on the transmission sleeve 25, and the second driven pulley 2112 and the transmission sleeve 25 are fixedly connected. In order to facilitate disassembly, the second driven pulley 2112 and the transmission sleeve 25 can be fixedly connected by a threaded connecting piece.

[0129] It should be noted that the second driving component 212 is fixedly arranged in the axial direction of the transmission shaft 21, the second driving pulley 2111 is fixedly arranged in the axial direction of the transmission shaft 21, and correspondingly, the second driven pulley 2112 and the second transmission belt 2113 are also fixedly arranged in the axial direction of the transmission shaft 21.

[0130] In actual cases, the first transmission mechanism 29 can also be a chain transmission mechanism or a gear transmission mechanism, and the second transmission mechanism 211 can also be a chain transmission mechanism or a gear transmission mechanism.

[0131] In the above-mentioned driving module 2, in the case of single driving of the first driving component 28, the first driving component 28 drives the nut 22 to rotate around its axis through the first transmission mechanism 29. Since the nut 22 is fixedly arranged in the axial direction, the nut 22 drives the transmission shaft 21 to move in the axial direction of the transmission shaft 21. For example, when the nut 22 rotates forward, the transmission shaft 21 moves upward in the axial direction; when the nut 22 rotates reversely, the transmission shaft 21 moves downward in the axial direction. In the case of single driving of the second driving component 212, the second driving component 212 drives the transmission sleeve 25 to rotate around its axis through the second transmission mechanism 211. Since the transmission sleeve 25 is fixedly arranged in the axial direction, the transmission sleeve 25 drives the transmission shaft 21 to rotate around its axis. Since the transmission shaft 21 is threadedly connected with the nut 22, the transmission shaft 21 rotates around its axis and moves in the axial direction at the same time. For example, when the transmission sleeve 25 rotates forward, the transmission shaft 21 rotates forward and moves upward in the axial direction; when the transmission sleeve 25 rotates reversely, the transmission shaft 21 rotates reversely and moves downward in the axial direction.

[0132] In the above-mentioned driving module 2, in the case of synchronous driving of the first driving component 28 and the second driving component 212, the axial movement of the transmission shaft 21 cancels out, and the transmission shaft 21 only rotates around its axis; in the case of asynchronous driving of the first driving component 28 and the second driving component 212, the transmission shaft 21 rotates around its axis and moves in the axial direction at the same time.

[0133] In actual cases, at least one of the first driving component 28 and the second driving component 212 can be selected for driving according to actual needs, which is not limited in the embodiments of the present application.

[0134] The first driving module 2021 is the above-mentioned driving module 2, so that the first driving module 2021 can be arranged centrally on the entire photovoltaic ferry 100, so that the first driving module 2021 can be closer to the chassis assembly 10, which is more conducive to setting the gravity center of the photovoltaic ferry 100 downward, thereby improving the structural balance and stability of the photovoltaic ferry 100.

[0135] In order to ensure the movement of the first support 201 in the height direction and the rotation of the first support 201 around the first axis L1, the first adjusting module 202 further comprises a guide module 1, which is used to provide a guide when the first support 201 moves in the height direction and is used to provide a positioning support when the first support 201 rotates around the first axis L1, so as to reduce the deviation of the first support 201 in the height direction during the movement of the first support 201 in the height direction and reduce the deviation of the first support 201 from the first axis L1 during the rotation of the first support 201 around the first axis L1, thereby improving the stability of the first support 201 during the movement.

[0136] In some embodiments, the guide module 1 comprises a sliding rod 13 and a guide sleeve 11, and the sliding rod 13 and the guide sleeve 11 are sleeved and slidingly fitted. It can be understood that the sliding rod 13 and the guide sleeve 11 are slidingly fitted in the axial direction of the transmission shaft 21.

[0137] In the embodiment, the guide sleeve 11 is fixed to the chassis assembly 10, and the sliding rod 13 and the first support 201 are rotationally connected. In the embodiment, the first support 201 and the sliding rod 13 are rotationally connected around a first rotation shaft 204, and the axis of the first rotation shaft 204 is arranged in line with the first axis L1 or is arranged in parallel with the first axis L1. In order to facilitate the fixed connection of the guide sleeve 11 and the chassis assembly 10, the guide sleeve 11 is fixed with a flange, and the guide sleeve 11 is fixedly connected to the chassis assembly 10 through the flange.

[0138] Of course, the sliding rod 13 can also be fixed to the chassis assembly 10, and the guide sleeve 11 and the first support 201 are rotationally connected. In the embodiment, the first support 201 and the guide sleeve 11 are rotationally connected around the first rotation shaft 204, and the axis of the first rotation shaft 204 is arranged in line with the first axis L1 or is arranged in parallel with the first axis L1.

[0139] In order to improve the stability of the guide module 1, the guide sleeve 11 can be fixed to the chassis assembly 10, and the sliding rod 13 and the first support 201 are rotationally connected.

[0140] In order to facilitate the rotational connection of the first support 201 and the sliding rod 13, the sliding rod 13 is fixed with a hinged support 16, the first support 201 is provided with a second mounting seat 205, and the hinged support 16 and the second mounting seat 205 are hingedly connected through the first rotation shaft 204.

[0141] In the guide module 1, the guide sleeve 11 is sleeved on the sliding rod 13. In order to facilitate the sliding fit of the guide sleeve 11 and the sliding rod 13, the sliding rod 13 has a protruding portion 131 at one end inside the guide sleeve 11, and the protruding portion 131 is provided with a piston ring 12 which is in contact and sliding fit with the guide sleeve 11; the top end of the guide sleeve 11 is fixed with a shaft sleeve 14, the sliding rod 13 penetrates through the shaft sleeve 14, and the sliding rod 13 and the shaft sleeve 14 are in contact and sliding fit. In this way, the sliding rod 13 is limited from deviating during sliding by the piston ring 12 and the shaft sleeve 14, and the stability of the sliding rod 13 during sliding is improved.

[0142] In order to facilitate the fixation of the shaft sleeve 14, the guide sleeve 11 is fixed with a shaft sleeve end cover 15, and the shaft sleeve 14 has a flange 141 which is fixedly connected with the shaft sleeve end cover 15.

[0143] The guide module 1 can be one or more than two. In the case of more than two guide modules 1, at least one guide module 1 is distributed on one side of the connection position of the first support 201 and the first driving module 2021, and at least one guide module 1 is distributed on the other side of the connection position of the first support 201 and the first driving module 2021.

[0144] In the embodiment of the application, since the second support 301 can move in the second direction, there can be a gap between the first support 201 and the second support 301. In order to ensure that the photovoltaic cleaning device moves from the first support 201 to the second support 301 and from the second support 301 to the first support 201, the first adjusting assembly 20 further comprises a transition pull rod assembly 206.

[0145] In the second direction, the transition pull rod assembly 206 and the first support 201 are in sliding fit; one end of the second support 301 in the second direction is rotatably arranged on the transition pull rod assembly 206, and the other end of the second support 301 in the second direction is used to connect with the photovoltaic module 300. In this case, the transition pull rod assembly 206 can provide a path for the photovoltaic cleaning device 200 to walk, which can be understood as that the transition pull rod assembly 206 is provided with a third channel 5 which can provide a path for the photovoltaic cleaning device 200 to walk, and the third channel 5 connects the first channel 3 and the second channel 4.

[0146] It should be noted that the rotation axis of the second support 301 and the transition pull rod assembly 206 is parallel to or collinear with the second axis L2.

[0147] In the case that the second support 301 moves along the second direction, the transition pull rod assembly 206 slides along the second direction. For example, in the case that the second support 301 moves towards the photovoltaic assembly 300 along the second direction, the second support 301 pulls the transition pull rod assembly 206 towards the photovoltaic assembly 300; in the case that the second support 301 moves away from the photovoltaic assembly 300 along the second direction, the second support 301 pulls the transition pull rod assembly 206 away from the photovoltaic assembly 300.

[0148] In order to facilitate the rotational connection between the second support 301 and the transition pull rod assembly 206, the second support 301 and the transition pull rod assembly 206 can be rotatably connected by a second rotation shaft 303, and the axis of the second rotation shaft 303 is parallel to or collinear with the second axis L2.

[0149] In order to facilitate the movement of the transition pull rod assembly 206 along the second direction, the first support 201 is provided with a pull rod limiting piece 207, the pull rod limiting piece 207 and the transition pull rod assembly 206 are slidingly fitted along the second direction, and the pull rod limiting piece 207 and the transition pull rod assembly 206 are limitingly fitted, so that the pull rod limiting piece 207 limits the deviation of the transition pull rod assembly 206 from the second direction. In this way, the movement of the transition pull rod assembly 206 along the second direction is ensured, and thus the movement of the second support 301 along the second direction is ensured.

[0150] In order to facilitate the arrangement of the pull rod limiting piece 207, the pull rod limiting piece 207 is sheathed on the transition pull rod assembly 206. In this case, the pull rod limiting piece 207 is used for the walking of the photovoltaic cleaning device 200, and it can be understood that the first channel 3 is arranged on the pull rod limiting piece 207, so that the third channel 5 is connected to the first channel 3 and the second channel 4.

[0151] Of course, the pull rod limiting piece 207 can also be sheathed on the transition pull rod assembly 206, or the pull rod limiting piece 207 can be distributed on opposite sides of the transition pull rod assembly 206, and the embodiments of the present application do not limit this.

[0152] It should be noted that when the transition pull rod assembly 206 moves to the limit position away from the photovoltaic assembly 300, the transition pull rod assembly 206 can be completely located in the pull rod limiting piece 207, or part of the transition pull rod assembly 206 is located in the pull rod limiting piece 207 and part of the transition pull rod assembly 206 is located outside the pull rod limiting piece 207. In the case that part of the transition pull rod assembly 206 is located outside the pull rod limiting piece 207, the third channel 5 is connected to the first channel 3 and the second channel 4.

[0153] In order to improve the limiting reliability, the transition pull rod assembly 206 comprises a transition pull rod 2061 and a pull-out positioning block 2062, the pull-out positioning block 2062 is fixed to the periphery of the transition pull rod 2061, and the pull-out positioning block 2062 and the pull rod limiting piece 207 are in contact and sliding fit, and the second support 301 is reversibly arranged on the transition pull rod 2061. In this way, the pull-out positioning block 2062 can position the transition pull rod 2061 to avoid the transition pull rod 2061 from deviating from the second direction.

[0154] In actual cases, the pull rod limiting piece 207 and the transition pull rod assembly 206 can also be limited and matched by other structures, and are not limited to the above-mentioned embodiments.

[0155] As described above, the first support 201 is provided with a limiting portion 208, which can be arranged on the pull rod limiting piece 207, and it can be understood that the limiting portion 208 is arranged on the first support 201 through the pull rod limiting piece 207. Of course, the limiting portion 208 can also be arranged on the first support 201 by other means, and the embodiments of the present application do not limit this.

[0156] The following Figure 5 、 Figures 7-11 , the second adjusting module 302 and the second support 301 of the second adjusting assembly 30 will be specifically described.

[0157] In some embodiments, the second support 301 and the photovoltaic assembly 300 are connected by butt joint. In this case, one end of the second support 301 and the photovoltaic assembly 300 butt joint is suspended.

[0158] In some other embodiments, the second support 301 and the photovoltaic assembly 300 are connected by lap joint. In this way, after the second support 301 and the photovoltaic assembly 300 are connected, the photovoltaic assembly 300 provides a certain supporting force to the second support 301, greatly improving the anti-overturning ability of the photovoltaic ferry vehicle 100; and the moving range of the second support 301 in the second direction, the range of the included angle between the second support 301 and the second direction, and the length range of the first support 201 in the second direction can be expanded, thereby improving the extendable range of the photovoltaic ferry vehicle 100.

[0159] In order to facilitate the lap joint of the second support 301 and the photovoltaic assembly 300, the second support 301 comprises a support frame 3011 and a lap joint piece 3012; wherein one end of the lap joint piece 3012 in the second direction is arranged on the support frame 3011, and the other end of the lap joint piece 3012 in the second direction is used for lap joint on the photovoltaic assembly 300. It can be understood that the support frame 3011 and the lap joint piece 3012 are both used for the photovoltaic cleaning device 200 to walk, and the channel on the support frame 3011 for the photovoltaic cleaning device 200 to walk and the channel on the lap joint piece 3012 for the photovoltaic cleaning device 200 to walk form the second channel 4.

[0160] In order to facilitate the clamping of the clamping member 3012 on the photovoltaic module 300, the clamping member 3012 is rotatably arranged on the support frame 3011, so that the angle between the clamping member 3012 and the second direction is adjustable. For example, the rotation axis of the clamping member 3012 is parallel to the second axis L2.

[0161] In order to facilitate the arrangement of the clamping member 3012, the clamping member 3012 is rotatably connected to the support frame 3011 through a third rotation shaft 3013, and the axis of the third rotation shaft 3013 is parallel to the axis of the second rotation shaft 303.

[0162] In order to achieve better clamping, the clamping member 3012 is gradually flipped from the top side of the photovoltaic module 300 to the clamping state. Of course, the clamping member 3012 can also be selected to be gradually flipped from the bottom side of the photovoltaic module 300 to the clamping state.

[0163] The clamping member 3012 can be one, which extends from one side of the support frame 3011 to the other side, so that the clamping member 3012 is used for the photovoltaic cleaning device 200 to walk.

[0164] The clamping member 3012 can also be more than two, at least one clamping member 3012 is distributed on one side of the support frame 3011, and at least one clamping member 3012 is distributed on the other side of the support frame 3011, so that the clamping member 3012 is used for the photovoltaic cleaning device 200 to walk.

[0165] In the clamping process of the clamping member 3012 and the photovoltaic module 300, the clamping member 3012 generates a force on the photovoltaic module 300. In order to reduce the force of the clamping member 3012 on the photovoltaic module 300, so as to reduce the probability of damaging the photovoltaic module 300, the clamping member 3012 is provided with a buffer member 3014 for contacting the photovoltaic module 300. In this way, the buffer member 3014 plays a buffering role and protects the photovoltaic module 300.

[0166] As for the type of the buffer member 3014, it is selected according to the actual situation, for example, the buffer member 3014 is a rubber member, a silica gel member or a sponge member, etc. The embodiments of the present application do not limit this.

[0167] The clamping piece 3012 is clamped behind the photovoltaic module 300. Since the clamping piece 3012 and the support frame 3011 are hinged, the clamping piece 3012 is more likely to shake under external force, which affects the clamping effect. To solve this problem, the second support frame 301 further includes an elastic piece 3015. The elastic piece 3015 is connected to the clamping piece 3012 and the support frame 3011. When the clamping piece 3012 is clamped on the photovoltaic module 300, the elastic piece 3015 is deformed and makes the clamping piece 3012 abut against the photovoltaic module 300. In this way, under the action of the elastic piece 3015, the clamping piece 3012 exerts pressure on the photovoltaic module 300, which reduces the probability of the clamping piece 3012 shaking and improves the clamping effect.

[0168] The elastic piece 3015 can be a spring, a sheet metal piece, or other elastic components. To ensure the clamping effect, the elastic piece 3015 is a spring. One end of the elastic piece 3015 is connected to the clamping piece 3012, and the other end of the elastic piece 3015 is connected to the support frame 3011. The elastic piece 3015 is located on one side of the rotation axis of the clamping piece 3012.

[0169] For example, the elastic piece 3015 is farther away from the end of the clamping piece 3012 and the photovoltaic module 300 that are clamped together than the rotation axis of the clamping piece 3012. When the clamping piece 3012 is clamped on the photovoltaic module 300, the elastic piece 3015 is compressed. The elastic piece 3015 is closer to the end of the clamping piece 3012 and the photovoltaic module 300 that are clamped together than the rotation axis of the clamping piece 3012. When the clamping piece 3012 is clamped on the photovoltaic module 300, the elastic piece 3015 is elongated.

[0170] In actual cases, the elastic piece 3015 can also be a torsion spring. The torsion spring is sleeved on the third rotating shaft 3013. One end of the torsion spring is connected to the clamping piece 3012, and the other end of the torsion spring is connected to the support frame 3011.

[0171] To improve the clamping effect, the clamping piece 3012 can also be selected as a component that can elastically deform. When the clamping piece 3012 is clamped on the photovoltaic module 300, the clamping piece 3012 elastically deforms and abuts against the photovoltaic module 300. In this way, under the action of the self-recovery force of the clamping piece 3012, the clamping piece 3012 exerts pressure on the photovoltaic module 300, which reduces the probability of the clamping piece 3012 shaking and improves the clamping effect.

[0172] The above clamping piece 3012 can be a sheet metal piece or other components. The type of the clamping piece 3012 is not limited in the embodiments of the present application.

[0173] In the embodiments of the present application, the second adjusting module 302 comprises a second driving module 3021, the second driving module 3021 is connected with the second support 301, the second driving module 3021 can drive the second support 301 to move along the second direction to adjust the position of the second support 301 in the second direction, and the second driving module 3021 can drive the second support 301 to rotate around the second axis L2 to adjust the included angle between the second support 301 and the second direction.

[0174] The specific structure of the second driving module 3021 is selected according to the actual situation. In some embodiments, the second driving module 3021 can comprise a third driving device and a fourth driving device, the third driving device drives the second support 301 to move along the height direction, and the fourth driving device drives the second support 301 to rotate around the second axis L2. Among them, the third driving device carries the second support 301 and the fourth driving device, so that the third driving device drives the second support 301 and the fourth driving device to move along the second direction; or the fourth driving device carries the second support 301 and the third driving device, so that the fourth driving device drives the second support 301 and the third driving device to rotate around the second axis L2.

[0175] In some other embodiments, the second driving module 3021 is also the driving module 2. The specific structure of the driving module 2 can be referred to the foregoing, which will not be described here.

[0176] In the second driving module 3021, the reversing output shaft 2141 of the reversing device 214 is fixedly connected with the second support 301. In order to facilitate the fixed connection between the second support 301 and the reversing output shaft 2141, the second support 301 is fixedly connected with a third mounting seat 306, and the third mounting seat 306 is fixedly connected with the reversing output shaft 2141.

[0177] In the second driving module 3021, the axis direction of the transmission shaft 21 is the second direction, and the axis of the reversing output shaft 2141 is the second axis L2; the first driving part 28 and the second driving part 212 are arranged on the first support 201, and correspondingly, the first driving frame 210 and the second driving frame 213 are fixed on the first support 201; the nut mounting frame 24 and the transmission sleeve mounting frame 27 are fixed on the first support 201.

[0178] In the second driving module 3021, the transmission sleeve mounting frame 27 and the nut mounting frame 24 are fixed on the first support 201.

[0179] In order to simplify the structure, the nut mounting frame 24 and the transmission sleeve mounting frame 27 are fixedly connected with the first mounting seat 203. In order to simplify the installation, the nut mounting frame 24, the transmission sleeve mounting frame 27 and the first mounting seat 203 are of an integrated structure. Of course, the nut mounting frame 24, the transmission sleeve mounting frame 27 and the first mounting seat 203 can also be of a split structure.

[0180] In order to simplify the structure, one of the transmission sleeve mounting frame 27 and the nut mounting frame 24 is fixed to the first support 201 by the other.

[0181] In the second driving module 3021, the transmission shaft 21 moves along its axis, which can realize the movement of the second support 301 in the second direction, so as to adjust the position of the second support 301 in the second direction; the transmission shaft 21 rotates around its axis, which adjusts the included angle between the second support 301 and the second direction.

[0182] In the second driving module 3021, in the case of driving by the first driving part 28 alone, the transmission shaft 21 moves along its axis; in the case of driving by the second driving part 212 alone, the transmission shaft 21 moves along its axis while rotating around its axis; in the case of driving by the first driving part 28 and the second driving part 212 synchronously, the axial movement of the transmission shaft 21 cancels out each other, and the transmission shaft 21 only rotates around its axis; in the case of driving by the first driving part 28 and the second driving part 212 asynchronously, the transmission shaft 21 rotates around its axis and moves along its axis.

[0183] In actual cases, at least one of the first driving part 28 and the second driving part 212 can be selected for driving according to actual needs, and the embodiments of the present application do not make any limitation in this regard.

[0184] The second driving module 3021 is the above-mentioned driving module 2, so that the second driving module 3021 can be arranged centrally on the entire photovoltaic ferry 100, so that the second driving module 3021 can be closer to the chassis assembly 10 in the second direction, which is more conducive to setting the gravity center of the photovoltaic ferry 100 to the tail end (one end of the chassis assembly 10 in the second direction), and improves the structural balance and stability of the photovoltaic ferry 100.

[0185] The second adjusting module 302 further comprises a guide module 1, which is used to provide guidance in the case of movement of the second support 301 in the second direction, and is used to provide positioning support in the case of rotation of the second support 301 around the second axis L2, which reduces the deviation amount of the second support 301 from the second direction in the process of movement in the second direction, and reduces the deviation amount of the second support 301 from the second axis L2 in the process of rotation around the second axis L2, thereby improving the stability of the second support 301 in the process of movement.

[0186] For the specific structure of the guide module 1, reference can be made to the foregoing. In the second adjusting module 302, one of the guide sleeve 11 and the sliding rod 13 is fixed to the first support 201, and the other is in rotational connection with the second support 301.

[0187] Exemplarily, the second support 301 and the guide sleeve 11 are rotationally connected through a fourth pivot 304; or the second support 301 and the sliding rod 13 are rotationally connected through the fourth pivot 304; wherein the axis of the fourth pivot 304 is arranged in line with the second axis L2, or the axis of the fourth pivot 304 is arranged in parallel with the second axis L2.

[0188] In order to improve the stability of the guide module 1, the guide sleeve 11 can be fixed to the first support 201, and the sliding rod 13 and the second support 301 are rotationally connected.

[0189] In order to facilitate the fixation of the guide sleeve 11, the first support 201 is fixed with a fourth mounting seat 209, and the guide sleeve 11 is fixed to the fourth mounting seat 209.

[0190] In order to facilitate the rotational connection between the second support 301 and the sliding rod 13, the second support 301 is provided with a fifth mounting seat 305. Wherein the hinged support 16 of the sliding rod 13 and the fifth mounting seat 305 are hinged through the fourth pivot 304.

[0191] The guide module 1 can be one or more than two. In the case of at least two guide modules 1, at least one guide module 1 is distributed on one side of the connection position of the second support 301 and the second drive module 3021, and at least one guide module 1 is distributed on the other side of the connection position of the second support 301 and the second drive module 3021.

[0192] The above description of disclosed embodiments enables one skilled in the art to make or use the application. Numerous modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic shuttle bus, characterized in that, The utility model relates to a photovoltaic module cleaning device, comprising: a chassis assembly (10), a first adjusting assembly (20), and a second adjusting assembly (30); wherein the first adjusting assembly (20) comprises a first support (201) and a first adjusting module (202), the first adjusting module (202) is arranged on the chassis assembly (10), and the first support (201) is used for walking of a photovoltaic cleaning device (200); the first adjusting module (202) and the first support (201) are connected and adjust the height of the first support (201), the included angle between the first support (201) and a first direction; the second adjusting assembly (30) comprises a second support (301) and a second adjusting module (302); the second support (301) is used for walking of the photovoltaic cleaning device (200), and the second support (301) is used for being connected with a photovoltaic module (300); the second adjusting module (302) is arranged on the first support (201), the second adjusting module (302) and the second support (301) are connected and adjust the position of the second support (301) in a second direction, the included angle between the second support (301) and the second direction; the first direction, the second direction and the height direction have included angles between each other.

2. The photovoltaic shuttle of claim 1, wherein, the second support (301) comprises a supporting frame (3011) and a lapping piece (3012); wherein one end of the lapping piece (3012) in the second direction is arranged on the supporting frame (3011), and the other end of the lapping piece (3012) in the second direction is used for lapping on the photovoltaic module (300).

3. The photovoltaic shuttle of claim 2, wherein, the lapping piece (3012) is rotatably arranged on the supporting frame (3011), so that the included angle between the lapping piece (3012) and the second direction can be adjusted.

4. The photovoltaic shuttle of claim 3, wherein, the second support (301) further comprises an elastic piece (3015), the elastic piece (3015) connects the lapping piece (3012) and the supporting frame (3011), in the case that the lapping piece (3012) laps on the photovoltaic module (300), the elastic piece (3015) is elastically deformed and makes the lapping piece (3012) abut on the photovoltaic module (300).

5. The photovoltaic shuttle of claim 4, wherein, the elastic piece (3015) is a spring, one end of the elastic piece (3015) is connected to the lapping piece (3012), the other end of the elastic piece (3015) is connected to the supporting frame (3011), and the elastic piece (3015) is located on one side of the rotation axis of the lapping piece (3012).

6. The photovoltaic shuttle of claim 2, wherein, the lapping piece (3012) is a component capable of elastic deformation, in the case that the lapping piece (3012) laps on the photovoltaic module (300), the lapping piece (3012) is elastically deformed and abuts on the photovoltaic module (300).

7. The photovoltaic shuttle of claim 2, wherein, the lapping piece (3012) is provided with a buffer piece (3014) used for contacting the photovoltaic module (300).

8. The photovoltaic shuttle of claim 1, wherein, The first adjusting assembly (20) further comprises a transition pull rod assembly (206) on which the photovoltaic cleaning device (200) can walk, and the transition pull rod assembly (206) and the first support (201) are in sliding fit in the second direction; one end of the second support (301) in the second direction is rotatably arranged on the transition pull rod assembly (206), and the other end of the second support (301) in the second direction is used for being connected with the photovoltaic module (300).

9. The photovoltaic shuttle of claim 8, wherein, The first support (201) is provided with a pull rod limiting piece (207), the pull rod limiting piece (207) and the transition pull rod assembly (206) are in sliding fit in the second direction, and the pull rod limiting piece (207) limits the transition pull rod assembly (206) from deviating from the second direction, and the first support (201) is used for walking of the photovoltaic cleaning device (200) through the pull rod limiting piece (207).

10. The photovoltaic shuttle of claim 9, wherein, The pull rod limiting piece (207) is covered on the transition pull rod assembly (206), the transition pull rod assembly (206) comprises a transition pull rod (2061) and a pulling positioning block (2062), the pulling positioning block (2062) is fixed on the periphery of the transition pull rod (2061), and the pulling positioning block (2062) is in contact and sliding fit with the pull rod limiting piece (207), and the second support (301) is rotatably arranged on the transition pull rod (2061).

11. The photovoltaic shuttle of any of claims 1-10, wherein, The first adjusting module (202) comprises a first driving module (2021), the first driving module (2021) is connected with the first support (201), the first driving module (2021) can drive the first support (201) to move along the height direction to adjust the height of the first support (201), and the first driving module (2021) can drive the first support (201) to rotate around the first axis to adjust the included angle between the first support (201) and the first direction; The second adjusting module (302) comprises a second driving module (3021), the second driving module (3021) is connected with the second support (301), the second driving module (3021) can drive the second support (301) to move along the second direction to adjust the position of the second support (301) in the second direction, and the second driving module (3021) can drive the second support (301) to rotate around the second axis to adjust the included angle between the second support (301) and the second direction.

12. The photovoltaic shuttle of claim 11, wherein, The first driving module (2021) and the second driving module (3021) are driving modules (2), the driving module (2) comprises a transmission shaft (21), a reverser (214) and a driving unit (215). The driving unit (215) can drive the transmission shaft (21) to move along its axis and can drive the transmission shaft (21) to rotate around its axis; the reversing input shaft of the reversing gear (214) is fixedly connected with the transmission shaft (21), the reversing output shaft (2141) of the reversing gear (214) is fixedly connected with the first support (201), the reversing gear (214) is used for converting the rotation of the transmission shaft (21) into the rotation of the reversing output shaft (2141), and the reversing output shaft (2141) rotates around its axis; In the first driving module (2021), the axial direction of the transmission shaft (21) is the height direction; the axis of the reversing output shaft (2141) is the first axis, and the driving unit (215) is arranged on the chassis assembly (10); in the second driving module (3021), the axial direction of the transmission shaft (21) is the second direction; the axis of the reversing output shaft (2141) is the second axis, and the driving unit (215) is arranged on the first support (201).

13. The photovoltaic shuttle of claim 12, wherein, The driving unit (215) comprises a first transmission mechanism (29), a second transmission mechanism (211), a first driving component (28) and a second driving component (212); The transmission shaft (21) is sleeved with a nut (22) and a transmission sleeve (25), the nut (22) and the transmission shaft (21) cooperate to form a lead screw mechanism, the transmission sleeve (25) and the transmission shaft (21) are connected through key transmission, and the nut (22) and the transmission sleeve (25) are distributed along the axial direction of the transmission shaft (21); The nut (22) is rotatably arranged around its axis, and the nut (22) is fixedly arranged in its axial direction; the first driving component (28) drives the nut (22) to rotate around its axis through the first transmission mechanism (29); The transmission sleeve (25) is rotatably arranged around its axis, and the transmission sleeve (25) is fixedly arranged in its axial direction; the second driving component (212) drives the transmission sleeve (25) to rotate around its axis through the second transmission mechanism (211).

14. The photovoltaic shuttle of claim 13, wherein, The driving module (2) further comprises a nut mounting rack (24) and a transmission sleeve mounting rack (27); The first mounting sleeve (23) is fixedly arranged on the nut mounting rack (24), the first mounting sleeve (23) is sleeved on the nut (22), and the first mounting sleeve (23) and the nut (22) are rotationally matched; the nut (22) is fixedly arranged in the axial direction of the nut (22) through the first transmission mechanism (29); The second mounting sleeve (26) is fixedly arranged on the transmission sleeve mounting rack (27), the second mounting sleeve (26) is sleeved on the transmission sleeve (25), and the second mounting sleeve (26) and the transmission sleeve (25) are rotationally matched; the transmission sleeve (25) is fixedly arranged in the axial direction of the transmission sleeve (25) through the second transmission mechanism (211). In the first driving module (2021), the nut mounting frame (24) and the transmission sleeve mounting frame (27) are both fixed to the chassis assembly (10); in the second driving module (3021), the nut mounting frame (24) and the transmission sleeve mounting frame (27) are both fixed to the first support (201).

15. The photovoltaic shuttle of claim 11, wherein, The first adjusting module (202) and the second adjusting module (302) both further comprise a sliding rod (13) and a guide sleeve (11), the sliding rod (13) and the guide sleeve (11) are sleeved and slidingly fitted; In the first driving module (2021), one of the guide sleeve (11) and the sliding rod (13) is fixed to the chassis assembly (10), and the other is rotationally connected with the first support (201); in the second driving module (3021), one of the guide sleeve (11) and the sliding rod (13) is fixed to the first support (201), and the other is rotationally connected with the second support (301).

16. The photovoltaic shuttle of claim 15, wherein, The guide sleeve (11) is sleeved on the sliding rod (13); wherein, one end of the sliding rod (13) located inside the guide sleeve (11) has a protruding part (131), the protruding part (131) is provided with a piston ring (12), the piston ring (12) and the guide sleeve (11) are in contact and slidingly fitted; a shaft sleeve (14) is fixed to the top end of the guide sleeve (11), the sliding rod (13) penetrates through the shaft sleeve (14), and the sliding rod (13) and the shaft sleeve (14) are in contact and slidingly fitted.

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