A pile-mounted walking device and method

Abstract

This invention relates to the field of photovoltaic module installation equipment technology, specifically disclosing a pile-erecting walking device and method, including a guide beam, a frame, a walking power mechanism, a drive mechanism, guide beam legs, and frame legs. The guide beam legs are connected to the guide beam and are vertically extendable. When the guide beam legs are extended, they support the guide beam; when they are shortened, the bottom of the guide beam legs rises away from the pile. The drive mechanism drives the guide beam to move. The frame legs are connected to the frame and are vertically extendable. When the frame legs are extended, they support the guide beam; when they are shortened, the bottom of the frame legs rises away from the pile. The frame is slidably mounted on the guide beam. The walking power mechanism drives the frame to move. This invention is used for moving installation equipment during the automated installation of photovoltaic modules. After one row of photovoltaic modules is installed, the installation equipment is moved to the next row using this pile-erecting walking device.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module installation equipment technology, specifically to a walking device and method for erecting staking. Background Technology

[0002] As the capacity of photovoltaic power plants grows larger, the need for automation becomes more urgent.

[0003] Currently, all photovoltaic module installations are done manually. In some medium-to-large-scale distributed photovoltaic power generation systems and centralized photovoltaic power generation systems, manual installation is still used. This inevitably leads to low installation efficiency and consumes a lot of time and costs. At the same time, working in the open environment for a long time will also increase the requirements for workers.

[0004] Therefore, it has become an urgent need to install large-area photovoltaic modules using intelligent installation equipment. Using intelligent installation equipment can not only greatly improve installation efficiency but also effectively reduce installation costs. It can also automate tedious tasks that need to be performed in open-air environments, thereby improving installation accuracy and freeing up human resources. Summary of the Invention

[0005] The purpose of this invention is to provide a pile-mounted walking device and method for moving installation equipment during the automated installation of photovoltaic modules. After a row of photovoltaic modules is installed, the installation equipment is moved to the next row by the pile-mounted walking device.

[0006] This invention is achieved through the following technical solution:

[0007] A pile-standing walking device includes a guide beam, a frame, a walking power mechanism, guide beam legs, and frame legs.

[0008] The guide beam support leg is connected to the guide beam, and the guide beam support leg can extend and retract in the vertical direction; when the guide beam support leg is extended, the bottom of the guide beam support leg rests on the upright pile; the guide beam support leg is used to support the guide beam; when the guide beam support leg is shortened, the bottom of the guide beam support leg is raised away from the upright pile.

[0009] The frame legs are connected to the frame and are extendable in the vertical direction. When the frame legs are extended, the bottom of the frame legs rests on the uprights. The frame legs are used to support the guide beam. When the frame legs are shortened, the bottom of the frame legs rises away from the uprights.

[0010] The frame is slidably mounted on the guide beam for installing photovoltaic module installation equipment;

[0011] The traveling power mechanism is used to drive the frame and guide beam to move separately.

[0012] For the walking of the vertical-pile walking-type traveling device according to the present invention, the traveling frame and the guide beam need to be moved sequentially; the frame support legs and the guide beam support legs are respectively used for supporting the frame and the guide beam, which can not only support the frame and the guide beam, but also need not affect the movement of the frame and the guide beam. In actual use, the frame support legs and the guide beam support legs are placed on vertical piles, and the movement of the frame and the guide beam is realized by moving among different vertical piles. Accessories such as ear plates and pull rods are welded on the vertical piles. Therefore, when the frame and the guide beam need to be moved, it is necessary to lift the frame support legs and the guide beam support legs so that they are not affected by accessories such as ear plates and pull rods, thereby realizing smooth movement of the frame and the guide beam.

[0013] Both the frame support legs and the guide beam support legs in the vertical-pile walking-type traveling device of the present invention have a vertically telescopic function, which can not only support the frame and the guide beam, but also does not affect the movement of the frame and the guide beam. After one row of photovoltaic modules is installed, the installation equipment can be moved to the next row through the vertical-pile walking-type traveling device, and the present invention can be applied to the movement of installation equipment in the automatic installation process of photovoltaic modules.

[0014] Further, the guide beam comprises two supporting portions arranged in parallel, the two supporting portions are connected by a connecting piece, each supporting portion is correspondingly provided with at least two guide beam support legs; the frame comprises two mounting portions arranged in parallel, the two mounting portions are arranged on the supporting portions in one-to-one correspondence, each mounting portion is correspondingly provided with at least two frame support legs, and adjacent frame support legs and guide beam support legs share one vertical pile.

[0015] Further, a traveling power mechanism is installed on the guide beam, and the traveling power mechanism comprises a driving component, a transmission component and a connecting component, the driving component is used for providing power, the transmission component is used for realizing the movement of the connecting component, and the connecting component is connected with the frame.

[0016] Further, the traveling power mechanism comprises a driving motor, a gear pair, a sliding slot, a chain and a sliding support member;

[0017] The sliding slot is installed on the guide beam and arranged along the length direction of the guide beam;

[0018] The sliding support member is slidably arranged on the sliding slot, and the sliding support member is connected with the frame;

[0019] The driving motor and the gear pair are installed on the sliding support member;

[0020] The chain is arranged in the sliding slot, and both ends of the chain are respectively fixed to two ends of the guide beam, the chain is wound on the gear pair in a gabled shape, when the driving motor drives the gear pair to rotate, the sliding support member can be driven to move in the sliding slot, and then the frame is driven to move on the guide beam.

[0021] Furthermore, the guide beam support leg includes a first contact base plate, a first horizontal adjustment mechanism, a hydraulic cylinder, a second horizontal adjustment mechanism, and a guide beam connecting plate;

[0022] The first contact base plate is used to be placed on the upright pile;

[0023] The first horizontal adjustment mechanism is disposed on the upper surface of the first contact base plate and is used to adjust the X-direction displacement of the hydraulic cylinder;

[0024] The telescopic end of the hydraulic cylinder is slidably disposed on the upper surface of the first contact base plate, and the telescopic direction of the hydraulic cylinder is vertical. The hydraulic cylinder is provided with a hydraulic oil inlet; the fixed end of the hydraulic cylinder is slidably disposed on the lower surface of the guide beam connecting plate.

[0025] The second horizontal adjustment mechanism is located on the lower end face of the guide beam connecting plate and is used to adjust the Y-direction displacement of the hydraulic cylinder;

[0026] The upper end face of the guide beam connecting plate is used to connect with the guide beam. The guide beam connecting plate is provided with a third through hole for the hydraulic cylinder to pass through. The inner diameter of the third through hole is larger than the outer diameter of the fixed end of the hydraulic cylinder.

[0027] The X and Y directions of the present invention respectively guide the length and width directions of the beam, or the X and Y directions respectively guide the width and length directions of the beam, wherein the length direction of the guide beam is the moving direction of the walking device.

[0028] The first horizontal adjustment mechanism of the present invention is used to adjust the X-direction displacement of the hydraulic cylinder, that is, to adjust the X-direction displacement of the guide beam support leg to adapt to the pile spacing error between two adjacent piles in the same row; the second horizontal adjustment mechanism is used to adjust the Y-direction displacement of the hydraulic cylinder, that is, to adjust the Y-direction displacement of the guide beam support leg to adapt to the pile spacing error between two piles in the same row; the hydraulic cylinder can realize the adjustment of the vertical displacement of the first contact base plate.

[0029] Therefore, the guide beam support leg of the present invention can be finely adjusted according to errors such as pile spacing, levelness, and height to ensure that the guide beam support leg can be accurately and stably placed on the pile.

[0030] Furthermore, the telescopic end of the hydraulic cylinder is connected to a hydraulic cylinder base via a ball joint, and the hydraulic cylinder base is connected to the first horizontal adjustment mechanism.

[0031] Furthermore, a first limiting toe is connected to the first contact base plate;

[0032] The first limiting toe has a first connecting part and a first limiting part; the first connecting part is used to connect with the first contact base plate, and two first limiting parts are provided, with the two first limiting parts placed on both sides of the pile. The function of the first limiting toe is to limit the relative displacement between the guide beam leg and the pile, so that the guide beam leg stands more stably on the pile.

[0033] Furthermore, the frame support leg includes a second contact base plate, a frame connector, a vertical telescopic component, a first horizontal telescopic component, and a second horizontal telescopic component;

[0034] The second contact base plate is used to be placed on the upright pile;

[0035] The first horizontal telescopic member is disposed on the upper surface of the second contact base plate and is used to adjust the X-direction displacement of the vertical telescopic member;

[0036] The lower end of the vertical telescopic member is slidably disposed on the upper surface of the second contact base plate for adjusting the vertical displacement of the second contact base plate; a sliding block is provided on the outer wall of the vertical telescopic member, and the sliding block is slidably disposed at the bottom of the frame connector;

[0037] The second horizontal telescopic component is located at the bottom of the frame connector and is used to adjust the Y-direction displacement of the vertical telescopic component;

[0038] The frame connector includes a base plate and a top plate, which are connected by a vertical plate. The top plate is used to connect to the frame, and a guide beam can pass through between the base plate and the top plate. The base plate and the top plate are respectively provided with a first through hole and a second through hole for the vertical telescopic member to pass through. The inner diameter of the first through hole and the second through hole is larger than the outer diameter of the vertical telescopic member.

[0039] The first horizontal telescopic member of this invention is used to adjust the X-direction displacement of the vertical telescopic member, that is, to adjust the X-direction displacement of the frame legs to accommodate the pile spacing error between two adjacent uprights in the same row; the second horizontal telescopic member is used to adjust the Y-direction displacement of the vertical telescopic member, that is, to adjust the Y-direction displacement of the frame legs to accommodate the pile spacing error between two uprights in the same row; the vertical telescopic member can realize the adjustment of the vertical displacement of the second contact base plate.

[0040] Therefore, the frame support legs described in this invention can be finely adjusted in position according to errors such as pile spacing, levelness, and height, so as to ensure that the frame support legs can be accurately and stably placed on the upright piles.

[0041] Furthermore, a second limiting toe is connected to the second contact base plate;

[0042] The second limiting toe has a second connecting part and a second limiting part; the second connecting part is used to connect with the second contact base plate, and there are two second limiting parts, which are placed on both sides of the post.

[0043] The walking method based on the stilt walking device includes the following steps:

[0044] First, raise the frame outriggers so that the lower end of the frame outriggers is away from the upright pile. Then, the traveling power mechanism moves the frame on the guide beam. When it moves above the next upright pile, the frame outriggers fall, and the frame completes the traveling action.

[0045] First, raise the guide beam legs so that the lower end of the guide beam legs leaves the upright pile. Then, drive the guide beam to move. When it moves above the next upright pile, the guide beam legs fall, and the guide beam completes its walking motion.

[0046] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0047] 1. The frame support legs and guide beam support legs in the pile-standing walking device of the present invention are used to support the frame and guide beam respectively; both have the function of vertical extension and retraction, which can not only support the frame and guide beam, but also not affect the movement of the frame and guide beam. After a row of photovoltaic modules is installed, the installation equipment can be moved to the next row through the pile-standing walking device. The present invention can be used for the movement of installation equipment in the process of automated installation of photovoltaic modules.

[0048] 2. In the pile-erecting walking device of the present invention, the frame legs and guide beam legs can be finely adjusted in position according to errors such as pile spacing, levelness, and height during the descent process, and have a small range of adjustment capability to ensure that the legs can land accurately and stably on the pile. Attached Figure Description

[0049] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0050] Figure 1 This is a schematic diagram of the structure of the pile-standing walking device of the present invention;

[0051] Figure 2 This is a schematic diagram of the walking power mechanism of the present invention;

[0052] Figure 3 This is a partial structural schematic diagram of the walking power mechanism of the present invention;

[0053] Figure 4 This is a schematic diagram of the guide beam support leg of the present invention. Figure 1 ;

[0054] Figure 5 This is a schematic diagram of the guide beam support leg of the present invention. Figure 2 ;

[0055] Figure 6 This is a schematic diagram of the structure of the frame support legs of the present invention. Figure 1 ;

[0056] Figure 7 This is a schematic diagram of the structure of the frame support legs of the present invention. Figure 2 .

[0057] The attached diagram shows the markings and corresponding component names:

[0058] 1-Guide beam; 2-Frame; 3-Traveling power mechanism; 4-Guide beam support leg; 5-Frame support leg; 6-Upright pile; 7-Support leg hydraulic mechanism; 11-Support part; 12-Connector; 31-Drive motor; 32-Gear pair; 33-Sliding groove; 34-Chain; 35-Sliding support; 36-Connecting crossbar; 37-Connecting plate; 41-First contact base plate; 42-First limiting toe; 43-First baffle; 44-Hydraulic cylinder base; 45-First horizontal adjustment mechanism; 46-Spherical hinge; 47-Guide beam connecting block; 48-Guide beam connecting plate; 49-Hydraulic cylinder; 410-First sliding block; 411-Second horizontal adjustment mechanism; 51-Second contact base plate; 52-Second limiting toe; 53-Second baffle; 54-Base; 55-Frame connecting piece; 56-Vertical telescopic piece; 57-First horizontal telescopic piece; 58-Second horizontal telescopic piece; 551-Base plate; 552-Upright plate; 553-Top plate; 554-Clamping block; 555-Second through hole; 556-Reinforcing rib. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0060] Example 1:

[0061] like Figures 1-7 As shown, a pile-standing walking device includes a guide beam 1, a frame 2, a walking power mechanism 3, guide beam legs 4, and frame legs 5.

[0062] The frame 2 is slidably mounted above the guide beam for installing photovoltaic module installation equipment; the walking power mechanism 3 can be mounted on the guide beam 1. Since the pile-mounted walking device needs to be erected on piles 6 in actual use, and ideally the piles 6 are evenly spaced and arranged in a straight line, with one row at the front and one at the back, i.e., there are two rows of piles 6; therefore, the specific structure of the frame 2 and the guide beam 1 can be:

[0063] The guide beam 1 comprises two oppositely arranged support parts 11, the two support parts 11 are connected by a connecting piece 12, each support part 11 is correspondingly provided with at least two guide beam legs 4, specifically, the support part 11 is formed by welding two oppositely arranged channel steels, and a certain gap is formed between the two channel steels. The frame 2 comprises two oppositely arranged mounting parts, the two mounting parts are arranged on the support parts 11 in one-to-one correspondence, each mounting part is correspondingly provided with at least two frame legs 5, and adjacent frame legs 5 and guide beam legs 4 share a common vertical pile 6; specifically, the mounting part is formed by welding two oppositely arranged channel steels, and a certain gap is formed between the two channel steels.

[0064] The traveling power mechanism 3 is used to drive the frame 2 and the guide beam 1 to move respectively, and the guide beam 1 and the frame 2 travel alternately. When the guide beam legs 4 are lowered and supported on the vertical piles 6, the frame legs 5 retract, the guide beam 1 remains stationary, and the frame 2 can move; after the frame 2 completes traveling, the frame legs 5 are lowered and supported on the vertical piles 6, at this time the guide beam legs 4 retract, and the traveling power mechanism 3 drives the guide beam 1 to travel. Specifically, the traveling power mechanism 3 can be mounted on the connecting piece 12, the traveling power mechanism 3 is mounted on the guide beam 1, and comprises a driving component, a transmission component and a connecting component, wherein the driving component is used for providing power, the transmission component is used for driving the connecting component to move, and the connecting component is connected with the frame 2. The traveling power mechanism 3 can adopt a chain and gear to drive the frame 2 to move, and can also adopt a motor-slider mode. The specific structure for driving the frame 2 to move through the chain and gear is as follows:

[0065] The traveling power mechanism 3 comprises a driving motor 31, a gear pair 32, a sliding slot 33, a chain 34 and a sliding support 35; wherein, the driving motor 31 is the driving component, the gear pair 32 and the chain 34 form the transmission component, and the sliding support 35 is the connecting component.

[0066] The sliding slot 33 is mounted on the guide beam 1 and arranged along the length direction of the guide beam 1; the sliding support 35 is slidably arranged on the sliding slot 33, and the sliding support 35 is connected with the frame 2; the driving motor 31 and the gear pair 32 are mounted on the sliding support 35; the chain 34 is arranged in the sliding slot 33 and both ends thereof are respectively fixed to both ends of the guide beam 1, the chain 34 is wound on the gear pair 32 in a Z-shaped configuration, when the driving motor 31 drives the gear pair 32 to rotate, the sliding support 35 can be driven to move in the sliding slot 33, thereby driving the frame 2 to move on the guide beam 1.

[0067] In this embodiment, the sliding slot 33 is a chain slot, the traveling power mechanism 3 relies on the gear pair 32 cooperating with the chain 34 for power transmission, the chain 34 is arranged in the chain slot, the end of the chain is fixed to the guide beam 1, the chain 34 is wound on the gear pair 32, when the motor operates, the gear drives the chain 34, thereby driving the guide beam 1 to move.

[0068] When the guide beam 1 and frame 2 adopt the above structure, the walking power mechanism 3 adopts a dual-power model. Two three-phase asynchronous motors and reducers drive in parallel to provide the original power, and then the gear pair 32 and chain 34 transmit the power. When the intermediate power gear rotates, the walking power mechanism 3 can drive the frame 2 to move horizontally on the guide beam 1.

[0069] Specifically, two sliding grooves 33 are installed on the connector 12, and a sliding support 35 is set on each of the two sliding grooves 33. A drive motor 31 and a reduction motor are installed on the inner side of each sliding support 35. The two drive motors 31 are connected by a shaft. A gear pair 32 is installed on the outer wall of the sliding support 35. The gear pair 32 includes a central drive gear and driven gears on both sides. The drive gear is connected to the power output shaft of the drive motor 31, and the two driven gears are located on both sides of the drive gear in the horizontal direction. A chain 34 extends downward from the top of the drive gear, passes through the gap between the driven gear and the drive gear, and is then guided into the sliding groove 33 from the bottom of the driven gear. The two sliding supports 35 are connected by two connecting crossbars 36. The two ends of the connecting crossbars 36 protrude from the two sliding supports 35, and each end of the connecting crossbars 36 is provided with a connecting plate 17. The connecting plate 17 is used to connect to the side wall of the frame 2, specifically by bolts. The sliding support 35 can specifically adopt a plate-like structure.

[0070] Because the pile 6 is welded with accessories such as ear plates and tie rods, and the frame legs 4 and guide beam legs 5 sometimes share a single pile 6, the frame legs 4 and guide beam legs 5 can only occupy half of the pile. Specifically, the frame legs 4 occupy the inner pile, and the guide beam legs 5 occupy the outer pile. Here, "inner" and "outer" refer to the opposite side of the legs on two adjacent piles in the same row. During installation, the frame legs 4 bear the main weight, while the guide beam legs 5 serve as auxiliary support. After one row is installed, the frame legs 5 are raised, and after leaving the pile surface, they retract inward to avoid the ear plates and tie rods. The frame 2 moves to the next row on the guide beam 1, and then lowers after reaching its position. After stabilization, the guide beam legs 4 are raised, and after leaving the pile surface, they can also retract outward to avoid the ear plates and tie rods. The guide beam 1 can then move to the next row under the drive of the drive mechanism, waiting for the next row's components to be installed, and this process is repeated. Therefore, when it is necessary to move the frame 2 and guide beam 1, the frame support leg 4 and guide beam support leg 5 need to be raised to prevent them from being affected by accessories such as ear plates and tie rods, so as to achieve smooth movement of the frame 2 and guide beam 1. When the frame 2 and guide beam 1 are not moving, the frame support leg 4 and guide beam support leg 5 provide support for the frame 2 and guide beam 1. Therefore, the structure of the frame support leg 4 and guide beam support leg 5 is as follows:

[0071] The guide beam support leg 4 is connected to the guide beam 1, and the guide beam support leg 4 can extend and retract in the vertical direction; when the guide beam support leg 4 is extended, the bottom of the guide beam support leg 4 is placed on the upright pile 6; the guide beam support leg 4 is used to support the guide beam 1; when the guide beam support leg 4 is shortened, the bottom of the guide beam support leg 4 is raised away from the upright pile 6, so that the guide beam 1 is not blocked by the ear plate, tie rod and other accessories welded on the upright pile 6 during the movement.

[0072] The frame support leg 5 is connected to the frame 2, and the frame support leg 5 is extendable in the vertical direction; when the frame support leg 5 is extended, the bottom of the frame support leg 5 rests on the upright post 6; the frame support leg 5 is used to support the guide beam 1; when the frame support leg 5 is shortened, the bottom of the frame support leg 5 is raised away from the upright post 6.

[0073] As the latitude of the operation changes, the horizontal tilt angle of the photovoltaic panels varies from 10° to 25°. To adapt to this change, the spacing between each row of piles varies from 1658 to 3341 mm. In installation environments where the pile spacing is less than 2300 mm, the outriggers are relatively close together. Considering their stability, the outriggers support across a row. For pile spacing greater than 2300 mm, they support adjacent rows. Among them, frame outrigger 5 and guide beam outrigger 4 are located on the piles in the current row, and the rest are distributed on the piles in adjacent rows or across rows. Due to the large range of pile spacing variation, to ensure good versatility of the pile-erecting walking device, frame outrigger 5 and guide beam outrigger 4 can be adjusted in stages over a wide range. Furthermore, since errors in pile spacing, levelness, and height are unavoidable during civil construction, frame outrigger 5 and guide beam outrigger 4 also need to be adjustable within a certain range.

[0074] Therefore, as Figures 4-5 As shown, a preferred structure for the guide beam support leg 4 is as follows:

[0075] The guide beam support leg 4 includes a first contact base plate 41, a first horizontal adjustment mechanism 45, a hydraulic cylinder 49, a second horizontal adjustment mechanism 411, and a guide beam connecting plate 48.

[0076] The first contact base plate 41 is used to be placed on the pile. The first contact base plate 41 is used to support other components of the guide beam support leg 4. In use, the top of the pile 6 is flat, and the first contact base plate 41 is placed on the top of the pile 6. That is, the lower end surface of the first contact base plate 41 is also a flat structure. The specific structure of the first contact base plate 41 can be a flat plate with a certain thickness.

[0077] The first horizontal adjustment mechanism 45 is disposed on the upper end face of the first contact base plate 41 and is used to adjust the X-direction displacement of the hydraulic cylinder 49. The structure of the first horizontal adjustment mechanism 45 includes a lead screw drive mechanism, a hydraulic cylinder, or a pneumatic cylinder. One implementation of the first horizontal adjustment mechanism 45 is as follows:

[0078] The first level adjustment mechanism 45 adopts a screw drive mechanism. The telescopic end of the hydraulic cylinder 49 is connected to the third slider on the screw drive mechanism. Specifically, the screw drive mechanism includes a third fixed block, a third screw, a third slider, and a third motor. One end of the third screw is rotatably disposed in the third fixed block. The third fixed block is fixed to the upper surface of the first contact base plate 41. The third motor is used to drive the third screw to rotate. The third slider is slidably disposed on the third screw. The third slider moves back and forth on the third screw by driving the third screw to rotate through the third motor, thereby realizing the X-direction displacement of the hydraulic cylinder 49.

[0079] The telescopic end of the hydraulic cylinder 49 is slidably disposed on the upper surface of the first contact base plate 41, and the telescopic direction of the hydraulic cylinder 49 is vertical. The hydraulic cylinder 49 is provided with a hydraulic oil inlet. In a specific case, the telescopic end of the hydraulic cylinder 49 is provided with a hydraulic cylinder base 44. The hydraulic cylinder base 44 is connected to the third slider on the first horizontal adjustment mechanism 45. The hydraulic cylinder base 44 is slidably disposed on the upper surface of the first contact base plate 41. That is, the first horizontal adjustment mechanism 45 drives the hydraulic cylinder base 44 to slide in the X direction, thereby realizing the X-direction displacement of the hydraulic cylinder 49. The hydraulic cylinder 49 adjusts the vertical displacement of the first contact base plate 41 by telescopic movement. When the first contact base plate 41 needs to contact the pile 6, the hydraulic cylinder 49 extends, so that the first contact base plate 41 falls on the upper surface of the pile 6. At this time, the guide beam support leg 4 is used to support the guide beam 1. When it is necessary to move the guide beam 1, the first contact base plate 41 needs to leave the pile 6, and the hydraulic cylinder 49 is controlled to retract, so that the first contact base plate 41 leaves the pile 6, so that the guide beam 1 can be driven to move in the X direction (length of the guide beam 1) through the walking power mechanism 3.

[0080] The fixed end of the hydraulic cylinder 49 is slidably disposed on the lower end face of the guide beam connecting plate 48; specifically, a first sliding block 410 is provided on the outer wall of the fixed end of the hydraulic cylinder 49, and the first sliding block 410 is slidably disposed on the lower end face of the guide beam connecting plate 48.

[0081] The second horizontal adjustment mechanism 411 is disposed on the lower end face of the guide beam connecting plate 48 and is used to adjust the Y-direction displacement of the hydraulic cylinder 49. The structure of the second horizontal adjustment mechanism 411 includes a screw drive mechanism, a hydraulic cylinder, or a pneumatic cylinder. One implementation of the second horizontal adjustment mechanism 411 is as follows:

[0082] The second level adjustment mechanism 411 adopts a lead screw drive mechanism, and its specific structure is the same as that of the first level adjustment mechanism 45 mentioned above. The difference between the two is that the directions of the lead screws are perpendicular to each other. Specifically, the fourth fixing block of the second level adjustment mechanism 11 is installed on the lower end face of the guide beam connecting plate 48.

[0083] The upper end face of the guide beam connecting plate 48 is used to connect with the guide beam 1. The guide beam connecting plate 48 can be connected to the guide beam 1 by bolts. The guide beam connecting plate 48 is provided with a third through hole for passing through the fixed end of the hydraulic cylinder 49. The inner diameter of the third through hole is larger than the outer diameter of the fixed end of the hydraulic cylinder 49, so that the guide beam connecting plate 48 has a certain amount of moving space in the third through hole, so as to facilitate the Y-direction displacement of the hydraulic cylinder 49.

[0084] In a preferred embodiment, the upper surface of the guide beam connecting plate 48 is provided with multiple guide beam connecting blocks 47, which are distributed on both sides of the fixed end of the hydraulic cylinder 49. The guide beam connecting blocks 47 are used to connect the guide beam 1. In actual use, the guide beam 1 is formed by connecting two channel steels arranged back to back. The gap between the two channel steels can be used to fix the hydraulic cylinder 49. The lower edge of the channel steel can be pressed between the guide beam connecting blocks 47 and the guide beam connecting plate 48. That is, when fixing the guide beam 1, bolts are used to pass through the guide beam connecting blocks 47 and the lower edge of the channel steel from top to bottom and fix them to the guide beam connecting plate 48. The channel steel has a U-shaped structure. When the two channel steels are arranged back to back, the lower edge of the channel steel specifically refers to the side wall of the channel steel located at the bottom.

[0085] In a preferred embodiment, a first limiting toe 42 is connected to the first contact base plate 41; the first limiting toe 42 has a first connecting portion and a first limiting portion; the first connecting portion is used to connect with the first contact base plate 41, and two first limiting portions are provided, with the two first limiting portions positioned on both sides of the upright post 6. Specifically, the first limiting toe 42 is a U-shaped plate, the bottom of which is installed on the upper end of the first contact base plate 41, and the two sides of which are positioned on both sides of the upright post 6, as shown below. Figure 4 As shown, the bottom of the U-shaped plate is bolted to the upper end face of the first contact base plate 41, so that the first limiting toe 42 will not affect the placement of the first contact base plate 41 on the upright pile; the direction of the two side walls of the U-shaped plate is preferably consistent with the width direction of the guide beam 1.

[0086] In a preferred embodiment, a groove is provided on the first contact base plate 41, and the telescopic end of the hydraulic cylinder 49 is slidably disposed within the groove. In a specific embodiment, a first baffle 43 is provided on the upper surface of the first contact base plate 41, and the bottoms of the first baffle 43 and the first limiting toe 42 are arranged opposite each other. A groove is formed between the bottom of the U-shaped plate and the first baffle 43, that is, slide rails can be provided on both the bottom of the U-shaped plate and the inner sidewall of the first baffle 43, so that the two sides of the hydraulic cylinder base 44 can be slidably disposed within the slide rails.

[0087] In a preferred embodiment, the telescopic end of the hydraulic cylinder 49 is connected to the hydraulic cylinder base 44 via a ball joint 46. That is, the guide beam support leg 4 in this embodiment uses two screw drive mechanisms, giving it three basic translational degrees of freedom. In addition, the hydraulic cylinder base 44 is connected by a ball joint 46, adding three rotational degrees of freedom, further increasing its flexibility. The guide beam support leg 4 in this embodiment has six degrees of freedom, adaptively adjusting its position during operation to stand stably on the pile 6, enabling the equipment on the pile to operate reliably.

[0088] In this embodiment, the first horizontal adjustment mechanism 45 is used to adjust the X-direction displacement of the hydraulic cylinder 49, that is, to adjust the X-direction displacement of the guide beam support leg 4 to adapt to the pile spacing error between two adjacent piles 6 in the same row; the second horizontal adjustment mechanism 411 is used to adjust the Y-direction displacement of the hydraulic cylinder 49, that is, to adjust the Y-direction displacement of the guide beam support leg 4 to adapt to the pile spacing error between two piles in the same row, and the hydraulic cylinder 49 is used to adjust the vertical height of the first contact base plate 41; therefore, in this embodiment, the guide beam support leg 4 can be finely adjusted according to the errors in pile spacing, levelness, height, etc., to ensure that the guide beam support leg 4 can accurately and stably land on the pile 6.

[0089] Therefore, as Figures 6-7 As shown, a preferred structure for the frame support leg 5 is as follows:

[0090] The frame support leg 5 includes a second contact base plate 51, a frame connector 55, a vertical telescopic member 56, a first horizontal telescopic member 57, and a second horizontal telescopic member 58.

[0091] The second contact base plate 51 is used to rest on the upright pile 6; the second contact base plate 51 is used to support other components of the mounting frame legs 5. In use, the top of the upright pile 6 is flat, and the second contact base plate 51 is placed on top of the upright pile 6, that is, the lower end surface of the second contact base plate 51 is also a flat structure. The specific structure of the second contact base plate 51 can be a flat plate with a certain thickness. The specific structure of the second contact base plate 51 can be the same as that of the first contact base plate 41.

[0092] The first horizontal telescopic member 57 is disposed on the upper end face of the second contact base plate 51 and is used to adjust the X-direction displacement of the vertical telescopic member 56. The structure of the first horizontal telescopic member 57 includes a lead screw drive mechanism, a hydraulic cylinder, or a pneumatic cylinder. One implementation of the first horizontal telescopic member 57 is as follows:

[0093] The first horizontal telescopic member 57 adopts a screw drive mechanism. The bottom of the vertical telescopic member 56 is connected to the first slider on the screw drive mechanism. Specifically, the screw drive mechanism includes a first fixed block, a first screw, a first slider, and a first motor. One end of the first screw is rotatably disposed in the first fixed block. The first fixed block is fixed to the upper surface of the second contact base plate 51. The first motor is used to drive the first screw to rotate. The first slider is slidably disposed on the first screw. The first slider moves back and forth on the first screw by driving the first screw to rotate by the first motor, thereby realizing the X-direction displacement of the vertical telescopic member 56.

[0094] The lower end of the vertical telescopic member 56 is slidably disposed on the upper surface of the second contact base plate 51 for adjusting the vertical displacement of the second contact base plate 51; a second sliding block is provided on the outer wall of the vertical telescopic member 56, and the second sliding block is slidably disposed on the bottom of the frame connecting member 55. The structure of the vertical telescopic member 56 includes a screw drive mechanism, a hydraulic cylinder or a pneumatic cylinder, and one preferred embodiment of the vertical telescopic member 56 is as follows:

[0095] The system includes a sleeve, a vertical lead screw, a base 54, and a motor. The base 54 is connected to the first slider and is slidably mounted on the upper surface of the second contact base plate 51. The vertical lead screw is vertically mounted on the base 54, and the sleeve is threadedly connected to the vertical lead screw. When the motor drives the vertical lead screw to rotate, the vertical lead screw can move up and down within the sleeve, allowing the vertical displacement of the second contact base plate 51 to be adjusted via the vertical telescopic member 56. When the second contact base plate 51 needs to contact the post, the vertical lead screw moves downward, causing the second contact base plate 51 to rest on the upper surface of the post 6. At this time, the frame support legs 5 support the frame 2. When the frame 2 needs to be moved, the second contact base plate 51 needs to leave the post 6. The vertical lead screw is rotated in the opposite direction to move it upward, causing the second contact base plate 51 to leave the post 6, facilitating the movement of the frame 2 along the X-axis of the guide beam 1 via the walking power mechanism 3. A second sliding block is provided on the outer wall of the sleeve, and the second sliding block is slidably mounted on the bottom of the frame connector 55.

[0096] Preferably, the lower end of the vertical lead screw is connected to the base 54 via a ball joint.

[0097] The second horizontal telescopic member 58 is located at the bottom of the frame connector 55 and is used to adjust the Y-direction displacement of the vertical telescopic member 56. The structure of the second horizontal telescopic member 58 includes a screw drive mechanism, a hydraulic cylinder, or a pneumatic cylinder. One implementation of the second horizontal telescopic member 58 is as follows:

[0098] The second horizontal telescopic member 58 adopts a screw drive mechanism, which includes a second fixed block, a second screw, and a second slider. The second screw is rotatably mounted on the second fixed block and is driven to rotate by a second motor. The second slider is slidably mounted on the second screw and is connected to the second sliding block. That is, the Y-direction displacement of the second sliding block is achieved through the second horizontal telescopic member 58.

[0099] The frame connector 55 includes a base plate 551 and a top plate 553, which are connected by a vertical plate 552. The second horizontal telescopic member 58 is disposed on the lower end face of the base plate 551. The top plate 553 is used to connect with the frame 2, and the guide beam 1 can pass through between the base plate 551 and the top plate 553. The base plate 551 and the top plate 553 are respectively provided with a first through hole and a second through hole 555 for the vertical telescopic member 56 to pass through. The inner diameter of the first through hole and the second through hole 555 is larger than the outer diameter of the vertical telescopic member 56, so as to facilitate the displacement of the vertical telescopic member 56 in the Y direction.

[0100] Specifically: Two upright plates 552 are symmetrically arranged between the bottom plate 551 and the top plate 553. The two upright plates 552 are respectively placed on both sides of the vertical telescopic member 56. The gap between the vertical telescopic member 56 and the two upright plates 552 is used to allow the guide beam 1 to pass through. In use, the frame 2 is slidably arranged on the guide beam 1. The frame 2 and the guide beam 1 are connected by two channel steels arranged in opposite directions. The gap between the two channel steels can be used to allow the vertical telescopic member 56 to pass through. Preferably, the outer wall of the upright plate 552 is provided with reinforcing ribs 556.

[0101] Preferably, the lower end face of the base plate 551 is symmetrically provided with two limiting grooves, and the two ends of the second fixing block are disposed in the limiting grooves.

[0102] Preferably, at least two clamping blocks 554 are provided on both sides of the upper surface of the top plate 553 in the horizontal movement direction of the frame connector 55; the clamping blocks 554 and the top plate 553 have a gap sufficient to accommodate the lower edge of the frame. The lower edge of the frame is fastened between the clamping blocks 554 and the top plate 553 by bolts. In actual use, the frame is formed by connecting two channel steels arranged back to back, and the gap between the two channel steels can be used for the vertical telescopic member 56; the lower edge of the channel steel can be pressed between the clamping blocks 554 and the top plate 553, that is, when fixing the frame, bolts are used to pass through the clamping blocks 554 and the lower edge of the channel steel from top to bottom and fix it to the top plate 553. The channel steel has a U-shaped structure, and when the two channel steels are arranged back to back, the lower edge of the channel steel specifically refers to the side wall of the channel steel located at the bottom.

[0103] In a preferred embodiment, a second limiting toe 52 is connected to the second contact base plate 51;

[0104] The second limiting toe 52 has a second connecting portion and a second limiting portion; the second connecting portion is used to connect with the second contact base plate 51, and two second limiting portions are provided, with the two second limiting portions located on both sides of the upright pile. Specifically, the second limiting toe 52 is a U-shaped plate, the bottom of which is installed on the upper end of the second contact base plate 51, and the two sides of which are located on both sides of the upright pile 6, as shown below. Figure 6 , Figure 7 As shown, the bottom of the U-shaped plate is bolted to the upper end face of the second contact base plate 51, so that the second limiting toe 52 will not affect the placement of the second contact base plate 51 on the upright post 6.

[0105] In a preferred embodiment, a second baffle 53 is provided on the upper surface of the second contact base plate 51, and a groove is formed between the second baffle 53 and the second connecting part of the second limiting toe 52; a base 54 is provided at the bottom of the vertical telescopic member 56, and the two side walls of the base 54 are slidably disposed in the groove; that is, slide rails can be provided at the bottom of the U-shaped plate and on the inner side wall of the second baffle 53, and the two sides of the second base 54 can be slidably disposed in the slide rails.

[0106] The walking method based on the above-mentioned stake-mounted walking device includes the following steps:

[0107] First, raise the frame support leg 5 so that the lower end of the frame support leg 5 leaves the upright pile 6. Then, the walking power mechanism 3 drives the frame 2 to move on the guide beam 1. When it moves above the next upright pile 6, the frame support leg 5 falls and the frame 2 completes the walking action.

[0108] First, raise the guide beam leg 4 so that the lower end of the guide beam leg 4 leaves the upright pile 6. The drive mechanism drives the guide beam 1 to move. When it moves above the next upright pile 6, the guide beam leg 4 falls and the guide beam 1 completes the walking action.

[0109] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0110] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the disclosed technical content. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

Claims

1. A stake-mounted walking device, characterized in that, It includes a guide beam (1), a frame (2), a walking power mechanism (3), guide beam legs (4), and frame legs (5); the guide beam legs (4) are connected to the guide beam (1), and the guide beam legs (4) are extendable in the vertical direction; when the guide beam legs (4) are extended, the bottom of the guide beam legs (4) rests on the upright post (6); the guide beam legs (4) are used to support the guide beam (1); when the guide beam legs (4) are shortened, the bottom of the guide beam legs (4) is raised away from the upright post (6); the frame legs (5) are connected to the guide beam (1). The frame (2) is connected, and the frame legs (5) are extendable in the vertical direction; when the frame legs (5) are extended, the bottom of the frame legs (5) is placed on the uprights (6); the frame legs (5) are used to support the guide beam (1); when the frame legs (5) are shortened, the bottom of the frame legs (5) is raised away from the uprights (6); the frame (2) is slidably set on the guide beam (1) for installing photovoltaic module installation equipment; the walking power mechanism (3) is used to drive the frame (2) and the guide beam (1) to move respectively; The guide beam support leg (4) includes a first contact base plate (41), a first horizontal adjustment mechanism (45), a hydraulic cylinder (49), a second horizontal adjustment mechanism (411), and a guide beam connecting plate (48); the first contact base plate (41) is used to be placed on the upright pile (6); the first horizontal adjustment mechanism (45) is disposed on the upper end face of the first contact base plate (41) and is used to adjust the X-direction displacement of the hydraulic cylinder (49); the telescopic end of the hydraulic cylinder (49) is slidably disposed on the upper end face of the first contact base plate (41), and ... The extension and retraction direction of the hydraulic cylinder (49) is vertical; the fixed end of the hydraulic cylinder (49) is slidably disposed on the lower end face of the guide beam connecting plate (48); the second horizontal adjustment mechanism (411) is disposed on the lower end face of the guide beam connecting plate (48) and is used to adjust the Y-direction displacement of the hydraulic cylinder (49); the upper end face of the guide beam connecting plate (48) is used to connect with the guide beam (1), and the guide beam connecting plate (48) is provided with a third through hole for the hydraulic cylinder (49) to pass through, the inner diameter of the third through hole being larger than the outer diameter of the fixed end of the hydraulic cylinder (49); The telescopic end of the hydraulic cylinder (49) is connected to the hydraulic cylinder base (44) via a ball joint (46), and the hydraulic cylinder base (44) is connected to the first horizontal adjustment mechanism (45). A first limiting toe (42) is connected to the first contact base plate (41); the first limiting toe (42) has a first connecting part and a first limiting part; the first connecting part is used to connect with the first contact base plate (41), and two first limiting parts are provided, with the two first limiting parts placed on both sides of the upright post (6).

2. The staking-mounted walking device according to claim 1, characterized in that, The guide beam (1) comprises two support portions (11) arranged in parallel, the two support portions (11) are connected by a connecting member (12), and each support portion (11) is correspondingly provided with at least two guide beam legs (4); the frame (2) comprises two mounting portions arranged in parallel, the two mounting portions are arranged on the support portions (11) in one-to-one correspondence, each mounting portion is correspondingly provided with at least two frame legs (5), and adjacent frame legs (5) and guide beam legs (4) share a common vertical pile (6).

3. The staking-mounted walking device according to claim 1, characterized in that, The traveling power mechanism (3) is mounted on the guide beam (1), the traveling power mechanism (3) comprises a driving assembly, a transmission assembly and a connecting assembly, the driving assembly is configured to provide power, the transmission assembly is configured to realize movement of the connecting assembly, and the connecting assembly is connected with the frame (2).

4. The staking-mounted walking device according to claim 3, characterized in that, The traveling power mechanism (3) comprises a driving motor (31), a gear pair (32), a sliding groove (33), a chain (34) and a sliding support member (35); the sliding groove (33) is mounted on the guide beam (1) and arranged along the length direction of the guide beam (1); the sliding support member (35) is slidably disposed on the sliding groove (33), and the sliding support member (35) is connected with the frame (2); the driving motor (31) and the gear pair (32) are mounted on the sliding support member (35); the chain (34) is disposed in the sliding groove (33) and both ends thereof are respectively fixed to both ends of the guide beam (1), the chain (34) is wound on the gear pair (32) in an Ω-shape, and when the driving motor (31) drives the gear pair (32) to rotate, the sliding support member (35) can be driven to move in the sliding groove (33), thereby driving the frame (2) to move on the guide beam (1).

5. The staking-mounted walking device according to claim 1, characterized in that, The frame support leg (5) includes a second contact base plate (51), a frame connector (55), a vertical telescopic member (56), a first horizontal telescopic member (57), and a second horizontal telescopic member (58); the second contact base plate (51) is placed on the upright (6); the first horizontal telescopic member (57) is disposed on the upper end face of the second contact base plate (51) and is used to adjust the X-direction displacement of the vertical telescopic member (56); the lower end of the vertical telescopic member (56) is slidably disposed on the upper end face of the second contact base plate (51) and is used to adjust the vertical displacement of the second contact base plate (51); a sliding block is disposed on the outer wall of the vertical telescopic member (56), and the sliding block is slidably disposed at the bottom of the frame connector (55); The second horizontal telescopic member (58) is located at the bottom of the frame connector (55) and is used to adjust the Y-direction displacement of the vertical telescopic member (56). The frame connector (55) includes a bottom plate (551) and a top plate (553). The bottom plate (551) and the top plate (553) are connected by a vertical plate (552). The top plate (553) is used to connect with the frame, and a guide beam can pass through between the bottom plate (551) and the top plate (553). The bottom plate (551) and the top plate (553) are respectively provided with a first through hole and a second through hole (555) for the vertical telescopic member (556) to pass through. The inner diameter of the first through hole and the second through hole (555) is larger than the outer diameter of the vertical telescopic member (56).

6. The staking-mounted walking device according to claim 5, characterized in that, The second contact base plate (51) is connected to a second limiting toe (52); the second limiting toe (52) has a second connecting part and a second limiting part; the second connecting part is used to connect with the second contact base plate (51), and there are two second limiting parts, which are placed on both sides of the upright (6).

7. A walking method based on the staking-walking device according to any one of claims 1-6, characterized in that, Includes the following steps: First, raise the frame support leg (5) so that the lower end of the frame support leg (5) leaves the upright pile (6). Then, the walking power mechanism (3) drives the frame (2) to move on the guide beam (1). When it moves above the next upright pile (6), the frame support leg (5) falls, and the frame (2) completes the walking action. First, raise the guide beam support leg (4) so ​​that the lower end of the guide beam support leg (4) leaves the upright pile (6). The driving mechanism drives the guide beam (1) to move. When it moves above the next upright pile (6), the guide beam support leg (4) falls, and the guide beam (1) completes the walking action.

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