Three-section type frame, paving equipment and leveling method of three-section type frame

Abstract

The invention discloses a three-section type vehicle frame, paving equipment and a leveling method thereof, the three-section type vehicle frame comprises a middle vehicle frame, a first leveling frame, a first telescopic piece, a second leveling frame and a second telescopic piece, and the middle vehicle frame comprises a first end and a second end which are opposite to each other; the first leveling frame is rotationally connected with the first end, one end of the first telescopic piece is rotationally connected with the middle frame, the other end of the first telescopic piece is connected with the first leveling frame, and the first telescopic piece stretches or retracts to drive the first leveling frame to rotate relative to the middle frame; the second leveling frame is rotationally connected with the second end, one end of the second telescopic piece is rotationally connected with the middle frame, the other end of the second telescopic piece is connected with the second leveling frame, and the second telescopic piece stretches or retracts to drive the second leveling frame to rotate relative to the middle frame. The device is used for solving the problem that the accuracy and efficiency of photovoltaic paving are reduced due to equipment inclination.

Description

Technical Field

[0001] The present application relates to the technical field of paving equipment, and in particular to a three-section vehicle frame, paving equipment and a leveling method thereof. Background Art

[0002] People have put forward higher and higher requirements for energy, and finding new energy has become a key issue. After years of development, solar power generation has also made great progress. To obtain electricity from solar energy, it is necessary to use solar cells for photoelectric conversion, which requires laying a large area of ​​photovoltaic panels. Therefore, the automation equipment for laying photovoltaic panels has been vigorously developed.

[0003] In the prior art, the photovoltaic paving environment includes but is not limited to deserts, swamps, next door, hills, grasslands, etc. However, no matter in which photovoltaic paving environment, there are requirements for the accuracy and efficiency of photovoltaic paving. However, in the above photovoltaic paving environment, the paving equipment will be tilted, resulting in a decrease in the accuracy and efficiency of photovoltaic paving, so how to solve this problem becomes the key. Summary of the invention

[0004] The purpose of this application is to provide a three-section frame, paving equipment and leveling method thereof to solve the problem of reduced accuracy and efficiency in photovoltaic paving due to equipment tilt.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In a first aspect, the present invention provides a three-section frame for carrying photovoltaic panels in paving equipment, comprising: an intermediate frame, a first leveling frame, a first telescopic member, a second leveling frame and a second telescopic member, wherein the intermediate frame comprises a first end and a second end opposite to each other; the first leveling frame is rotatably connected to the first end, one end of the first telescopic member is rotatably connected to the intermediate frame, and the other end is connected to the first leveling frame, and the first telescopic member is extended or shortened to drive the first leveling frame to rotate relative to the intermediate frame; the second leveling frame is rotatably connected to the second end, one end of the second telescopic member is rotatably connected to the intermediate frame, and the other end is connected to the second leveling frame, and the second telescopic member is extended or shortened to drive the second leveling frame to rotate relative to the intermediate frame.

[0007] In one embodiment, the first leveling frame includes a first rotating portion and a first extending portion, the first rotating portion is rotatably connected to the first end, the first extending portion is connected to a side of the first rotating portion facing away from the first end, and the first extending portion extends in a direction away from the first end;

[0008] In one embodiment, the number of the first extending portions is two, and there is a spacing distance between the two first extending portions, and at least one connecting beam is disposed between the two first extending portions.

[0009] In one embodiment, the first extension portion includes a main body and a boss connected to each other, the main body is connected to the first rotating portion, the main body includes a first surface, the photovoltaic panel is placed on the first surface, the boss is connected to a surface facing away from the first surface, and the first telescopic member is connected to the boss.

[0010] In one embodiment, the boss includes a first inclined surface, the first inclined surface is smoothly connected to the first surface, and there is an angle between the first inclined surface and the first surface, and the angle is less than 90°.

[0011] In one embodiment, the end of the main body facing away from the first rotating part includes a first clamping end and a second clamping end that are oppositely arranged, and there is a gap between the first clamping end and the second clamping end, and the gap is a mounting groove. Through holes are provided on the first clamping end and the second clamping end, and the through holes of the first clamping end and the second clamping end are opposite to each other in the width direction of the three-section frame, and the through holes are used to cooperate with the rotation of the material frame device of the paving equipment.

[0012] In one embodiment, the second leveling frame includes a second rotating portion, the second rotating portion is rotatably connected to the second end, the first rotating portion is provided with a first mounting channel, the second rotating portion is provided with a second mounting channel, the first mounting channel is close to one side of the three-section frame, and the second mounting channel is close to the other side of the three-section frame opposite to the other side.

[0013] In one embodiment, the three-section vehicle frame includes a detection member, and the detection member is used to detect an angle α1 between the first leveling frame and a preset working surface, and to detect an angle α2 between the second leveling frame and the preset working surface.

[0014] In a second aspect, the present invention further provides a paving device for paving photovoltaic panels, the paving device comprising a chassis device, a leveling component, a detection component and a three-section frame as described in any one of the first aspects, the three-section frame is arranged on the chassis device, and the three-section frame is rotatably connected to the chassis device, the leveling component connects the chassis device and the intermediate frame, the detection component is electrically signal-connected to the leveling component, and the detection component is used to detect the angle β between the intermediate frame and a preset working surface.

[0015] In one embodiment, the paving equipment further comprises two material frame devices, wherein one of the material frame devices is rotatably and / or slidably connected to the first leveling frame, and the other of the material frame devices is rotatably and / or slidably connected to the second leveling frame.

[0016] In a third aspect, the present invention also provides a leveling method for paving equipment, comprising: a detection member detects an angle β between an intermediate frame and a preset working surface; the leveling component drives the intermediate frame to rotate to be parallel to the preset working surface according to control information containing the angle β; the detection member respectively detects an angle α1 between the first leveling frame and the preset working surface, and an angle α2 between the second leveling frame and the preset working surface; the first telescopic member drives the first leveling frame to rotate to be parallel to the preset working surface according to control information containing the angle α1, and the second telescopic member drives the second leveling frame to rotate to be parallel to the preset working surface according to control information containing the angle α2.

[0017] The present invention can obtain a three-section frame by assembling the middle frame, the first leveling frame and the second leveling frame together, and the first telescopic member drives the first leveling frame to rotate relative to the first end, and the second telescopic member drives the second leveling frame to rotate relative to the second end, so that the paving equipment can always maintain a posture parallel to the preset working surface to perform photovoltaic paving work, thereby improving the accuracy and efficiency of photovoltaic paving. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a schematic diagram of a paving device according to an embodiment;

[0020] Figure 2 is a schematic diagram of a three-section frame and chassis arrangement of one embodiment;

[0021] Figure 3 is a top view of a three-section frame of an embodiment;

[0022] Figure 4 is a side view of a three-section frame of one embodiment;

[0023] Figure 5 is a side view of a first leveling mount of one embodiment;

[0024] Figure 6is a schematic diagram of a first extension of one embodiment;

[0025] Figure 7 A schematic diagram of leveling a paving device according to an embodiment with a horizontal plane as a preset working surface;

[0026] Figure 8 A schematic diagram of leveling of a paving device in an embodiment with the installation surface as a preset working surface;

[0027] Fig. 9 The diagram is a schematic diagram of the angles between the first leveling frame and the second leveling frame and a preset working surface in one embodiment;

[0028] Fig.10 is a flow chart of a leveling method for paving equipment in one embodiment;

[0029] Fig.11 is a flow chart of step S10 of one embodiment;

[0030] Fig.12 is a flow chart of step S20 of one embodiment;

[0031] Fig.13 is a flow chart of step S20 in another embodiment;

[0032] Fig.14 is a flow chart of step S30 of one embodiment;

[0033] Fig.15 is a flow chart of step S40 of one implementation manner.

[0034] Description of reference numerals:

[0035] 100-paving equipment, 10-chassis device, 20-leveling assembly, 21-main connecting seat, 22-auxiliary connecting seat, 23-adjusting rod,

[0036] 30-three-section frame, 31-bearing surface, 311-first surface, 312-second surface, 313-third surface, 32-intermediate frame, 33-first leveling frame, 331-first rotating part, 332-first extension part, 3321-main body, 3322-boss, 3323-first inclined surface, 3324-second inclined surface, 3325-third inclined surface, 3326-first clamping end, 3327-second clamping end, 3328- Mounting groove, 3329-slide groove, 333-connecting beam, 334-first mounting channel, 34-first telescopic member, 35-second leveling frame, 351-second rotating part, 352-second extending part, 353-second mounting channel, 36-second telescopic member, 40-handling device, 50-material frame device, 60-control component, 200-horizontal plane, 300-mounting surface, 400-width line, X-width direction, Y-length direction. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0039] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0040] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0041] This application provides a paving device 100, please refer to Figure 1 , Figure 2 and Figure 7, used for paving photovoltaic panels, the paving equipment 100 includes a chassis device 10, a leveling component 20, a detection component and a three-section frame 30, the three-section frame 30 is arranged on the chassis device 10, and the three-section frame 30 is rotatably connected to the chassis device 10, the leveling component 20 connects the chassis device 10 and the three-section frame 30, the detection component is electrically connected to the leveling component 20, and the detection component is used to detect the angle β between the three-section frame 30 and a preset working surface.

[0042] Specifically, the paving equipment 100 also includes a control component 60 and a transport device 40. The control component 60 is respectively connected to the three-section frame 30, the transport device 40 and the chassis device 10. The chassis device 10 is used to drive the three-section frame 30 installed thereon to move to the vicinity of the target position where the photovoltaic panel is to be installed. The three-section frame 30 is used to carry the photovoltaic panel and the transport device 40, that is, the photovoltaic panel is placed on the three-section frame 30, and the transport device 40 is installed on the three-section frame 30. The transport device 40 is used to transport the photovoltaic panel placed on the three-section frame 30, and place the photovoltaic panel on the photovoltaic bracket.

[0043] In a specific embodiment, the chassis device 10 and the three-section frame 30 are movably connected, and the leveling assembly 20 is respectively connected to the chassis device 10 and the three-section frame 30. Among them, the chassis device 10 includes two movable parts arranged at intervals, and a load-bearing frame arranged between the two movable parts. The two movable parts cooperate with each other to achieve the movement of the paving equipment 100. Each movable part includes a crawler, a motor, and a body. Each movable part is driven by a motor, and the motor is installed on the body. The motors are all rotatably connected to the crawler. The crawler surrounds the top wall and the bottom wall of the body.

[0044] In one embodiment, the preset working surface is a horizontal plane 200 (a plane formed by relatively completely still water). Since the environment of photovoltaic paving is diverse, the environment of photovoltaic paving includes but is not limited to deserts, swamps, next door, hills, grasslands, etc.; however, no matter in which photovoltaic paving environment, there are requirements for the horizontality of the three-section frame 30 and the handling device 40. Because the three-section frame 30 is loaded with photovoltaic panels, if the three-section frame 30 is tilted relative to the horizontal plane 200, the photovoltaic panels will also be tilted accordingly. In the case of no additional constraints on the photovoltaic panels, the photovoltaic panels will slide off the three-section frame 30. At the same time, it is also necessary to ensure the horizontality of the handling device 40. In the present invention, the handling device 40 can be an enlarged robotic arm, so the handling device 40 needs to ensure a horizontal working environment to accurately grasp the photovoltaic panels placed on the three-section frame 30, and the handling device 40 is installed on the three-section frame 30, so how to adjust the level of the three-section frame 30 becomes a key issue.

[0045] So in order to solve the above technical problems, please refer to Figure 7 , a leveling component 20 and a detection component are provided, wherein the leveling component 20 is connected to the chassis device 10 and the three-section frame 30, the detection component is electrically connected to the leveling component 20, the detection component is used to detect the angle β between the three-section frame 30 and a preset working surface (horizontal plane 200), and the leveling component 20 adjusts the inclination angle of the three-section frame 30 according to the angle β detected by the detection component.

[0046] It should be explained that the three-section frame 30 includes a bearing surface 31, which is the side of the three-section frame 30 facing away from the chassis device 10. The photovoltaic panel is placed on the bearing surface 31 and is parallel to the bearing surface 31. The transport device 40 is installed on the bearing surface 31 and is movable relative to the bearing surface 31. Therefore, the angle β between the three-section frame 30 and the preset working surface (horizontal plane 200) is actually the angle β between the bearing surface 31 and the preset working surface (horizontal plane 200).

[0047] In one embodiment, the leveling assembly 20 includes a main connecting seat 21, a secondary connecting seat 22 and an adjusting rod 23, wherein the main connecting seat 21 and the secondary connecting seat 22 are both connected and fixed on the load-bearing frame, the main connecting seat 21 is rotatably connected to the three-section frame 30, the secondary connecting seat 22 is rotatably connected to one end of the adjusting rod 23, and the other end of the adjusting rod 23 is rotatably connected to the three-section frame 30, and the adjusting rod 23 drives the three-section frame 30 to rotate relative to the load-bearing frame by extending or shortening.

[0048] In a specific embodiment, the bearing frame includes two first crossbeams, the two first crossbeams are arranged in sequence along the forward direction of the paving equipment 100, and the same ends of the two first crossbeams are connected to a moving part, and the same other ends of the two first crossbeams are connected to another moving part. The number of the main connecting seat 21 and the auxiliary connecting seat 22 is two, one of the main connecting seat 21 and the auxiliary connecting seat 22 are connected and fixed on one of the first crossbeams, and the other main connecting seat 21 and the other auxiliary connecting seat 22 are connected and fixed on another of the first crossbeams. The main connecting seat 21 is arranged in the middle of the first crossbeam, and the auxiliary connecting seat 22 is arranged at one end of the first crossbeam close to one of the moving parts. The two auxiliary connecting seats 22 are both connected and fixed on the same side of the bearing frame, so the number of the adjusting rods 23 is also two, and the two adjusting rods 23 are extended or shortened at the same time to drive the three-section frame 30 to rotate relative to the bearing frame.

[0049] In one embodiment, the detection member is electrically connected to the control component 60 in the above-mentioned embodiment, and the control component 60 controls the extension or shortening of the adjustment rod 23. After the detection member detects the angle β, the information containing the angle β is sent to the control component 60. The control component 60 generates control information containing the angle β, and controls the leveling component 20 to drive the intermediate frame 32 to rotate to be parallel to the preset working surface (horizontal plane 200) according to the control information containing the angle β.

[0050] In the specific photovoltaic paving environment, please refer to Figure 7 , the photovoltaic bracket is installed on a slope, and the paving equipment 100 also needs to travel to the slope for paving. Before the paving equipment 100 runs onto the slope, and the paving equipment 100 is on the horizontal plane 200, that is, the receiving frame and the three-section frame 30 are parallel to the horizontal plane 200. After the paving equipment 100 runs onto the slope, and the detection part has not yet started to detect, the bearing surface 31 of the three-section frame 30 generates an angle β with the preset working surface (horizontal plane 200), and the angle β is also the angle between the slope and the horizontal plane 200. Therefore, after the detection part detects, the control component 60 needs to control the extension and retraction of the adjusting rod 23 according to the control information containing the angle β, so that the three-section frame 30 rotates the degree of the angle β, and then makes the bearing surface 31 parallel to the preset working surface (horizontal plane 200).

[0051] In one implementation, please refer to Figure 1 The paving equipment 100 further includes a material frame device 50, which is mounted on the three-section frame 30. The material frame device 50 is used to carry the photovoltaic panel, that is, the photovoltaic panel is placed in the material frame device 50, and the material frame device 50 can restrict the movement of the photovoltaic panel. A plurality of stacked photovoltaic panels can be placed in the material frame device 50, and the transport device 40 takes out the photovoltaic panels one by one from the material frame device 50 and transports the photovoltaic panels to the photovoltaic bracket.

[0052] In one implementation, please refer to Figure 8 , when the preset working surface is the installation surface 300 (the installation slope of the photovoltaic bracket for installing the photovoltaic panel). Since the photovoltaic panel has been constrained by the material frame device 50, the photovoltaic panel will not slide off the three-section frame 30 even when the three-section frame 30 is tilted. At the same time, the transport device 40 can also work without being on the horizontal plane 200, that is, when the transport device 40 can work at any inclination angle, there is no need to consider the relationship between the three-section frame 30 and the horizontal plane 200. However, in an inclined installation environment, there will always be two inclination angles during the installation process, namely, the installation inclination angle between the installation surface 300 of the photovoltaic bracket and the horizontal plane 200, and the inclination angle between the bearing surface 31 of the three-section frame 30 and the horizontal plane 200. These two inclination angles may be different during installation. Under the influence of the inclination angle between the bearing surface 31 and the horizontal plane 200, the efficiency of the transport device 40 in confirming the installation of the photovoltaic panel on the installation surface 300 will be reduced, thereby affecting the installation efficiency. Therefore, how to improve the paving efficiency of photovoltaic panels when the paving equipment 100 is tilted becomes a key issue.

[0053] Therefore, in order to solve the above technical problems, a leveling assembly 20 and a detection member are provided, based on the connection and driving relationship among the detection member, the control assembly 60 and the leveling assembly 20 in the above embodiment. The detection member is used to detect the angle β between the three-section frame 30 and the preset working surface (installation surface 300), and the leveling assembly 20 adjusts the inclination angle of the three-section frame 30 according to the angle β detected by the detection member.

[0054] In a specific embodiment, the photovoltaic bracket is installed on a slope, and the mounting surface 300 of the photovoltaic bracket has an inclination angle γ1 with the horizontal plane 200. After the paving equipment 100 runs onto the slope, and the detection part has not yet started detection, the bearing surface 31 of the three-section frame 30 generates an angle γ2 with the horizontal plane 200, and the angle γ2 is also the angle between the slope and the horizontal plane 200. The angle β between the three-section frame 30 and the preset working surface that the detection part needs to detect is the absolute value of the difference between the inclination angle γ1 and the angle γ2, that is, β=|γ1-γ2|. After the detection part detects, the control component 60 needs to control the extension and retraction of the adjustment rod 23 according to the control information containing the angle β, so that the three-section frame 30 rotates the degree of the angle β, and then makes the bearing surface 31 parallel to the preset working surface (mounting surface 300).

[0055] like Figure 8 As shown, the inclination angle γ1 between the mounting surface 300 and the horizontal plane 200, and the angle γ2 between the slope (or the bearing surface 31) and the horizontal plane 200, and γ1≠γ2, it is necessary to adjust the bearing surface 31 to be parallel to the mounting surface 300, that is, the adjustment angle is the absolute value of the difference between the two, so that the bearing surface 31 is parallel to the mounting surface 300, and the bearing surface 31 is not necessarily parallel to the horizontal plane 200.

[0056] In this embodiment, the detection component can directly detect the angle difference formed by the inclination angle γ1 and the included angle γ2 , that is, directly detect the included angle β, and directly output the included angle β to the control component 60 .

[0057] Alternatively, in other embodiments, the detection component may only detect the inclination angle γ1 between the mounting surface 300 and the horizontal plane 200, and the included angle γ2 between the bearing surface 31 and the horizontal plane 200, and then output the inclination angle γ1 and the included angle γ2 to the control component 60, and the control component 60 calculates the included angle β through the inclination angle γ1 and the included angle γ2.

[0058] Alternatively, in other embodiments, the detection component may only detect the angle γ2 between the bearing surface 31 and the horizontal plane 200, and the inclination angle γ1 between the mounting surface 300 and the horizontal plane 200 is directly input into the control component 60 by the staff, and the control component 60 calculates the angle β through the inclination angle γ1 and the angle γ2.

[0059] In one implementation, please refer to Figure 3 and Figure 4 The three-section frame 30 includes an intermediate frame 32, a first leveling frame 33, a first telescopic member 34, a second leveling frame 35 and a second telescopic member 36, wherein the intermediate frame 32 includes a first end and a second end opposite to each other; the first leveling frame 33 is rotatably connected to the first end, one end of the first telescopic member 34 is rotatably connected to the intermediate frame 32, and the other end is connected to the first leveling frame 33, the first telescopic member 34 is extended or shortened to drive the first leveling frame 33 to rotate relative to the intermediate frame 32; the second leveling frame 35 is rotatably connected to the second end, one end of the second telescopic member 36 is rotatably connected to the intermediate frame 32, and the other end is connected to the second leveling frame 35, the second telescopic member 36 is extended or shortened to drive the second leveling frame 35 to rotate relative to the intermediate frame 32.

[0060] Specifically, the leveling assembly 20 in the above embodiment connects the chassis device 10 and the intermediate frame 32. The leveling assembly 20 drives the intermediate frame 32 to rotate, and causes the intermediate frame 32 to drive the first leveling frame 33 and the second leveling frame 35 to rotate in the same direction, so that the three-section frame 30 rotates as a whole relative to the chassis device 10.

[0061] There are two transport devices 40, and both the first leveling frame 33 and the second leveling frame 35 are used to carry the photovoltaic panel, and one transport device 40 is installed on each of the first leveling frame 33 and the second leveling frame 35. The transport device 40 on the first leveling frame 33 transports the photovoltaic panel placed on the first leveling frame and places the photovoltaic panel on the photovoltaic support; the transport device 40 on the second leveling frame 35 transports the photovoltaic panel placed on the second leveling frame and places the photovoltaic panel on the photovoltaic support.

[0062] The bearing surface 31 in the above embodiment includes a first surface 311, a second surface 312 and a third surface 313, wherein the first surface 311 is the side of the first leveling frame 33 facing away from the chassis device 10, the second surface 312 is the side of the second leveling frame 35 facing away from the chassis device 10, and the third surface 313 is the side of the middle frame 32 facing away from the chassis device 10. The angle between the above bearing surface 31 and the preset working surface is actually the angle between the third surface 313 and the preset working surface (horizontal plane 200). Because only the third surface 313 will form a stable and measurable angle with the preset working surface, and because the first leveling frame 33 and the second leveling frame 35 will further rotate relative to the middle frame 32, it is difficult to measure the angle formed by the first surface 311 and the second surface 312 and the preset working surface.

[0063] It should be explained that the three-section frame 30 includes an initial state, a left-right leveling state, and a front-to-back leveling state. Among them, in the initial state, the middle frame 32, the first leveling frame 33, and the second leveling frame 35 remain parallel, that is, the first surface 311, the second surface 312, and the third surface 313 remain parallel, and the three-section frame 30 does not rotate relative to the chassis device 10, that is, the bearing surface 31 is parallel to the ground. In the left-right leveling state, the leveling assembly 20 drives the three-section frame 30 to rotate in the first ring direction. In the front-to-back leveling state, the first telescopic member 34 and the second telescopic member 36 respectively drive the corresponding first leveling frame 33 and the second leveling frame 35 to rotate in the second ring direction. Among them, the paving equipment 100 can be only in the left-right leveling state or the front-to-back leveling state during the photovoltaic paving process, and can also be in the left-right leveling state and the front-to-back leveling state at the same time.

[0064] Furthermore, the first telescopic member 34 and the second telescopic member 36 are both controlled by the control assembly 60 in the above embodiment. The extension and shortening principles of the first telescopic member 34 and the second telescopic member 36 are the same, so only the structure of the first telescopic member 34 is described below. The first telescopic member 34 is a coaxial multi-stage sleeve structure, at least including a first sleeve and a second sleeve sleeved outside the first sleeve. The first sleeve and the second sleeve are both cylindrical, and the first sleeve can slide along the axis in the first sleeve. The first sleeve is connected to the first leveling frame 33, and the second sleeve is connected to the middle frame 32. After the first sleeve is extended, the first leveling frame 33 is constrained at the first end and the connection with the first sleeve, and the first leveling frame 33 rotates relative to the middle frame 32 (forward), and the first leveling frame 33 also drives the first telescopic member 34 to rotate correspondingly relative to the middle frame 32; after the first sleeve is retracted, the first leveling frame 33 also rotates relative to the middle frame 32 (reverse). The working principles of the second leveling frame 35 and the second telescopic member 36 are the same, which will not be repeated here.

[0065] It should be explained that the control component 60 can control the extension and retraction of the first telescopic member 34 and the second telescopic member 36 respectively, that is, the control component 60 can control the extension or shortening of the first telescopic member 34 and the second telescopic member 36 alone.

[0066] The present invention can obtain a three-section frame 30 by assembling the middle frame 32, the first leveling frame 33 and the second leveling frame 35 together, and the first telescopic member 34 drives the first leveling frame 33 to rotate relative to the first end, and the second telescopic member 36 drives the second leveling frame 35 to rotate relative to the second end, so that the paving equipment 100 can always maintain a posture parallel to the preset working surface to perform photovoltaic paving work, thereby improving the accuracy and efficiency of photovoltaic paving.

[0067] In one implementation, please refer to Figure 3 and Figure 4The first leveling frame 33 includes a first rotating portion 331 and a first extending portion 332. The first rotating portion 331 is rotatably connected to the first end, the first extending portion 332 is connected to a side of the first rotating portion 331 facing away from the first end, and the first extending portion 332 extends in a direction away from the first end; there are two first extending portions 332, and there is a spacing distance between the two first extending portions 332, and at least one connecting beam 333 is arranged between the two first extending portions 332.

[0068] Specifically, the first rotating portion 331 extends along the width direction X of the middle frame 32, and the first rotating portion 331 is rotatably connected to the first end through a rotating shaft, and the two first extending portions 332 both extend in a direction away from the first end, so that the two first extending portions 332 and the first rotating portion 331 form a "U"-shaped structure. In the present invention, the first leveling frame 33 is set to this structure, on the one hand, to achieve the effect of reducing the weight of the first leveling frame 33, and on the other hand, to ensure that the first leveling frame 33 after weight reduction has a stable mechanical structure.

[0069] Furthermore, the second leveling frame 35 includes a second rotating portion 351 and a second extending portion 352, the second rotating portion 351 is rotatably connected to the second end, the second extending portion 352 is connected to a side of the second rotating portion 351 facing away from the second end, and the second extending portion 352 extends in a direction away from the second end; the number of the second extending portions 352 is two, and there is a spacing distance between the two second extending portions 352, and at least one connecting beam 333 is arranged between the two second extending portions 352.

[0070] In one implementation, please refer to Figure 5 The first extension portion 332 includes a main body 3321 and a boss 3322 connected to each other, the main body 3321 is connected to the first rotating portion 331, the main body 3321 includes a first surface 311, the photovoltaic panel is placed on the first surface 311, the boss 3322 is connected to the side facing away from the first surface 311, and the first telescopic member 34 is connected to the boss 3322.

[0071] Specifically, the main body 3321 and the boss 3322 are an integrated structure, the main body 3321 extends in a direction away from the first end, and the photovoltaic panel and the handling device 40 in the above embodiment are placed on the main body 3321. The boss 3322 faces away from the photovoltaic panel and the handling device 40, and one end of the first sleeve in the above embodiment is connected to the boss 3322. Therefore, the first surface 311 included in the main body 3321 is the first surface 311 constituting the bearing surface 31 in the above embodiment. Optionally, the structure of the second extension portion 352 is the same as that of the first extension portion 332, so the second extension portion 352 also includes the main body 3321 and the boss 3322, and the boss 3322 of the second extension portion 352 is used to connect the first sleeve of the second telescopic member 36, and the main body 3321 of the second extension portion 352 includes the second surface 312 in the above embodiment.

[0072] In one implementation, please refer to Figure 5 The boss 3322 includes a first inclined surface 3323 , the first inclined surface 3323 and the first surface 311 are smoothly connected, and there is an angle between the first inclined surface 3323 and the first surface 311 , and the angle is less than 90°.

[0073] Specifically, the boss 3322 further includes a second inclined surface 3324, wherein the second inclined surface 3324 is smoothly connected to the first inclined surface 3323, an angle is formed between the second inclined surface 3324 and the first inclined surface 3323, and the second inclined surface 3324 is also smoothly connected to a side of the main body 3321 facing away from the first surface 311. Therefore, the side shape of the boss 3322 is a triangle.

[0074] It should be explained that, in the process of the paving equipment 100 moving forward or backward, the boss 3322 is the front end of the three-section frame 30, so the probability of the boss 3322 colliding with other equipment or photovoltaic brackets is high. Since the paving equipment 100 is large in size and has a large load, the paving equipment 100 may cause damage to other equipment or photovoltaic brackets. Especially in the existing photovoltaic paving environment, the front end of the three-section frame 30 will be higher than the lowest point of the installation surface 300 of the photovoltaic bracket. If the front end of the boss 3322 is not beveled, it will cause the boss 3322 to collide directly with the photovoltaic panel, causing irreversible damage to the photovoltaic panel.

[0075] In one implementation, please refer to Figure 3 A first mounting channel 334 is disposed on the first rotating portion 331 , and a second mounting channel 353 is disposed on the second rotating portion 351 . The first mounting channel 334 is close to one side of the three-section frame 30 , and the second mounting channel 353 is close to the other side of the three-section frame 30 .

[0076] Specifically, the first installation channel 334 penetrates from the side of the first rotating part 331 facing away from the chassis device 10 to the side facing the chassis device 10, and the second installation channel 353 penetrates from the side of the second rotating part 351 facing away from the chassis device 10 to the side facing the chassis device 10. The transport device 40 in the above embodiment is installed on the installation channel of the rotating part, that is, the transport device 40 on the first leveling frame 33 is installed on the first rotating part 331, and the transport device 40 is opposite to the first installation channel 334; the transport device 40 on the second leveling frame 35 is installed on the second rotating part 351, and the transport device 40 is opposite to the second installation channel 353. The first installation channel 334 is used for the control circuit in the transport device 40 to pass through.

[0077] Preferably, the first installation channel 334 and the second installation channel 353 are on both sides of the three-section frame 30 in the width direction X, so the first installation channel 334 and the second installation channel 353 are staggered in the length direction Y of the three-section frame 30. The advantages of the first installation channel 334 and the second installation channel 353 being arranged in this way are that interference between the two transport devices 40 when rotating is avoided; and it is also beneficial for the transport device 40 to place panels on two sets of photovoltaic brackets spaced apart.

[0078] In one implementation, please refer to Figure 1 There are two material frame devices 50, and one material frame device 50 is installed on each of the first leveling frame 33 and the second leveling frame 35. The photovoltaic panels on the first leveling frame 33 are accommodated in the material frame device 50 on the first leveling frame 33, and the photovoltaic panels on the second leveling frame 35 are accommodated in the material frame device 50 on the second leveling frame 35.

[0079] In one implementation, please refer to Figure 6 The end of the main body 3321 facing away from the first rotating part 331 includes a first clamping end 3326 and a second clamping end 3327 that are arranged opposite to each other. There is a gap between the first clamping end 3326 and the second clamping end 3327, and the gap is a mounting groove 3328. Through holes are provided on the first clamping end 3326 and the second clamping end 3327. The through holes of the first clamping end 3326 and the through holes of the second clamping end 3327 are opposite to each other in the width direction X of the three-section frame 30, and the through holes are used to cooperate with the rotation of the material frame device 50 of the paving equipment 100.

[0080] Specifically, the through holes on the first clamping end 3326 and the second clamping end 3327 cooperate with the shaft hole formed by the bottom of the material frame device 50, so that the material frame device 50 can rotate around the first leveling frame 33. In addition, the end of the main body 3321 on the second extension portion 352 facing away from the second rotating portion 351 includes a third clamping end and a fourth clamping end that are arranged opposite to each other. The first clamping end 3326, the second clamping end 3327, the third clamping end and the fourth clamping end are arranged in sequence along the width direction X of the three-section frame 30. The second clamping end 3327 and the third clamping end are connected and supported by a connecting beam 333.

[0081] Preferably, the side of the main body 3321 facing away from the first rotating portion 331 is a third inclined surface 3325, and the third inclined surface 3325 is connected to the first surface 311 at an angle, and the angle of connection is not 90 degrees. The third inclined surface 3325 is located between the first clamping end 3326 and the second clamping end 3327, that is, the third inclined surface 3325 is the bottom surface of the installation groove 3328.

[0082] The third inclined surface 3325 is designed to cooperate with the rotation of the material frame device 50. On the one hand, the third inclined surface 3325 can reduce the interference problem between the material frame device 50 and the first extension portion 332 when the material frame device 50 rotates; on the other hand, the third inclined surface 3325 is also provided to solve the safety and efficiency problems when the material frame device 50 rotates, improve the safety when the material frame device 50 rotates with full load, and improve the efficiency when the material frame rotates without load.

[0083] In one embodiment, one material frame device 50 is rotatably connected to the first leveling frame 33, and the other material frame device 50 is rotatably connected to the second leveling frame 35. This embodiment can refer to the arrangement of the first clamping end 3326 to the fourth clamping end in the above embodiment, which will not be described in detail.

[0084] In one implementation, please refer to Figure 6 , one of the material frame devices 50 is slidably connected to the first leveling frame 33, and the other material frame device 50 is slidably connected to the second leveling frame 35. Specifically, a slide groove 3329 is provided on the main body 3321 of the first extension 332, and a slide groove 3329 is also provided on the main body 3321 of the second extension 352. A guide rail is provided on the material frame device 50, and the guide rail extends into the slide groove 3329, and the guide rail slides in the slide groove 3329 so that the material frame device 50 can slide relative to the first leveling frame 33. Of course, the sliding method of the material frame device 50 on the second leveling frame 35 can be the same as that of the first leveling frame 33.

[0085] Optionally, on the first extension portion 332, the extension direction of the slide groove 3329 is the same as the extension direction of the first extension portion 332, that is, the material frame device 50 can slide back and forth along the length direction Y of the three-section frame 30. Preferably, the material frame device 50 has a loading position and a grabbing position on the first leveling frame 33, and the material frame device 50 switches between the loading position and the grabbing position. When in the loading position, the material frame device 50 is located on the first leveling frame 33 and is relatively far from the side of the transport device 40; when in the grabbing position, the material frame device 50 is located on the first leveling frame 33 and is relatively close to the side of the transport device 40. Therefore, when the material frame device 50 is unloaded, the material frame device 50 will slide to the loading position for loading, and when the material frame device 50 is fully loaded, the material frame device 50 will slide to the transport position for unloading. Of course, the material frame device 50 on the second leveling frame 35 also has a loading position and a grabbing position in the same setting as the first leveling frame 33.

[0086] In one implementation, please refer to Figure 7 , one of the material frame devices 50 is connected to the first leveling frame 33 in rotation and sliding, and the other material frame device 50 is connected to the second leveling frame 35 in rotation and sliding. Specifically, the end of the main body 3321 of the first extending portion 332 facing away from the first rotating portion 331 includes a first clamping end 3326 and a second clamping end 3327 that are arranged oppositely, and a slide groove 3329 is provided on the main body 3321 of the first extending portion 332; the end of the main body 3321 of the second extending portion 352 facing away from the second rotating portion 351 includes a third clamping end and a fourth clamping end that are arranged oppositely, and a slide groove 3329 is provided on the main body 3321 of the second extending portion 352.

[0087] Optionally, in this embodiment, the first extension portion 332 and the second extension portion 352 have the same structure, so only the first extension portion 332 is described. Based on the above embodiment, the material frame device 50 has a loading position and a grabbing position on the first leveling frame 33, and the loading position is located at the end of the main body 3321 facing away from the first rotating portion 331. After the material frame device 50 slides to the loading position, the material frame device 50 will be stuck in the first clamping end 3326 and the second clamping end 3327, and under the restriction of the first clamping end 3326 and the second clamping end 3327, the material frame device 50 can rotate around the first leveling frame 33. After the material frame device 50 is fully loaded, the material frame device 50 slides to the grabbing position, the material frame device 50 is separated from the first clamping end 3326 and the second clamping end 3327, and slides to the grabbing position under the action of the guide rail.

[0088] In one implementation, please refer to Fig. 9The detection member is used to detect the angle α1 between the first leveling frame 33 and the preset working surface, and to detect the angle α2 between the second leveling frame 35 and the preset working surface; the detection member is electrically connected to the control component 60, and the control component 60 controls the extension or shortening of the first telescopic member 34 and the second telescopic member 36.

[0089] Specifically, on the basis of the above-mentioned embodiment, after the detection component detects the angle α1 (and / or the angle α2), the information containing the angle α1 (and / or the angle α2) is sent to the control component 60, and the control component 60 generates the control information containing the angle α1 (and / or the angle α2), and controls the first telescopic component 34 and / or the second telescopic component 36 to drive the middle frame 32 to rotate to be parallel to the preset working surface according to the control information containing the angle α1 (and / or the angle α2).

[0090] In a specific embodiment, due to the complexity of the photovoltaic paving environment, it is difficult for the paving equipment 100 to reach the preset working surface of the target only by adjusting the three-section frame 30 to rotate upward on the first ring. In most cases, after adjusting the three-section frame 30 to rotate upward on the first ring (left-right leveling state), it is also necessary to adjust the first leveling frame 33 and the second leveling frame 35 to rotate upward on the second ring to achieve the front-to-back leveling state. Moreover, in the photovoltaic paving that actually requires left-right leveling and front-to-back leveling, it is only necessary to ensure that the first leveling frame 33 and the second leveling frame 35 are parallel to the preset working surface, and there is no need to ensure whether the middle frame 32 needs to be parallel to the preset working surface. Therefore, in the actual photovoltaic paving, the middle frame 32 cannot be adjusted to be parallel to the preset working surface, because the middle frame 32 only has a degree of freedom provided by the leveling component 20 on the first ring, and cannot be leveled on the second ring. Therefore, how to adjust the level of the first leveling frame 33 or the second leveling frame 35 becomes a key issue.

[0091] In one implementation, please refer to Fig. 9 , when the preset working surface is the horizontal plane 200. After the paving equipment 100 runs onto the slope, the three-section frame 30 tilts, and the middle frame 32 is adjusted only by the leveling component 20, so that the middle frame 32 cannot be parallel to the preset working surface (horizontal plane 200). The angle β between the middle frame 32 and the preset working surface (horizontal plane 200) detected by the detection component is actually the angle β between the width line 400 of the middle frame 32 in the width direction X and the preset working surface (horizontal plane 200); wherein the width line 400 is the shortest connecting line on the opposite sides of the middle frame 32 in the width direction X. The leveling component 20 adjusts the inclination angle of the three-section frame 30 (middle frame 32) according to the angle β detected by the detection component, so as to adjust the width line 400 to be parallel to the preset working surface (horizontal plane 200).

[0092] Furthermore, after the leveling component 20 adjusts the width line 400 of the middle frame 32 to be parallel to the preset working surface (horizontal plane 200), the detection component needs to continue to detect the angle α1 between the first leveling frame 33 and the preset working surface (horizontal plane 200), and continue to detect the angle α2 between the second leveling frame 35 and the preset working surface (horizontal plane 200). After the detection component detects the angle α1 and the angle α2, the information containing the angle α1 and the angle α2 is sent to the control component 60, and the control component 60 generates the control information containing the angle α1 and the angle α2, and controls the first telescopic component 34 and the second telescopic component 36 to drive the first leveling frame 33 and the second leveling frame 35 to rotate to be parallel to the preset working surface (horizontal plane 200) according to the control information containing the angle α1 and the angle α2.

[0093] In one implementation, please refer to Fig. 9 , when the preset working surface is the installation surface 300, after the paving equipment 100 runs onto the slope, the three-section frame 30 is tilted, and the middle frame 32 is adjusted only by the leveling component 20, so that the middle frame 32 cannot be parallel to the preset working surface (installation surface 300). The angle β between the middle frame 32 and the preset working surface (installation surface 300) detected by the detection component is actually the angle β between the width line 400 of the middle frame 32 in the width direction X and the preset working surface (installation surface 300). The leveling component 20 adjusts the inclination angle of the three-section frame 30 (middle frame 32) according to the angle β detected by the detection component, so as to adjust the width line 400 to be parallel to the preset working surface (installation surface 300).

[0094] Further, after the leveling assembly 20 adjusts the width line 400 of the middle frame 32 to be parallel to the preset working surface (installation surface 300), the installation surface 300 of the photovoltaic bracket has an inclination angle γ1 with the horizontal plane 200, and the first surface 311 of the first leveling frame 33 generates an angle γ3 (not shown in the figure) with the horizontal plane 200, and the second surface 312 of the second leveling frame 35 generates an angle γ4 (not shown in the figure) with the horizontal plane 200. The angle α1 between the first surface 311 and the preset working surface that the detection component needs to detect and the absolute value of the difference between the inclination angle γ1 and the angle γ3, that is, β = |γ1-γ3|; the angle α2 between the second surface 312 and the preset working surface that the detection component needs to detect and the preset working surface is the absolute value of the difference between the inclination angle γ1 and the angle γ4, that is, β = |γ1-γ4|. After the detection of the detection part, the control component 60 needs to control the extension and retraction of the adjustment rod 23 according to the control information containing the angle α1 and the angle α2, so that the first leveling frame 33 rotates the degree of the angle α1, so that the second leveling frame 35 rotates the degree of the angle α2, and then the first surface 311 and / or the second surface 312 are parallel to the preset working surface (installation surface 300).

[0095] In this embodiment, the detection component can directly detect the angle difference formed by the inclination angle γ1 and the angle γ3 (and / or the angle γ4), that is, directly detect the angle α1 (and / or the angle α2), and directly output the angle α1 or the angle α2 to the control component 60.

[0096] Alternatively, in other embodiments, the detection component may only detect the inclination angle γ1 between the mounting surface 300 and the horizontal plane 200, and the angle γ3 (and / or the angle γ4) between the first surface 311 (and / or the second surface 312) and the horizontal plane 200, and then output the inclination angle γ1 and the angle γ3 (and / or the angle γ4) to the control component 60, and the control component 60 calculates the angle α1 (and / or the angle α2) through the inclination angle γ1 and the angle γ3 (and / or the angle γ4).

[0097] Alternatively, in other embodiments, the detection component may only detect the angle γ3 (and / or angle γ4) between the first surface 311 (and / or the second surface 312) and the horizontal plane 200, and the inclination angle γ1 between the mounting surface 300 and the horizontal plane 200 is directly input into the control component 60 by the staff, and the control component 60 calculates the angle α1 (and / or angle α2) through the inclination angle γ1 and the angle γ3 (and / or angle γ4).

[0098] In one embodiment, the present invention also provides a leveling method for paving equipment, please refer to Fig.10 , specifically including the following steps:

[0099] Step S10: The detection member detects the angle β between the middle frame and the preset working surface.

[0100] Step S20, the leveling component drives the intermediate frame to rotate to be parallel to the preset working surface according to the control information containing the angle β.

[0101] In step S30, the detection component detects the included angle α1 between the first leveling frame and the preset working surface, and the included angle α2 between the second leveling frame and the preset working surface.

[0102] Step S40, the first telescopic member drives the first leveling frame to rotate parallel to the preset working surface according to the control information containing the angle α1, and the second telescopic member drives the second leveling frame to rotate parallel to the preset working surface according to the control information containing the angle α2.

[0103] In one implementation, please refer to Fig.11 In step S10, the detection member detects the angle β between the intermediate frame and the preset working surface; specifically, the steps include:

[0104] Step S11, the control component determines that the preset working surface is a horizontal surface or an installation surface; wherein the horizontal surface is a plane formed by relatively completely still water, and the installation surface is an installation slope of the photovoltaic bracket for installing photovoltaic panels.

[0105] Step S12, after the control component determines that the preset working surface is a horizontal plane, the detection component detects the angle β between the third surface and the horizontal plane; or, after the control component determines that the preset working surface is an installation surface, the detection component detects the inclination angle γ1 between the installation surface and the horizontal plane, and the detection component continues to detect the angle γ2 between the third surface and the horizontal plane.

[0106] Step S13, the control component obtains the angle β between the third surface and the horizontal plane; or, the control component obtains the inclination angle γ1 between the installation surface and the horizontal plane, and the control component obtains the angle γ2 between the third surface and the horizontal plane, and the control component calculates the angle β through the inclination angle γ1 and the angle γ2.

[0107] Optionally, in step S12, after the control component determines that the preset working surface is the installation surface, the detection component detects the angle difference angle β formed by the installation surface and the third surface, that is, detects the angle difference angle β formed by the inclination angle γ1 and the angle γ2. In step S13, the control component obtains the angle difference angle β formed by the installation surface and the third surface.

[0108] Optionally, in step S12, after the control component determines that the preset working surface is the installation surface, the detection component detects the angle γ2 between the third surface and the horizontal plane. In step S13, the control component obtains the angle γ2 between the third surface and the horizontal plane, and the control component calculates the angle β through the inclination angle γ1 and the angle γ2.

[0109] In one implementation, please refer to Fig.12 In step S20, the leveling component drives the intermediate frame to rotate to be parallel to the preset working surface according to the control information containing the angle β; specifically, the steps include:

[0110] Step S21, the control component controls the leveling component according to the control information containing the angle β, so that the leveling component drives the intermediate frame to rotate at the angle β.

[0111] Step S22, after the control component confirms that the middle frame has rotated by an angle β, and the third surface is parallel to the preset working surface, the three-section frame is leveled.

[0112] In one implementation, please refer to Fig.13 , if the third surface cannot be parallel to the preset working surface after the leveling component drives the intermediate frame to rotate by the angle β. In step S20, the leveling component drives the intermediate frame to rotate to be parallel to the preset working surface according to the control information containing the angle β; specifically, the following steps are included:

[0113] Step SS21, the control component controls the leveling component according to the control information containing the angle β, so that the leveling component drives the intermediate frame to rotate at the angle β.

[0114] Step SS22, after the control component confirms that the intermediate frame has rotated by an angle β, and the third surface is not parallel to the preset working surface, the leveling component drives the intermediate frame to rotate by an angle β in the opposite direction, that is, the leveling component drives the intermediate frame back to the initial state.

[0115] Step SS23, the detection member re-detects the angle βs between the width line and the horizontal plane; or, the detection member re-detects the angle γ2s between the width line and the horizontal plane; wherein the width line is the shortest connecting line between the two opposite sides of the middle frame in the width direction.

[0116] Step SS24, the control component controls the leveling component according to the control information containing the angle βs, so that the leveling component drives the intermediate frame to rotate by the angle βs.

[0117] Step SS25, after the control component confirms that the middle frame has rotated by an angle βs, and the width line is parallel to the preset working surface, the three-section frame completes left-right leveling.

[0118] After the control component determines that the preset working surface is the installation surface, the control component calculates the included angle βs through the inclination angle γ1 and the included angle γ2s.

[0119] In one implementation, please refer to Fig.14 After the above step SS25 is completed, the three-section frame completes left-right leveling, and the three-section frame also needs to be leveled front-to-back. In step S30, the detection component detects the angle α1 between the first leveling frame and the preset working surface, and the angle α2 between the second leveling frame and the preset working surface respectively; specifically, the following steps are included:

[0120] In step S31, the detection element detects the angle α1 between the first surface and the horizontal plane; or, the detection element continues to detect the angle γ3 between the first surface and the horizontal plane.

[0121] Step S32, the control component obtains the angle α1 between the first surface and the horizontal plane; or, the control component obtains the angle γ3 between the first surface and the horizontal plane, and the control component calculates the angle α1 through the inclination angle γ1 and the angle γ3.

[0122] Step S33, the detection element detects the angle α2 between the second surface and the horizontal plane; or, the detection element continues to detect the angle γ4 between the second surface and the horizontal plane.

[0123] In step S34, the control component obtains the angle α1 between the first surface and the horizontal plane; or, the control component obtains the angle γ4 between the second surface and the horizontal plane, and the control component calculates the angle α1 through the inclination angle γ1 and the angle γ4.

[0124] It should be explained that in the above steps S31 to S34, the detection member detects the angle γ3 between the first surface and the horizontal plane and the angle γ4 between the second surface and the horizontal plane, which is the case where the preset working surface is determined to be the installation surface.

[0125] Optionally, in step S31, after the control component determines that the preset working surface is the installation surface, the detection component detects the angle difference angle α1 formed between the installation surface and the first surface, that is, detects the angle difference angle α1 formed by the inclination angle γ1 and the angle γ3. In step S32, the control component obtains the angle difference angle α1 formed between the installation surface and the first surface. In steps S33 and S34, the angle difference angle α2 formed by the second surface is similar, and will not be described in detail here.

[0126] Optionally, in step S31, after the control component determines that the preset working surface is the installation surface, the detection component detects the angle γ3 between the first surface and the horizontal plane. In step S32, the control component obtains the angle γ3 between the first surface and the horizontal plane, and the control component calculates the angle α1 through the inclination angle γ1 and the angle γ3. In steps S33 and S34, the angle α2 formed by the second surface is similar, and will not be described in detail here.

[0127] In one implementation, please refer to Fig.15 In step S40, the first telescopic member drives the first leveling frame to rotate to be parallel to the preset working surface according to the control information containing the angle α1, and the second telescopic member drives the second leveling frame to rotate to be parallel to the preset working surface according to the control information containing the angle α2; specifically, the steps include:

[0128] Step S41 : the control component controls the first telescopic member according to the control information containing the angle α1 , so that the first telescopic member drives the first leveling frame to rotate at the angle α1 .

[0129] Step S42: after the control component confirms that the first leveling frame has rotated to the angle α1 and the first surface is parallel to the preset working surface, the first leveling frame completes leveling.

[0130] Step S43: the control component controls the second telescopic member according to the control information containing the angle α2, so that the second telescopic member drives the second leveling frame to rotate at the angle α2.

[0131] Step S44: after the control component confirms that the second leveling frame has rotated to the angle α2 and the second surface is parallel to the preset working surface, the second leveling frame completes leveling.

[0132] Optionally, in actual photovoltaic paving, in the above steps, step S41 and step S43 can be performed simultaneously, and there is no order of precedence between step S41 and step S43. Step S43 and step S44 can also be performed first, and then step S41 and step S42.

[0133] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship of the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0134] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A three-section frame for carrying photovoltaic panels in paving equipment, characterized in that: include: An intermediate frame including a first end and a second end opposite to each other; A first leveling frame and a first telescopic member, wherein the first leveling frame is rotatably connected to the first end, one end of the first telescopic member is rotatably connected to the intermediate frame, and the other end is connected to the first leveling frame, and the first telescopic member is extended or shortened to drive the first leveling frame to rotate relative to the intermediate frame; A second leveling frame and a second telescopic member, wherein the second leveling frame is rotatably connected to the second end, one end of the second telescopic member is rotatably connected to the intermediate frame, and the other end is connected to the second leveling frame, and the second telescopic member is extended or shortened to drive the second leveling frame to rotate relative to the intermediate frame.

2. The three-section frame according to claim 1, characterized in that: The first leveling frame includes a first rotating portion and a first extending portion, the first rotating portion is rotatably connected to the first end, the first extending portion is connected to a side of the first rotating portion facing away from the first end, and the first extending portion extends in a direction away from the first end; There are two first extending portions, and there is a spacing distance between the two first extending portions. At least one connecting beam is disposed between the two first extending portions.

3. The three-section frame according to claim 2, characterized in that: The first extension portion includes a main body and a boss connected to each other, the main body is connected to the first rotating portion, the main body includes a first surface, the photovoltaic panel is placed on the first surface, the boss is connected to a surface facing away from the first surface, and the first telescopic member is connected to the boss.

4. The three-section frame according to claim 3, characterized in that: The boss includes a first inclined surface, the first inclined surface is smoothly connected to the first surface, and there is an angle between the first inclined surface and the first surface, and the angle is less than 90°.

5. The three-section frame according to claim 3, characterized in that: The end of the main body facing away from the first rotating part includes a first clamping end and a second clamping end that are oppositely arranged, and there is a gap between the first clamping end and the second clamping end, and the gap is a mounting groove. The first clamping end and the second clamping end are both provided with through holes, and the through holes of the first clamping end and the through holes of the second clamping end are opposite to each other in the width direction of the three-section frame, and the through holes are used to cooperate with the rotation of the material frame device of the paving equipment.

6. The three-section frame according to claim 2, characterized in that: The second leveling frame includes a second rotating part, which is rotatably connected to the second end. The first rotating part is provided with a first installation channel, and the second rotating part is provided with a second installation channel. The first installation channel is close to one side of the three-section frame, and the second installation channel is close to the other side of the three-section frame opposite to the other side.

7. The three-section frame according to claim 2, characterized in that: The three-section vehicle frame includes a detection member, and the detection member is used to detect an angle α1 between the first leveling frame and a preset working surface, and to detect an angle α2 between the second leveling frame and the preset working surface.

8. A paving device, characterized in that: Used for paving photovoltaic panels, the paving equipment includes a chassis device, a leveling component, a detection component and a three-section frame as described in any one of claims 1 to 7, the three-section frame is arranged on the chassis device, and the three-section frame is rotatably connected to the chassis device, the leveling component connects the chassis device and the intermediate frame, the detection component is electrically connected to the leveling component, and the detection component is used to detect the angle β between the intermediate frame and a preset working surface.

9. The paving equipment according to claim 8, characterized in that: The paving equipment further comprises two material frame devices, one of which is rotatably and / or slidably connected to the first leveling frame, and the other of which is rotatably and / or slidably connected to the second leveling frame.

10. A method for leveling paving equipment, characterized in that: include: The detection part detects the angle β between the intermediate frame and the preset working surface; The leveling component drives the intermediate frame to rotate to be parallel to the preset working surface according to the control information containing the angle β; The detection member detects the included angle α1 between the first leveling frame and the preset working surface, and the included angle α2 between the second leveling frame and the preset working surface respectively; The first telescopic member drives the first leveling frame to rotate parallel to the preset working surface according to the control information containing the angle α1, and the second telescopic member drives the second leveling frame to rotate parallel to the preset working surface according to the control information containing the angle α2.

Images