Movable loading vehicle suitable for mountain photovoltaic inverter

Abstract

The invention provides a movable loading vehicle suitable for a mountain photovoltaic inverter, and relates to the technical field of photovoltaic equipment transportation and installation, the movable loading vehicle comprises a chassis, a lifting adjusting mechanism, a driving mechanism, a loading mechanism, a bearing mechanism and a controller, the top of the chassis is fixedly provided with the loading mechanism, and the bearing mechanism is fixedly arranged below the loading mechanism; four lifting adjusting mechanisms are fixedly arranged at the four corners of the chassis, driving mechanisms are fixedly arranged at the bottoms of the lifting adjusting mechanisms, and the lifting adjusting mechanisms, the driving mechanisms, the loading mechanism and the bearing mechanism are electrically connected with the controller. By integrating the chassis, the lifting adjusting mechanism, the driving mechanism, the loading mechanism, the bearing mechanism, the controller and other functional modules, efficient and stable transportation of the photovoltaic inverter under the complex terrain is achieved, manual labor is saved, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of transportation of grid-connected photovoltaic power generation system equipment, and in particular to a movable loading vehicle suitable for mountain photovoltaic inverters. Background Art

[0002] As a new power generation project in China, solar photovoltaic power generation system has become one of the hot spots of people's attention due to its safety, reliability, noise-free, clean energy, rich resources, no geographical boundaries, and short construction period. Its application will greatly reduce greenhouse gas emissions, reduce human dependence on fossil fuels, and effectively reduce environmental pollution. The inverter is the core component of the photovoltaic power generation system. The photovoltaic inverter is a device that can change the direct current of the photovoltaic module into alternating current. It is an indispensable part of the photovoltaic power generation system. Under normal operation of the line, the photovoltaic power station continuously detects the voltage, frequency, phase, power factor, etc. of the public grid through the anti-islanding device in the inverter. When it is detected that the voltage and frequency of the inverter are consistent with the system grid, and the power factor reaches the set required value, the inverter automatically connects to the system grid for operation. Otherwise, the inverter is always in the monitoring process.

[0003] The existing photovoltaic power station inverter replacement and transportation can be carried out by manpower and with the help of a simple trolley;

[0004] The existing replacement and transportation of photovoltaic power station inverters consumes a lot of manpower, has a slow replacement and transportation speed, and cannot adapt to mountain transportation. The inverters of mountain centralized photovoltaic power stations are arranged outdoors. After the inverter fails, maintenance personnel are urgently needed to replace the inverter as soon as possible to reduce power loss. The mountain photovoltaic terrain is steep, and maintenance vehicles and large transportation vehicles cannot get close to the photovoltaic components. The replacement of the inverter depends entirely on manual lifting. Therefore, it is very necessary to design a mobile inverter loader to save manpower to the maximum extent, reduce operation and maintenance costs, and improve the economic benefits of photovoltaic power stations. Summary of the invention

[0005] The present invention provides a movable loading vehicle suitable for mountain photovoltaic inverters, so as to solve at least one of the technical problems raised by the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides a movable loading vehicle suitable for mountain photovoltaic inverters, including: a chassis, a lifting and adjusting mechanism, a driving mechanism, a loading mechanism, a bearing mechanism and a controller. The loading mechanism is fixedly provided on the top of the chassis, and the bearing mechanism is fixedly provided under the loading mechanism. Four sets of lifting and adjusting mechanisms are fixedly provided at the four corners of the chassis, and a driving mechanism is fixedly provided at the bottom of the lifting and adjusting mechanism. The lifting and adjusting mechanism, the driving mechanism, the loading mechanism and the bearing mechanism are electrically connected to the controller respectively.

[0007] Preferably, the lifting and lowering adjustment mechanism on the left front side includes: a vertical screw mounting seat is fixedly installed on the left front end of the chassis, a vertical lifting screw is rotatably connected inside the screw mounting seat, a servo motor is fixedly installed on the top of the screw mounting seat, the output shaft end of the servo motor is fixedly connected to the top of the lifting screw, the lifting screw is threadedly connected to a sliding block, the sliding block is symmetrically fixedly connected to a pair of L-shaped brackets on the left and right, and the bottom ends of the pair of L-shaped brackets are fixedly connected to a horizontal plate.

[0008] Preferably, the center of the horizontal plate is slidably connected to a vertical support rod, the top of the support rod is fixedly connected to a limiting slider, and the bottom of the L-shaped brackets on the left and right sides are provided with a vertical sliding groove near the lifting screw rod, the limiting slider is slidably connected to the sliding groove up and down, a spring is provided on the outer sleeve of the support rod, the bottom of the spring presses against a baffle, and the baffle is fixedly connected to the support rod.

[0009] Preferably, the driving mechanism includes: a driving wheel, a support rod at the left front end, the bottom end of which is rotatably connected to a transmission shaft along the front-to-back direction, the front end of the transmission shaft is fixedly connected to the driving wheel, the rear end of the transmission shaft is fixedly connected to a spur gear one, spur gear one is meshedly connected to a spur gear two, spur gear two is fixedly connected to the output shaft end of the driving motor, a storage battery is fixedly installed at the bottom center of the chassis, the driving motor is electrically connected to the storage battery, and a distance sensor is fixedly installed on the horizontal plate one, and the direction of the distance sensor is vertically downward toward the ground.

[0010] Preferably, the loading mechanism includes: a rotating base, a rotating base is fixedly installed on the top right side of the chassis, a rotating column is rotatably connected inside the rotating base, the bottom of the rotating column is fixedly connected to a gear ring 1, a vertical servo motor 2 is fixedly installed on the left outer wall of the rotating base, the output shaft end of the servo motor 2 is fixedly connected to a spur gear 3, the spur gear 3 is meshingly connected to the gear ring 1, the bottom of the rotating column is fixedly connected to electric telescopic arms in left and right directions, and the right end of the electric telescopic arm is fixedly connected to the mounting plate.

[0011] Preferably, a clamping and rotating mechanism is provided on the mounting plate, and the clamping and rotating mechanism includes: a rotating shaft 1, the right end of the mounting plate is rotatably connected to a vertical rotating shaft 1, the top of the rotating shaft 1 is fixedly connected to a worm gear 1, a pair of fixed plates are fixedly installed at intervals on the left and right sides of the top of the mounting plate, a worm gear 1 is rotatably connected to the left and right directions between the pair of fixed plates, the worm gear 1 is meshingly connected to the worm gear 1, the right end of the worm gear 1 is fixedly connected to the output shaft end of the servo motor 3, the servo motor 3 is fixedly connected to the mounting plate, the servo motor 3 is electrically connected to the storage battery, the bottom end of the rotating shaft 1 is fixedly connected to the vertical electric telescopic column, and the clamping mechanism is fixedly installed under the electric telescopic column.

[0012] Preferably, the clamping mechanism includes: a second screw mounting seat, the bottom movable end of the electric telescopic column is fixedly connected to the second transverse screw mounting seat, the second screw mounting seat is internally rotatably connected to the transverse bidirectional screw, the left end of the bidirectional screw is fixedly connected to the output shaft of the clamping motor, the clamping motor is fixedly connected to the second screw mounting seat, the bidirectional screw is symmetrically threadedly connected to the sliding rod, the top of the sliding rod is slidably connected to the second screw mounting seat left and right, the bottom of the sliding rod is fixedly connected to the clamping plate, and the outer cover of the clamping plate is provided with a rubber sleeve.

[0013] Preferably, the bearing mechanism includes: a bearing bucket, a bearing bucket is rotatably provided on the top of the chassis, the front end of the bearing bucket is rotatably hinged with the front end of the chassis, a pair of electric lifting columns are hinged on the left and right sides of the rear end of the bearing bucket, a front guard plate along the left and right directions is rotatably provided at the front end of the bearing bucket, the left and right sides of the top of the front guard plate are fixedly connected to the cross bar, the rear end of the bearing bucket is fixedly connected to the vertical rear guard plate, the middle part of the front end of the left and right side walls of the bearing bucket is fixedly connected to a fixed block, a switch pin is connected to the fixed block for sliding up and down, and the switch pin is used to limit the position of the cross bar.

[0014] Preferably, the driving motor control module includes:

[0015] A first acquisition unit, used to acquire the rolling resistance and rolling resistance coefficient of the driving wheels of the electric loader;

[0016] A second acquisition unit is used to acquire the air resistance and air resistance coefficient of the electric loader at different wind speeds during driving;

[0017] Slope sensor, used to collect the slope resistance of the electric loader;

[0018] Angle sensor, used to detect the working angle between the chassis and the horizontal plane;

[0019] A speed sensor, used to detect the travel speed of the electric loader;

[0020] A temperature sensor is used to detect the operating temperature of the drive motor;

[0021] A mass sensor is used to detect the mass of the photovoltaic inverter loaded in the carrying bucket;

[0022] Alarm, used to alarm in case of abnormal situation;

[0023] A first calculation unit is used to calculate the driving force required by a single driving motor during the i-th detection time;

[0024] A second calculation unit calculates the driving motor power of the electric loader when it is climbing a slope and the driving motor power of the electric loader when it is traveling on a flat road at full speed when carrying goods at the i-th detection based on the first calculation unit;

[0025] A control unit, used for processing data and regulating the running state of the drive motor, the control unit being electrically connected to the first acquisition unit, the second acquisition unit, the slope sensor, the angle sensor, the speed sensor, the temperature sensor, the drive motor, the alarm and the mass sensor respectively;

[0026] The comparison and judgment unit is used to compare and judge whether the operating power of the drive motor exceeds the rated power.

[0027] Preferably, the working process of the drive motor control module includes:

[0028] Step S1: The rolling resistance and rolling resistance coefficient of the driving wheels of the electric loader are obtained by the first obtaining unit, and the air resistance and air resistance coefficient of the electric loader at different wind speeds during driving are obtained by the second obtaining unit, and then the data are transmitted to the control unit;

[0029] Step S2: The control unit controls the first calculation unit to run, and the first calculation unit calculates the driving force required by a single driving motor within the i-th detection time based on the slope sensor and the mass sensor;

[0030] The first calculation unit calculates based on the following formula 1:

[0031] Among them: F ti is the driving force required by a single driving motor during the i-th detection time, F f The rolling resistance of the electric loader collected by the first acquisition unit, F w is the air resistance detected by the second acquisition unit, F i is the slope resistance of the electric loader collected by the slope sensor, F j is the acceleration resistance of the electric loading vehicle obtained by the second acquisition unit, m is the mass of the loaded photovoltaic inverter, g is the gravity acceleration, the value is 10, G0 is the gravity of the empty mass of the electric loading vehicle, ln is the logarithmic function, e is 2.71, T i is the temperature of the driving motor at the end of the i-th detection by the temperature sensor, T o is the temperature of the drive motor at the beginning of the i-th detection by the temperature sensor; t is the unit time;

[0032] Step S3: the control unit controls the second calculation unit to run, and the second calculation unit calculates the driving motor power of the electric loader when it is climbing the slope for the i-th detection based on the result of the first calculation unit, and calculates the driving motor power when the electric loader is traveling on a flat road at full speed;

[0033] The second calculation unit calculates based on the following formula 2:

[0034] Where: P i1is the driving motor power of the electric loader when it is detected to be climbing for the i-th time, P i2 is the driving motor power of the electric loader at full speed when it is traveling on a flat road during the i-th detection; is the recording time error influencing factor, t0 is the start time of the ith detection, t i is the end time of the i-th detection, f is the rolling resistance coefficient, cos is the cosine function, sin is the sine function, θ is the angle between the chassis and the horizontal plane when the angle sensor detects the i-th detection, C D is the air resistance coefficient detected by the second acquisition unit, S A is the frontal area of ​​the electric loader, V ic V is the speed of the electric loader when it is climbing during the i-th detection time period detected by the speed sensor, m The maximum speed of the electric loader is 50km / h;

[0035] Step S4: The comparison and judgment unit starts running and takes P i and P e The maximum value is a comparison between the maximum peak power of the drive motor and the rated power. When the maximum peak power of the drive motor is less than the rated power, the control unit can increase the speed of the drive motor to improve the driving efficiency. When the maximum peak power of the drive motor is greater than the rated power, the alarm sounds, and the control unit controls the drive motor to reduce the speed and increase the torque, thereby reducing the time that the drive motor exceeds the rated power.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows: the height of the chassis of the electric loader can be quickly adjusted through the lifting and adjusting mechanism, which is conducive to adapting to the transportation work in different potholes and weeds. The driving mechanism can realize rapid movement and provide sufficient power. The loading mechanism realizes rapid and stable loading of the photovoltaic inverter. The setting of the bearing mechanism can ensure that the photovoltaic inverter is stable and does not shake during transportation, and the photovoltaic inverter can be quickly unloaded. The controller can realize centralized control and coordination of the work of various mechanisms to improve work efficiency. The present invention realizes efficient and stable transportation of photovoltaic inverters in complex terrains and saves manpower by integrating multiple functional modules such as chassis, lifting and adjusting mechanism, driving mechanism, loading mechanism, bearing mechanism and controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 is a front view schematic diagram of a movable loading vehicle for a photovoltaic inverter of the present invention;

[0039] Figure 2 It is a schematic bottom view of the chassis structure of the present invention;

[0040] Figure 3 The present invention Figure 1 A partial enlarged view of the structure at center A;

[0041] Figure 4 The present invention Figure 1 A partial enlarged view of the structure at B in the middle;

[0042] Figure 5 It is a top view of the chassis structure of the present invention.

[0043] Reference numerals:

[0044] 1. Chassis; 2. Lifting adjustment mechanism; 201. Screw mounting seat; 202. Lifting screw; 203. Servo motor; 204. Sliding block; 205. L-shaped bracket; 206. Horizontal plate; 207. Support rod 1; 208. Limiting slider; 209. Slide slot 1; 210. Spring 1; 211. Baffle 1; 3. Driving mechanism; 301. Driving wheel; 302. Transmission shaft; 303. Spur gear 1; 304. Driving motor; 305. Battery; 306. Distance sensor; 307. Spur gear 2; 4. Loading mechanism; 401. Rotating base; 402. Rotating column; 403. Gear ring 1; 404. Servo motor 2; 405. Spur gear 3 ;406, electric telescopic arm; 407, mounting plate; 5, clamping and rotating mechanism; 501, rotating shaft 1; 502, worm gear 1; 503, worm 1; 504, servo motor 3; 505, electric telescopic column; 506, clamping mechanism; 5061, screw mounting seat 2; 5062, bidirectional screw; 5063, sliding rod; 5064, clamping plate; 5065, rubber sleeve; 5066, clamping motor; 507, fixing plate; 6, bearing mechanism; 601, bearing bucket; 602, electric lifting column; 603, front guard plate; 604, rear guard plate; 605, cross bar; 606, fixing block; 607, switch pin; 608, push handle; 7, controller. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0047] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] The present invention provides the following embodiments

[0049] Embodiment 1, the present invention provides a movable loading vehicle suitable for mountain photovoltaic inverters, such as Figure 1 As shown, it includes: a chassis 1, a lifting adjustment mechanism 2, a driving mechanism 3, a loading mechanism 4, a bearing mechanism 6 and a controller 7. The loading mechanism 4 is fixedly arranged on the top of the chassis 1, and the bearing mechanism 6 is fixedly arranged below the loading mechanism 4. Four groups of lifting adjustment mechanisms 2 are fixedly arranged at the four corners of the chassis 1, and the driving mechanism 3 is fixedly arranged at the bottom of the lifting adjustment mechanism 2. The lifting adjustment mechanism 2, the driving mechanism 3, the loading mechanism 4 and the bearing mechanism 6 are electrically connected to the controller 7 respectively.

[0050] The working principle and beneficial effects of the above technical solution are as follows: the present invention can quickly adjust the height of the chassis 1 of the electric loader through the lifting adjustment mechanism 2, which is conducive to adapting to the transportation work in different potholes and weeds. The driving mechanism 3 can achieve rapid movement and provide sufficient power. The loading mechanism 4 can achieve rapid and stable loading of the photovoltaic inverter. The setting of the carrying mechanism 6 can ensure that the photovoltaic inverter is stable and does not shake during transportation, and the photovoltaic inverter can be quickly unloaded. The controller 7 can realize centralized control and coordination of the work of various mechanisms to improve work efficiency.

[0051] The present invention realizes efficient and stable transportation of photovoltaic inverters under complex terrain by integrating multiple functional modules such as chassis 1, lifting and adjusting mechanism 2, driving mechanism 3, loading mechanism 4, bearing mechanism 6 and controller 7. The lifting and adjusting mechanism 2 can quickly adjust the height of chassis 1 to adapt to the transportation needs of different potholes and weeds, and improve the passability and adaptability of the loading vehicle. The driving mechanism 3 adopts an advanced transmission system to provide sufficient power support for the loading vehicle, ensuring rapid movement and stable driving. The loading mechanism 4 realizes rapid and stable loading of the photovoltaic inverter through careful design, and improves work efficiency. The bearing mechanism 6 ensures the stability and safety of the photovoltaic inverter during transportation, and effectively prevents shaking and damage. As the core of the entire system, the controller 7 realizes centralized control and coordination of various functional modules, further improving the intelligence level and operation convenience of the loading vehicle.

[0052] Embodiment 2, on the basis of embodiment 1, as Figure 1-Figure 4 As shown, the lifting and lowering adjustment mechanism 2 on the left front side includes: a vertical screw mounting seat 201 is fixedly installed at the left front end of the chassis 1, the screw mounting seat 201 is rotatably connected inside and is a vertical lifting screw 202, a servo motor 203 is fixedly installed on the top of the screw mounting seat 201, the output shaft end of the servo motor 203 is fixedly connected to the top of the lifting screw 202, the lifting screw 202 is threadedly connected to a sliding block 204, the sliding block 204 is symmetrically fixedly connected to a pair of L-shaped brackets 205 on the left and right, and the bottom ends of the pair of L-shaped brackets 205 are fixedly connected to a horizontal plate 206.

[0053] The center of the horizontal plate 206 slides up and down to connect with the vertical support rod 207, the top of the support rod 207 is fixedly connected with the limit slider 208, the bottom of the L-shaped bracket 205 on the left and right sides is provided with a vertical slide groove 209 near the lifting screw rod, the limit slider 208 is connected with the slide groove 209 for up and down sliding, the outer sleeve of the support rod 207 is provided with a spring 210, the bottom of the spring 210 presses against the baffle plate 211, and the baffle plate 211 is fixedly connected with the support rod 207.

[0054] The driving mechanism 3 includes: a driving wheel 301, a supporting rod 207 at the left front end, the bottom end of which is rotatably connected to a transmission shaft 302 along the front-to-back direction, the front end of the transmission shaft 302 is fixedly connected to the driving wheel 301, the rear end of the transmission shaft 302 is fixedly connected to a spur gear 1 303, the spur gear 1 303 is meshedly connected to a spur gear 2 307, the spur gear 2 307 is fixedly connected to the output shaft end of the driving motor 304, a storage battery 305 is fixedly installed at the bottom center of the chassis 1, the driving motor 304 is electrically connected to the storage battery 305, and a distance sensor 306 is fixedly installed on the horizontal plate 206, and the distance sensor 306 is vertically downwardly directed to the ground.

[0055] The working principle and beneficial effects of the above technical solution are:

[0056] When the lifting and adjusting mechanism 2 is working: when the chassis 1 needs to be raised, the controller 7 controls the servo motor 203 to run, and the servo motor 203 drives the lifting screw 202 to rotate. The lifting screw 202 now makes a pair of L-shaped brackets 205 symmetrically fixedly connected on the left and right sides push downward, and at the same time drives the support rod 1 and the driving wheel 301 to push downward, and finally lifts up the chassis 1. The distance sensor 306 is responsible for detecting the height from the ground and avoiding obstacles. When the driving mechanism 3 is running, the controller 7 controls the storage battery 305 to power the driving motor 304. The driving motor 304 rotates to drive the spur gear 2 307 to rotate. The spur gear 2 307 engages with the transmission to make the spur gear 1 303, the transmission shaft 302 and the driving wheel 301 rotate synchronously, thereby achieving fast and accurate movement.

[0057] This embodiment realizes the automatic balancing and shock absorption function of the horizontal plate 206 in the lifting and adjusting mechanism 2 by adding a spring 210 and a limit slider 208. This improvement effectively reduces the vibration caused by uneven terrain and enhances the stability and safety of the loader. The servo motor 203 drives the lifting screw 202 to rotate, and the height adjustment of the horizontal plate 206 is realized through the connection between the sliding block 204 and the L-shaped bracket 205. Combined with the elastic effect of the spring 210, the horizontal plate 206 is more stable during the lifting process. At the same time, the spur gear transmission system in the driving mechanism 33 ensures the stable transmission of power, and the distance sensor 306 monitors the distance to the ground in real time, providing accurate data support for intelligent control, further improving the intelligence level and operation convenience of the loader.

[0058] Embodiment 3, on the basis of embodiment 1, as Figure 1 , Figure 2 and Figure 5 As shown, the loading mechanism 4 includes: a rotating base 401, the rotating base 401 is fixedly installed on the top right side of the chassis 1, the rotating base 401 is rotatably connected to a rotating column 402, the bottom of the rotating column 402 is fixedly connected to a gear ring 1 403, a vertical servo motor 203 2 is fixedly installed on the left outer wall of the rotating base 401, the output shaft end of the servo motor 203 2 is fixedly connected to a spur gear 3 405, the spur gear 3 405 is meshedly connected to the gear ring 1 403, the bottom of the rotating column 402 is fixedly connected to an electric telescopic arm 406 in the left and right directions, and the right end of the electric telescopic arm 406 is fixedly connected to a mounting plate 407.

[0059] A clamping and rotating mechanism 5 is provided on the mounting plate 407, and the clamping and rotating mechanism 5 includes: a rotating shaft 501, the right end of the mounting plate 407 is rotatably connected to the vertical rotating shaft 501, the top of the rotating shaft 501 is fixedly connected to a worm gear 502, a pair of fixed plates 507 are fixedly installed on the top of the mounting plate 407 at intervals on the left and right, a worm gear 503 is rotatably connected to the left and right directions between the pair of fixed plates 507, the worm gear 503 is meshingly connected with the worm gear 502, the right end of the worm gear 502 is fixedly connected to the output shaft end of the servo motor 203 three, the servo motor 203 three is fixedly connected to the mounting plate 407, the servo motor 203 three is electrically connected to the storage battery 305, the bottom end of the rotating shaft 501 is fixedly connected to the vertical electric telescopic column 505, and a clamping mechanism 506 is fixedly installed under the electric telescopic column 505.

[0060] The clamping mechanism 506 includes: a screw mounting seat 2012, the bottom movable end of the electric telescopic column 505 is fixedly connected to the horizontal screw mounting seat 2012, the screw mounting seat 2012 is internally rotatably connected to the horizontal bidirectional screw 5062, the left end of the bidirectional screw 5062 is fixedly connected to the output shaft of the clamping motor 5066, the clamping motor 5066 is fixedly connected to the screw mounting seat 2012, the bidirectional screw 5062 is symmetrically threadedly connected to the sliding rod 5063, the top of the sliding rod 5063 is slidably connected to the screw mounting seat 2012, the bottom of the sliding rod 5063 is fixedly connected to the clamping plate 5064, and the outer cover of the clamping plate 5064 is provided with a rubber sleeve 5065.

[0061] The bearing mechanism 6 includes: a bearing bucket 601, a bearing bucket 601 is rotatably provided on the top of the chassis 1, the front end of the bearing bucket 601 is rotatably hinged with the front end of the chassis 1, a pair of electric lifting columns 602 are hingedly connected on the left and right sides of the rear end of the bearing bucket 601, a front guard plate 603 along the left and right directions is rotatably provided at the front end of the bearing bucket 601, the left and right sides of the top of the front guard plate 603 are fixedly connected to a cross bar 605, the rear end of the bearing bucket 601 is fixedly connected to a vertical rear guard plate 604, a fixed block 606 is fixedly connected to the middle of the front end of the left and right side walls of the bearing bucket 601, a switch pin 607 is connected to the fixed block 606 for sliding up and down, and the switch pin 607 is used to limit the position of the cross bar 605.

[0062] The working principle and beneficial effects of the above technical solution are as follows: when the loading mechanism 4 and the rotating and clamping mechanism 506 are in operation, the controller 7 controls the servo motor 2032 to operate, and then the spur gear 3 405 meshes and drives the gear ring 1 403 and the rotating column 402 to rotate to the target angle. At this time, the controller 7 controls the electric telescopic arm 406 to extend to the top of the photovoltaic inverter to be loaded, and then the electric lifting column 602 descends, and the clamping mechanism 506 works to clamp the photovoltaic inverter to be loaded; when the clamping mechanism 506 is working: the controller 7 controls the clamping motor 5066 to operate and then drives the bidirectional lead screw 5062 to rotate, and the rotation of the bidirectional lead screw 5062 makes the sliding rods 5063 on the left and right sides move closer to the center, and the sliding rods 5063 drive the clamping plates 5064 on the left and right sides to clamp the photovoltaic inverter to be loaded;

[0063] When the carrying mechanism 6 is working, the operator pushes down and fastens the front guard plate 603 through the switch latch 607, so that the front guard plate 603 and the rear guard plate 604 clamp the photovoltaic inverter in the middle. When unloading is required, the operator can use the loading mechanism 4 or open the switch latch 607, and then the electric lifting column 602 rises to make the carrying bucket 601 tilt forward to pour out the photovoltaic inverter;

[0064] On the basis of Example 1, Example 3 realizes the multi-degree-of-freedom adjustment of the photovoltaic inverter during the loading process through the combined design of the rotating base 401, the rotating column 402 and the electric telescopic arm 406 in the loading mechanism 4. This design improves the flexibility and adaptability of loading, so that the photovoltaic inverter can easily cope with various complex loading environments. The clamping and rotating mechanism 5 uses the worm gear transmission principle, and through the servo motor 203, the three-drive shaft 501 and the electric telescopic column 505, it realizes the clamping and rotation function of the photovoltaic inverter, ensuring the stability and safety during the loading process. The design of the bidirectional screw 5062 and the sliding rod 5063 in the clamping mechanism 506 realizes the precise clamping of the photovoltaic inverter by the clamping plate 5064, and the setting of the rubber sleeve 5065 further enhances the stability and protection of the clamping. The carrying bucket 601, electric lifting column 602, front guard plate 603, rear guard plate 604 and cross bar 605 in the carrying mechanism 6 together constitute a stable loading platform, which effectively prevents the photovoltaic inverter from shaking and being damaged during transportation, and improves transportation efficiency and safety.

[0065] Embodiment 4, based on embodiment 1, is further provided with a control module for driving motor 304, including:

[0066] A first acquisition unit, used to acquire the rolling resistance and rolling resistance coefficient of the driving wheel 301 of the electric loader;

[0067] A second acquisition unit is used to acquire the air resistance and air resistance coefficient of the electric loader at different wind speeds during driving;

[0068] Slope sensor, used to collect the slope resistance of the electric loader;

[0069] An angle sensor, used to detect the working angle between the chassis 1 and the horizontal plane;

[0070] A speed sensor, used to detect the travel speed of the electric loader;

[0071] A temperature sensor, used to detect the operating temperature of the drive motor 304;

[0072] A mass sensor, used to detect the mass of the photovoltaic inverter loaded in the carrying bucket 601;

[0073] Alarm, used to alarm in case of abnormal situation;

[0074] A first calculation unit, used for calculating the driving force required by a single driving motor 304 during the i-th detection time;

[0075] A second calculation unit calculates the power of the driving motor 304 of the electric loader when it is climbing a slope for the i-th detection and the power of the driving motor 304 when the electric loader is traveling on a flat road at full speed with the load based on the first calculation unit;

[0076] A control unit, used for processing data and regulating the operating state of the drive motor 304, the control unit being electrically connected to the first acquisition unit, the second acquisition unit, the slope sensor, the angle sensor, the speed sensor, the temperature sensor, the drive motor 304, the alarm and the quality sensor respectively;

[0077] The comparison and judgment unit is used to compare and judge whether the operating power of the driving motor 304 exceeds the rated power.

[0078] The working process of the control module of the drive motor 304 includes:

[0079] Step S1: The rolling resistance and rolling resistance coefficient of the driving wheel 301 of the electric loading vehicle are obtained by the first obtaining unit, and the air resistance and air resistance coefficient of the electric loading vehicle under different wind speeds during driving are obtained by the second obtaining unit, and then the data are transmitted to the control unit;

[0080] Step S2: the control unit controls the first calculation unit to run, and the first calculation unit calculates the driving force required by the single driving motor 304 within the i-th detection time based on the slope sensor and the mass sensor;

[0081] A first calculation unit, used for calculating the driving force required by a single driving motor 304 during the i-th detection time;

[0082] A second calculation unit calculates the power of the driving motor 304 of the electric loader when it is climbing a slope for the i-th detection and the power of the driving motor 304 when the electric loader is traveling on a flat road at full speed with the load based on the first calculation unit;

[0083] A control unit, used for processing data and regulating the operating state of the drive motor 304, the control unit being electrically connected to the first acquisition unit, the second acquisition unit, the slope sensor, the angle sensor, the speed sensor, the temperature sensor, the drive motor 304, the alarm and the quality sensor respectively;

[0084] The comparison and judgment unit is used to compare and judge whether the operating power of the driving motor 304 exceeds the rated power.

[0085] The working process of the control module of the drive motor 304 includes:

[0086] Step S1: The rolling resistance and rolling resistance coefficient of the driving wheel 301 of the electric loading vehicle are obtained by the first obtaining unit, and the air resistance and air resistance coefficient of the electric loading vehicle under different wind speeds during driving are obtained by the second obtaining unit, and then the data are transmitted to the control unit;

[0087] Step S2: the control unit controls the first calculation unit to run, and the first calculation unit calculates the driving force required by the single driving motor 304 within the i-th detection time based on the slope sensor and the mass sensor;

[0088] The first calculation unit calculates based on the following formula 1:

[0089] Among them: F ti is the driving force required by a single driving motor (304) during the i-th detection time, F f The rolling resistance of the electric loader collected by the first acquisition unit, F w is the air resistance detected by the second acquisition unit, F i is the slope resistance of the electric loader collected by the slope sensor during the i-th detection, F j is the acceleration resistance of the electric loading vehicle obtained by the second acquisition unit, m is the mass of the loaded photovoltaic inverter, g is the gravity acceleration, the value is 10, G0 is the gravity of the empty mass of the electric loading vehicle, ln is the logarithmic function, e is 2.71, T i is the temperature of the drive motor (304) at the end of the i-th detection by the temperature sensor, T o is the temperature of the drive motor (304) at the beginning of the i-th detection by the temperature sensor; t is the unit time;

[0090] Step S3: the control unit controls the second calculation unit to run, and the second calculation unit calculates the power of the driving motor 304 of the electric loader when it is climbing the slope for the i-th detection based on the result of the first calculation unit, and calculates the power of the driving motor 304 when the electric loader is traveling on a flat road at full speed;

[0091] The second calculation unit calculates based on the following formula 2:

[0092] Where: P i1 is the power of the driving motor 304 of the electric loader when it is detected to be climbing for the i-th time, P i2 is the power of the driving motor 304 of the electric loader at full speed when the electric loader is traveling on a flat road for the i-th time; is the recording time error influencing factor, t0 is the start time of the ith detection, t i is the end time of the i-th detection, f is the rolling resistance coefficient, cos is the cosine function, sin is the sine function, θ is the angle between the chassis 1 and the horizontal plane when the angle sensor detects the i-th detection, C D is the air resistance coefficient detected by the second acquisition unit, S A is the frontal area of ​​the electric loader, V ic V is the speed of the electric loader when it is climbing during the i-th detection time period detected by the speed sensor, m The maximum speed of the electric loader is 50km / h;

[0093] Step S4: The comparison and judgment unit starts running and takes P i1 and P i2 The maximum value is the comparison between the maximum peak power of the drive motor 304 and the rated power. When the maximum peak power of the drive motor 304 is less than the rated power, the control unit can increase the speed of the drive motor 304 to improve the driving efficiency. When the maximum peak power of the drive motor 304 is greater than the rated power, the alarm sounds, and the control unit controls the drive motor 304 to reduce the speed and increase the torque, thereby reducing the time that the drive motor 304 exceeds the rated power.

[0094] The working principle and beneficial effects of the above technical solution are as follows: when the control module of the driving motor 304 is working:

[0095] The first acquisition unit operates to acquire the rolling resistance and rolling resistance coefficient of the driving wheel 301 of the electric loader; the second acquisition unit starts to acquire the air resistance and air resistance coefficient under different wind speeds during the driving of the electric loader; the slope sensor starts to collect the slope resistance of the electric loader; the angle sensor starts to detect the working angle between the chassis 1 and the horizontal plane; the speed sensor is responsible for detecting the driving speed of the electric loader; the mass sensor starts to detect the mass of the photovoltaic inverter loaded in the carrying bucket 601;

[0096] The control unit processes the data from the first acquisition unit, the second acquisition unit, the slope sensor, the angle sensor, the speed sensor, the temperature sensor, the drive motor 304, and the mass sensor, and transmits the data to the first calculation unit and the second calculation unit to adjust the operating state of the drive motor 304;

[0097] The comparison and judgment unit is used to compare and judge whether the operating power of the driving motor 304 exceeds the rated power.

[0098] The working process of the control module of the drive motor 304 includes:

[0099] Step S1: The rolling resistance and rolling resistance coefficient of the driving wheel 301 of the electric loading vehicle are obtained by the first obtaining unit, and the air resistance and air resistance coefficient of the electric loading vehicle under different wind speeds during driving are obtained by the second obtaining unit, and then the data are transmitted to the control unit;

[0100] Step S2: the control unit controls the first calculation unit to run, and the first calculation unit calculates the driving force required by the single driving motor 304 within the i-th detection time based on the slope sensor and the mass sensor;

[0101] Step S3: the control unit controls the second calculation unit to run, and the second calculation unit calculates the power of the driving motor 304 of the electric loader when it is climbing the slope for the i-th detection based on the result of the first calculation unit, and calculates the power of the driving motor 304 when the electric loader is traveling on a flat road at full speed;

[0102] Step S4: The comparison and judgment unit starts running and takes P i1 and P i2 The maximum value is used to compare the maximum peak power of the drive motor 304 with the rated power. When the maximum peak power of the drive motor 304 is less than the rated power, the control unit can increase the speed of the drive motor 304 to improve the driving efficiency. When the maximum peak power of the drive motor 304 is greater than the rated power, the alarm sounds an alarm, and the control unit controls the drive motor 304 to reduce the speed and increase the torque, thereby reducing the time that the drive motor 304 exceeds the rated power.

[0103] Beneficial effects: This embodiment adds a control module for the drive motor 304 to realize intelligent control of the drive motor 304 of the electric loader. The module collects various operating parameters of the electric loader in real time (such as rolling resistance, air resistance, slope resistance, driving speed, loading mass, etc.), and combines advanced calculation models to accurately calculate the required driving force and power requirements of a single drive motor 304 under different working conditions. Through the real-time evaluation of the calculation results by the comparison judgment unit, the operating state of the drive motor 304 (such as speed, torque, etc.) is adjusted in time to ensure that the drive motor 304 operates efficiently within the rated power range, avoiding overload and energy waste. In addition, the setting of the alarm effectively improves the safety of the system. Once an abnormal situation is detected (such as the power of the drive motor 304 exceeds the rated value), an alarm can be immediately issued, and corresponding measures can be taken to ensure the normal operation of the loader and the safety of personnel.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile loading vehicle suitable for mountain photovoltaic inverters, characterized in that: include: A chassis (1), a lifting adjustment mechanism (2), a driving mechanism (3), a loading mechanism (4), a bearing mechanism (6) and a controller (7); a loading mechanism (4) is fixedly provided on the top of the chassis (1); a bearing mechanism (6) is fixedly provided below the loading mechanism (4); four groups of lifting adjustment mechanisms (2) are fixedly provided at the four corners of the chassis (1); a driving mechanism (3) is fixedly provided at the bottom of the lifting adjustment mechanism (2); and the lifting adjustment mechanism (2), the driving mechanism (3), the loading mechanism (4) and the bearing mechanism (6) are electrically connected to the controller (7) respectively.

2. A movable loading vehicle adapted for mountain photovoltaic inverters according to claim 1, characterized in that: The lifting adjustment mechanism (2) on the left front side comprises: a vertical screw mounting seat (201) is fixedly mounted on the left front end of the chassis (1); the screw mounting seat (201) is rotatably connected to a vertical lifting screw (202); a servo motor (203) is fixedly mounted on the top of the screw mounting seat (201); the output shaft end of the servo motor (203) is fixedly connected to the top of the lifting screw (202); the lifting screw (202) is threadedly connected to a sliding block (204); the sliding block (204) is symmetrically fixedly connected to a pair of L-shaped brackets (205) on the left and right; and the bottom ends of the pair of L-shaped brackets (205) are fixedly connected to a horizontal plate (206).

3. A movable loading vehicle adapted for mountain photovoltaic inverters according to claim 2, characterized in that: include: The center of the horizontal plate (206) is slidably connected to a vertical support rod (207) in an up-and-down manner, and the top of the support rod (207) is fixedly connected to a limit slider (208). The bottoms of the left and right L-shaped brackets (205) are provided with vertical slide grooves (209) near the lifting screw rod. The limit sliders (208) are slidably connected to the slide grooves (209) in an up-and-down manner. A spring (210) is provided on the outer sleeve of the support rod (207), and the bottom of the spring (210) is pressed against a baffle plate (211), and the baffle plate (211) is fixedly connected to the support rod (207).

4. A movable loading vehicle adapted for mountain photovoltaic inverters according to claim 3, characterized in that: The driving mechanism (3) comprises: a driving wheel (301); a support rod (207) at the left front end is rotatably connected to a transmission shaft (302) along the front-back direction; the front end of the transmission shaft (302) is fixedly connected to the driving wheel (301); the rear end of the transmission shaft (302) is fixedly connected to a spur gear (303); the spur gear (303) is meshedly connected to a spur gear (307); the spur gear (307) is fixedly connected to the output shaft end of the driving motor (304); a storage battery (305) is fixedly installed at the bottom center of the chassis (1); the driving motor (304) is electrically connected to the storage battery (305); and a distance sensor (306) is fixedly installed on the horizontal plate (206); the distance sensor (306) is vertically downwardly directed toward the ground.

5. The movable loading vehicle adapted for mountain photovoltaic inverter according to claim 3, characterized in that: The loading mechanism (4) comprises: a rotating base (401), the rotating base (401) is fixedly installed on the top right side of the chassis (1), the rotating base (401) is rotatably connected to a rotating column (402), the bottom of the rotating column (402) is fixedly connected to a gear ring 1 (403), a vertical servo motor (203) 2 is fixedly installed on the left outer wall of the rotating base (401), the output shaft end of the servo motor (203) 2 is fixedly connected to a spur gear 3 (405), the spur gear 3 (405) is meshedly connected to the gear ring 1 (403), the bottom of the rotating column (402) is fixedly connected to an electric telescopic arm (406) in the left and right directions, and the right end of the electric telescopic arm (406) is fixedly connected to a mounting plate (407).

6. A movable loading vehicle adapted for mountain photovoltaic inverters according to claim 5, characterized in that: A clamping and rotating mechanism (5) is provided on the mounting plate (407), and the clamping and rotating mechanism (5) comprises: a rotating shaft (501), the right end of the mounting plate (407) is rotatably connected to a vertical rotating shaft (501), the top of the rotating shaft (501) is fixedly connected to a worm gear (502), a pair of fixed plates (507) are fixedly installed at the top of the mounting plate (407) at intervals on the left and right, and a worm gear (503) is rotatably connected between the pair of fixed plates (507) in the left and right directions. The worm gear 1 (503) is meshedly connected with the worm wheel 1 (502), the right end of the worm wheel 1 (502) is fixedly connected with the output shaft end of the servo motor (203) 3, the servo motor (203) 3 is fixedly connected with the mounting plate (407), the servo motor (203) 3 is electrically connected with the storage battery (305), the bottom end of the rotating shaft 1 (501) is fixedly connected with the vertical electric telescopic column (505), and the clamping mechanism (506) is fixedly installed under the electric telescopic column (505).

7. A movable loading vehicle adapted for mountain photovoltaic inverters according to claim 6, characterized in that: The clamping mechanism (506) comprises: two screw mounting seats (201), the bottom movable end of the electric telescopic column (505) is fixedly connected to the second transverse screw mounting seat (201), the second screw mounting seat (201) is rotatably connected to the transverse bidirectional screw (5062), the left end of the bidirectional screw (5062) is fixedly connected to the output shaft of the clamping motor (5066), the clamping motor (5066) is fixedly connected to the second screw mounting seat (201), the bidirectional screw (5062) is symmetrically threadedly connected to the sliding rod (5063), the top end of the sliding rod (5063) is slidably connected to the second screw mounting seat (201) left and right, the bottom of the sliding rod (5063) is fixedly connected to the clamping plate (5064), and the outer cover of the clamping plate (5064) is provided with a rubber sleeve (5065).

8. The movable loading vehicle adapted for mountain photovoltaic inverter according to claim 1, characterized in that: The bearing mechanism (6) comprises: a bearing bucket (601), the top of the chassis (1) is rotatably provided with the bearing bucket (601), the front end of the bearing bucket (601) is rotatably hinged with the front end of the chassis (1), the rear end of the bearing bucket (601) is hingedly connected to a pair of electric lifting columns (602) on the left and right sides, the front end of the bearing bucket (601) is rotatably provided with a front guard plate (603) along the left and right directions, the left and right sides of the top of the front guard plate (603) are fixedly connected to a cross bar (605), the rear end of the bearing bucket (601) is fixedly connected to a vertical rear guard plate (604), the middle of the front end of the left and right side walls of the bearing bucket (601) is fixedly connected to a fixed block (606), the fixed block (606) is slidably connected to a switch latch (607) in the upper and lower parts, the switch latch (607) is used to limit the position of the cross bar (605), and the top of the left end of the chassis (1) is fixedly connected to a push handle (608).

9. The movable loading vehicle adapted for mountain photovoltaic inverter according to claim 4, characterized in that: The driving motor (304) control module comprises: A first acquisition unit, used to acquire the rolling resistance and rolling resistance coefficient of the driving wheel (301) of the electric loader; The second acquisition unit is used to acquire the air resistance and air resistance coefficient of the electric loader at different wind speeds during driving; Slope sensor, used to collect the slope resistance of the electric loader; An angle sensor, used to detect the working angle between the chassis (1) and the horizontal plane; A speed sensor, used to detect the travel speed of the electric loader; A temperature sensor, used to detect the operating temperature of the drive motor (304); A mass sensor, used to detect the mass of the photovoltaic inverter loaded in the carrying bucket (601); Alarm, used to alarm in case of abnormal situation; A first calculation unit, used for calculating the driving force required by a single driving motor (304) within the i-th detection time; A second calculation unit calculates, based on the first calculation unit, the power of the driving motor (304) of the electric loader when it is detected to be climbing a slope for the i-th time and the power of the driving motor (304) when the electric loader is traveling on a flat road at full speed; A control unit, used for processing data and regulating the operating state of the drive motor (304), the control unit being electrically connected to the first acquisition unit, the second acquisition unit, the slope sensor, the angle sensor, the speed sensor, the temperature sensor, the drive motor (304), the alarm, and the mass sensor; The comparison and judgment unit is used to compare and judge whether the operating power of the driving motor (304) exceeds the rated power.

10. A movable loading vehicle adapted for mountain photovoltaic inverters according to claim 9, characterized in that: The working process of the driving motor (304) control module includes: Step S1: acquiring the rolling resistance and rolling resistance coefficient of the driving wheel (301) of the electric loader through a first acquisition unit, and acquiring the air resistance and air resistance coefficient of the electric loader at different wind speeds during driving through a second acquisition unit, and then transmitting the data to a control unit; Step S2: the control unit controls the first calculation unit to operate, and the first calculation unit calculates the driving force required by a single driving motor (304) within the i-th detection time based on the slope sensor and the mass sensor; The first calculation unit calculates based on the following formula 1: Among them: F ti is the driving force required by a single driving motor (304) during the i-th detection time, F f The rolling resistance of the electric loader collected by the first acquisition unit, F w is the air resistance detected by the second acquisition unit, F i is the slope resistance of the electric loader collected by the slope sensor during the i-th detection, F j is the acceleration resistance of the electric loading vehicle obtained by the second acquisition unit, m is the mass of the loaded photovoltaic inverter, g is the gravity acceleration, the value is 10, G0 is the gravity of the empty mass of the electric loading vehicle, ln is the logarithmic function, e is 2.71, T i is the temperature of the drive motor (304) at the end of the i-th detection by the temperature sensor, T o is the temperature of the drive motor (304) at the beginning of the i-th detection by the temperature sensor; t is the unit time; Step S3: the control unit controls the second calculation unit to operate, and the second calculation unit calculates the power of the driving motor (304) of the electric loader when it is climbing a slope in the i-th detection based on the result of the first calculation unit, and calculates the power of the driving motor (304) when the electric loader is traveling on a flat road at full speed; The second calculation unit calculates based on the following formula 2: Where: P i1 is the power of the driving motor (304) of the electric loader when it is detected to be climbing for the i-th time, P i2 is the power of the driving motor (304) of the electric loader at full speed when the electric loader is traveling on a flat road during the i-th detection; is the recording time error influencing factor, t0 is the start time of the ith detection, t i is the end time of the i-th detection, f is the rolling resistance coefficient, cos is the cosine function, sin is the sine function, θ is the angle between the chassis (1) and the horizontal plane at the i-th detection detected by the angle sensor, C D is the air resistance coefficient detected by the second acquisition unit, S A is the frontal area of ​​the electric loader, V ic V is the speed of the electric loader when it is climbing during the i-th detection time period detected by the speed sensor, m The maximum speed of the electric loader is 50km / h; Step S4: The comparison and judgment unit starts running and takes P i1 and P i2 The maximum value is a comparison between the maximum peak power of the drive motor (304) and the rated power. When the maximum peak power of the drive motor (304) is less than the rated power, the control unit can increase the rotation speed of the drive motor (304) to improve the driving efficiency. When the maximum peak power of the drive motor (304) is greater than the rated power, the alarm sounds an alarm, and the control unit controls the drive motor (304) to reduce the rotation speed to increase the torque, thereby reducing the time the drive motor (304) exceeds the rated power.

Images