Photovoltaic panel carrying device and photovoltaic panel carrying method

Abstract

The invention belongs to the technical field of engineering machinery, and discloses a photovoltaic panel carrying device and a photovoltaic panel carrying method.The photovoltaic panel carrying device comprises a hydraulic control system, a chassis, a machine body, a fork arm, a pallet fork and a working arm assembly, the chassis is provided with a walking mechanism, the machine body is rotationally arranged on the chassis, the pallet fork comprises a fork head and a supporting plate which are arranged in an L shape, the fork arm is hinged to the machine body, and the working arm assembly is arranged on the working arm assembly; the pallet fork is hinged to the fork arm, a variable-amplitude cylinder is arranged between the chassis and the fork arm and used for controlling the fork arm to rotate, a turnover cylinder is arranged between the fork arm and the pallet fork and used for controlling the pallet fork to rotate, the working arm assembly is movably arranged on the machine body and provided with a grabbing piece, and a hydraulic motor is arranged between the working arm assembly and the grabbing piece. The hydraulic motor is used for controlling the grabbing piece to rotate; the photovoltaic panel carrying method is applied to the device. The device can effectively carry the photovoltaic panel, is convenient and flexible to operate, reduces the consumption of manpower and material resources, and improves the carrying efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a photovoltaic panel transporting device and a photovoltaic panel transporting method. Background Art

[0002] As one of the new energy sources, solar energy is widely used due to its clean, renewable and economically efficient characteristics. Photovoltaic power generation is an important carrier required for solar power generation. At present, the installation of photovoltaic panels in photovoltaic power stations is generally achieved by lifting equipment with human assistance to transport and install photovoltaic panels. Specifically, the transportation of photovoltaic panels can be achieved by lifting equipment such as cranes and gantry cranes, and can also be completed by human transportation. The lifting equipment has a high handling efficiency and can meet the lifting of photovoltaic panels over long distances. However, the lifting equipment such as cranes and gantry cranes is large in size, and its use is obviously limited by space, and it cannot be flexibly used in some places with limited space; although human transportation is less restricted by space, photovoltaic panels are transported in batches, which consumes a lot of manpower and material resources, has low handling efficiency, and poor reliability. Summary of the invention

[0003] The object of the present invention is to provide a photovoltaic panel transport device and a photovoltaic panel transport method, which can effectively transport photovoltaic panels, have convenient and flexible operation, reduce manpower and material resource consumption, and improve transport efficiency.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A photovoltaic panel handling device includes a hydraulic control system, a chassis, a body, a fork arm, a fork and a working arm assembly; wherein:

[0006] The chassis is provided with a walking mechanism, the machine body is rotatably arranged on the chassis, the cargo fork comprises a fork head and a support plate arranged in an L shape, the fork arm is hingedly arranged on the chassis, the cargo fork is hingedly arranged on the fork arm, a variable amplitude cylinder is arranged between the chassis and the fork arm, the variable amplitude cylinder is used to control the rotation of the fork arm, a flip cylinder is arranged between the fork arm and the cargo fork, the flip cylinder is used to control the rotation of the cargo fork, the working arm assembly is movably arranged on the machine body, a grabbing piece is arranged at the end of the working arm assembly, a hydraulic motor is arranged between the working arm assembly and the grabbing piece, and the hydraulic motor is used to control the rotation of the grabbing piece;

[0007] The hydraulic control system is arranged on the machine body, and includes an oil tank, a load-sensitive pump, a hydraulically controlled valve group and a main valve group. The oil tank is connected to the oil inlet of the load-sensitive pump, the oil outlet of the load-sensitive pump is connected to the oil inlet end of the hydraulically controlled valve group and the oil inlet end of the main valve group, the oil outlet end of the hydraulically controlled valve group is connected to the hydraulically controlled end of the main valve group, and the oil outlet end of the main valve group is connected to the rod chamber and the rodless chamber of the variable amplitude cylinder, the rod chamber and the rodless chamber of the tilt cylinder and the two working oil ports of the hydraulic motor.

[0008] Preferably, the main valve group includes a variable amplitude reversing valve, a flip reversing valve and a motor reversing valve, the oil outlet of the load-sensing pump is respectively connected with the oil inlets of the variable amplitude reversing valve, the flip reversing valve and the motor reversing valve, the two working oil ports of the variable amplitude reversing valve are respectively connected with the rod chamber and the rodless chamber of the variable amplitude cylinder, the two working oil ports of the flip reversing valve are respectively connected with the rod chamber and the rodless chamber of the flip cylinder, and the two working oil ports of the motor reversing valve are respectively connected with the two working oil ports of the hydraulic motor;

[0009] The hydraulically controlled valve group is used to control the switching of the variable amplitude reversing valve, the flip reversing valve and the motor reversing valve.

[0010] Preferably, the hydraulic control valve group includes a first switch valve, a second switch valve, a third switch valve, a fourth switch valve, a fifth switch valve and a sixth switch valve, and the oil outlet of the load sensing pump is connected to the oil inlets of the first switch valve, the second switch valve, the third switch valve, the fourth switch valve, the fifth switch valve and the sixth switch valve respectively;

[0011] The variable amplitude reversing valve has a hydraulic control end e1 and a hydraulic control end e2, the flip reversing valve has a hydraulic control end e3 and a hydraulic control end e4, the motor reversing valve has a hydraulic control end e5 and a hydraulic control end e6, the oil outlet of the first switch valve is connected to the hydraulic control end e1, the oil outlet of the second switch valve is connected to the hydraulic control end e2, the oil outlet of the third switch valve is connected to the hydraulic control end e3, the oil outlet of the fourth switch valve is connected to the hydraulic control end e4, the oil outlet of the fifth switch valve is connected to the hydraulic control end e5, and the oil outlet of the sixth switch valve is connected to the hydraulic control end e6.

[0012] Preferably, the hydraulic control system further comprises a regulating valve group, the oil outlet of the load-sensing pump is connected to the regulating valve group, the regulating valve group is connected to the load oil circuit, and the regulating valve group is driven by the oil pressure on the load oil circuit and the oil outlet side of the load-sensing pump to adjust the displacement of the load-sensing pump.

[0013] Preferably, the regulating valve group includes a load-sensitive valve, the load-sensitive valve has a working oil port a1, a working oil port a2, a working oil port a3, a hydraulic control end e5 and a hydraulic control end e6, the oil outlet of the load-sensitive pump is connected to the hydraulic control end e5 and the working oil port a1, the working oil port a2 is connected to the oil tank, the load oil circuit is connected to the hydraulic control end e6, and the hydraulic control end e6 is provided with a first elastic member, and the first elastic member provides a force forcing the load-sensitive valve to move toward the hydraulic control end e5;

[0014] The swash plate of the load sensing pump is connected to the piston of the differential variable cylinder, the oil outlet of the load sensing pump is connected to the rod chamber of the differential variable cylinder, and the working oil port a3 is connected to the rodless chamber of the differential variable cylinder.

[0015] Preferably, the regulating valve group also includes a cut-off valve, which has a working oil port b1, a working oil port b2, a working oil port b3, a hydraulic control end e7 and a control end e8, the oil outlet of the load-sensitive pump is connected to the hydraulic control end e7 and the working oil port b1, the working oil port a3 is connected to the working oil port b2, the working oil port b3 is connected to the rodless chamber of the differential variable cylinder, and the control end e8 is provided with a second elastic member, which provides a force forcing the cut-off valve to move toward the hydraulic control end e7.

[0016] Preferably, it also includes an on-off valve group, which is arranged in the oil circuit between the oil outlet of the load-sensitive pump and the hydraulic control valve group, and is used to control the on-off of the oil circuit between the oil outlet of the load-sensitive pump and the hydraulic control valve group.

[0017] Preferably, the on-off valve group includes an on-off reversing valve having an oil inlet c1 and an oil outlet c2, the oil outlet of the load sensing pump is connected to the oil inlet c1, and the oil outlet c2 is connected to the oil inlet end of the hydraulic control valve group.

[0018] Preferably, the on-off valve group further includes a one-way valve, which is disposed on a connecting pipeline between the oil outlet of the load-sensing pump and the oil inlet c1, and is configured to conduct one-way flow from the oil outlet of the load-sensing pump to the oil inlet c1.

[0019] A photovoltaic panel transport method, using any of the photovoltaic panel transport devices described above, the photovoltaic panel transport method comprising the following steps:

[0020] The luffing cylinder and the tilting cylinder respectively control the fork arm and the fork to swing, so that the fork head is adjusted to a horizontal position;

[0021] The chassis moves so that the fork head is equipped with a photovoltaic panel, and the luffing cylinder and the tilting cylinder respectively control the fork arm and the fork to swing so that the support plate is adjusted to a horizontal position, and the photovoltaic panel is supported on the support plate;

[0022] The working arm assembly controls the movement of the grabbing member so that the grabbing member grabs the photovoltaic panel on the support plate, and the hydraulic motor controls the rotation of the grabbing member to adjust the position of the photovoltaic panel;

[0023] The machine body rotates relative to the chassis so that the working arm assembly faces the target installation position, and the working arm assembly controls the movement of the grabbing member to transport the photovoltaic panel to the target installation position.

[0024] Beneficial effects:

[0025] The photovoltaic panel handling device provided by the present invention has a walking mechanism that enables the chassis to have a mobile function. The machine body can rotate relative to the chassis to rotate the working arm assembly. The arrangement of the fork arm and the cargo fork enables the device to have the function of a forklift. Through the joint action of the variable amplitude cylinder and the tilting cylinder, the angle of the cargo fork is adjusted to facilitate the fork loading and support of the photovoltaic panel. The grabbing member is arranged on the working arm assembly, and the grabbing member is used to grab the photovoltaic panel. The flexible movement of the grabbing member is achieved through the working arm assembly, and the handling of the photovoltaic panel is achieved in coordination with the movement of the chassis and the rotation of the machine body. The device is similar to an improvement on a conventional excavator. Compared with cranes, gantry cranes and other lifting equipment, the device is compact in size and flexible in movement, which effectively reduces the space restrictions on its use and effectively ensures applicability. In addition, the device can effectively replace the conventional manual handling of photovoltaic panels, effectively reduce the consumption of manpower and material resources, improve the handling efficiency, and ensure that the handling work is reliable and stable.

[0026] The photovoltaic panel handling method provided by the present invention applies the above-mentioned photovoltaic panel handling device. When working, firstly, the fork arm and the fork are respectively controlled to swing by the variable amplitude cylinder and the flip cylinder, so that the fork head is adjusted to a horizontal position, and then the chassis moves under the action of the walking mechanism, so that the fork is close to the photovoltaic panel to be transported, and finally the fork head of the fork is forked with the photovoltaic panel, and then the variable amplitude cylinder and the flip cylinder are controlled again, and the support plate is adjusted to a horizontal position by the swing of the fork arm and the fork, so that the photovoltaic panel is supported on the support plate. Then the working arm assembly controls the movement of the grabbing member, so that the grabbing member grabs the photovoltaic panel on the support plate, and in this process, the gripping member can be controlled to rotate by the hydraulic motor to adjust the position of the photovoltaic panel, so that the photovoltaic panel is adjusted to an angle suitable for the target installation position. The machine body rotates relative to the chassis, and the working arm assembly is moved to face the target installation position, and then the gripping member is controlled to move by the working arm assembly, so that the gripping member finally carries the photovoltaic panel and finally transports the photovoltaic panel to the target installation position, completing the handling of the photovoltaic panels in sequence. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the photovoltaic panel transport device provided by the present invention;

[0028] Figure 2 It is a structural schematic diagram of the hydraulic control system provided by the present invention;

[0029] Figure 3 It is a schematic diagram of a part of the structure of the hydraulic control system provided by the present invention;

[0030] Figure 4 is another structural schematic diagram of a hydraulic control system provided by the present invention;

[0031] Figure 5 It is a schematic diagram of the flow of the photovoltaic panel transportation method provided by the present invention.

[0032] In the figure:

[0033] 11. Oil tank; 12. Load-sensitive pump; 121. Differential variable cylinder; 13. Load oil circuit; 141. Variable amplitude reversing valve; 142. Flip reversing valve; 143. Motor reversing valve; 144. First compensation valve; 145. Second compensation valve; 146. Third compensation valve; 151. First switch valve; 152. Second switch valve; 153. Third switch valve; 154. Fourth switch valve; 155. Fifth switch valve; 156. Sixth switch valve; 161. Load-sensitive valve; 1611. First elastic member; 162. Cut-off valve; 1621. Second elastic member; 171. On-off reversing valve; 172. Check valve;

[0034] 2. Chassis; 21. Traveling mechanism;

[0035] 3. Machine body; 31. Turntable;

[0036] 4. Fork arm;

[0037] 5. Fork; 51. Fork head; 52. Support plate;

[0038] 6. Working arm assembly; 61. Grabbing member; 62. Boom; 63. Dipper arm; 64. Boom cylinder; 65. Dipper arm cylinder; 66. Motor cylinder;

[0039] 71. Boom cylinder; 72. Tilt cylinder; 73. Hydraulic motor. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0044] This embodiment provides a photovoltaic panel transport device. Figures 1 to 4As shown, the photovoltaic panel handling device includes a hydraulic control system, a chassis 2, a machine body 3, a fork arm 4, a fork 5 and a working arm assembly 6. Among them, the chassis 2 is provided with a walking mechanism 21, the machine body 3 is rotatably arranged on the chassis 2, the fork 5 includes a fork head 51 and a support plate 52 arranged in an L shape, the fork arm 4 is hingedly arranged on the chassis 2, the fork 5 is hingedly arranged on the fork arm 4, a variable amplitude cylinder 71 is arranged between the machine body 3 and the fork arm 4, the variable amplitude cylinder 71 is used to control the rotation of the fork arm 4, a flip cylinder 72 is arranged between the fork arm 4 and the fork 5, the flip cylinder 72 is used to control the rotation of the fork 5, the working arm assembly 6 is movably arranged on the machine body 3, a grabbing member 61 is arranged at the end of the working arm assembly 6, a hydraulic motor 73 is arranged between the working arm assembly 6 and the grabbing member 61, and the hydraulic motor 73 is used to control the rotation of the grabbing member 61. The hydraulic control system is arranged on the body 3, including an oil tank 11, a load-sensing pump 12, a hydraulic control valve group and a main valve group. The oil tank 11 is connected to the oil inlet of the load-sensing pump 12, the oil outlet of the load-sensing pump 12 is connected to the oil inlet end of the hydraulic control valve group and the oil inlet end of the main valve group, the oil outlet end of the hydraulic control valve group is connected to the hydraulic control end of the main valve group, and the oil outlet end of the main valve group is connected to the rod chamber and the rodless chamber of the variable amplitude cylinder 71, the rod chamber and the rodless chamber of the tilt cylinder 72 and the two working oil ports of the hydraulic motor 73.

[0045] In this embodiment, the walking mechanism 21 enables the chassis 2 to have a mobile function. The body 3 can rotate relative to the chassis 2 to rotate the working arm assembly 6. The arrangement of the fork arm 4 and the fork 5 enables the device to have the function of a forklift. Through the joint action of the amplitude cylinder 71 and the flip cylinder 72, the angle of the fork 5 is adjusted to facilitate the fork loading and support of the photovoltaic panel. The grabbing member 61 is arranged on the working arm assembly 6. The grabbing member 61 is used to grab the photovoltaic panel. The grabbing member 61 is flexibly moved through the working arm assembly 6, and the handling of the photovoltaic panel is achieved by coordinating the movement of the chassis 2 and the rotation of the body 3. The device is similar to the improvement of a conventional excavator. Compared with cranes, gantry cranes and other lifting equipment, it is small in size and flexible in movement, effectively reducing the space restrictions on its use and effectively ensuring applicability. In addition, the device can effectively replace the conventional manual handling of photovoltaic panels, effectively reduce the consumption of manpower and material resources, improve the handling efficiency, and ensure that the handling work is reliable and stable.

[0046] In this embodiment, a turntable 31 is provided on the chassis 2 , and the machine body 3 is supported on the turntable 31 . The machine body 3 is rotatably connected to the chassis 2 through the turntable 31 .

[0047] In this embodiment, the walking mechanism 21 is configured as a crawler.

[0048] In this embodiment, the working arm assembly 6 further includes a boom 62, an arm 63, a boom cylinder 64, an arm cylinder 65 and a motor cylinder 66. The first end of the boom 62 is hingedly arranged on the machine body 3, the second end of the boom 62 is hingedly arranged with the first end of the arm 63, and the second end of the arm 63 is hingedly arranged with the hydraulic motor 73. The boom cylinder 64 is arranged between the machine body 3 and the boom 62. Specifically, one of the cylinder body and the cylinder rod of the boom cylinder 64 is hingedly arranged with the machine body 3, and the other is hingedly arranged with the boom 62. One of the cylinder body and the cylinder rod of the arm cylinder 65 is hingedly arranged with the boom 62, and the other is hingedly arranged with the arm 63. One of the cylinder body and the cylinder rod of the motor cylinder 66 is hingedly arranged with the arm 63, and the other is hingedly arranged with the hydraulic motor 73.

[0049] It is understandable that the specific structure of the working arm assembly 6 is similar to the working arm assembly 6 of a conventional excavator, and the motor cylinder 66 is similar to the bucket cylinder in a conventional excavator. The cylinder rod of the boom cylinder 64 is telescopic relative to the cylinder body, which can realize the swing control of the boom 62, the cylinder rod of the dipper cylinder 65 is telescopic relative to the cylinder body, which can realize the swing control of the dipper 63, and the cylinder rod of the motor cylinder 66 is telescopic relative to the cylinder body, which can realize the swing control of the hydraulic motor 73.

[0050] In this embodiment, the main valve group includes a variable amplitude reversing valve 141, a flip reversing valve 142 and a motor reversing valve 143. The oil outlet of the load-sensitive pump 12 is connected to the oil inlets of the variable amplitude reversing valve 141, the flip reversing valve 142 and the motor reversing valve 143 respectively. The two working oil ports of the variable amplitude reversing valve 141 are respectively connected to the rod chamber and the rodless chamber of the variable amplitude cylinder 71. The two working oil ports of the flip reversing valve 142 are respectively connected to the rod chamber and the rodless chamber of the flip cylinder 72. The two working oil ports of the motor reversing valve 143 are respectively connected to the two working oil ports of the hydraulic motor 73. The hydraulic control valve group is used to control the reversing of the variable amplitude reversing valve 141, the flip reversing valve 142 and the motor reversing valve 143. Specifically, the hydraulic control valve group can act on the hydraulic control ends of the boom length changing reversing valve 141, the flipping reversing valve 142 and the motor reversing valve 143, driving the boom length changing reversing valve 141, the flipping reversing valve 142 and the motor reversing valve 143 to change direction, thereby changing the oil inlet and outlet direction of the boom length changing cylinder 71, the flipping cylinder 72 and the hydraulic motor 73, thereby realizing the control of the cylinder rod extension and retraction of the boom length changing cylinder 71 and the flipping cylinder 72 and the control of the rotation direction of the output shaft of the hydraulic motor 73.

[0051] Specifically, one of the cylinder rod and the cylinder body of the luffing cylinder 71 is hinged to the chassis 2, and the other is hinged to the fork arm 4. One of the cylinder rod and the cylinder body of the flipping cylinder 72 is hinged to the fork arm 4, and the other is hinged to the fork 5. Specifically, the cylinder rod of the luffing cylinder 71 extends outward from the cylinder body, so that the fork arm 4 rotates downward relative to the chassis 2 and unfolds; the cylinder rod of the luffing cylinder 71 retracts into the cylinder body, so that the fork arm 4 rotates upward relative to the chassis 2 and retracts. The cylinder rod of the flipping cylinder 72 extends outward from the cylinder body, so that the fork 5 can rotate downward relative to the fork arm 4, so that the fork head 51 gradually swings in the horizontal direction; the cylinder rod of the flipping cylinder 72 retracts into the cylinder body, so that the fork 5 can rotate upward relative to the fork arm 4, so that the support plate 52 gradually swings in the horizontal direction. It can be understood that the fork head 51 and the support plate 52 of the fork 5 are arranged in an L shape. When the fork head 51 swings in the horizontal direction, the support plate 52 gradually swings in the vertical direction; when the support plate 52 swings in the horizontal direction, the fork head 51 gradually swings in the vertical direction. Figure 1 The state shown in the figure is that the fork head 51 is vertical and the support plate 52 is horizontal. In this state, the support plate 52 can reliably support the photovoltaic panel.

[0052] In this embodiment, a first compensation valve 144 is provided on the oil circuit connecting the variable amplitude reversing valve 141 and the variable amplitude cylinder 71, a second compensation valve 145 is provided on the oil circuit connecting the flip reversing valve 142 and the flip cylinder 72, and a third compensation valve 146 is provided on the oil circuit connecting the motor reversing valve 143 and the hydraulic motor 73. The first compensation valve 144, the second compensation valve 145 and the third compensation valve 146 are provided to control the constant pressure difference between the outlet of each reversing valve and the corresponding load by post-valve compensation, and then adjust the pressure as needed according to the change of load, effectively reduce energy consumption, and realize the adaptive adjustment of the pressure of each circuit. The connection principle and specific action process of the compensation valve are prior art.

[0053] In this embodiment, the hydraulic control valve group is used to control the reversing of the main valve group to control the extension and retraction of the cylinder rod of the variable amplitude cylinder 71, the extension and retraction of the cylinder rod of the tilt cylinder 72, and the bidirectional rotation of the output shaft of the hydraulic motor 73. In this embodiment, the hydraulic control valve group includes a first switch valve 151, a second switch valve 152, a third switch valve 153, a fourth switch valve 154, a fifth switch valve 155, and a sixth switch valve 156. The oil outlet of the load sensing pump 12 is connected to the oil inlet of the first switch valve 151, the second switch valve 152, the third switch valve 153, the fourth switch valve 154, the fifth switch valve 155, and the sixth switch valve 156 respectively; the variable amplitude reversing valve 141 has a hydraulic control end e1 and a hydraulic control end e2, The reversing valve 142 has a hydraulic control end e3 and a hydraulic control end e4, the motor reversing valve 143 has a hydraulic control end e5 and a hydraulic control end e6, the oil outlet of the first switch valve 151 is connected to the hydraulic control end e1, the oil outlet of the second switch valve 152 is connected to the hydraulic control end e2, the oil outlet of the third switch valve 153 is connected to the hydraulic control end e3, the oil outlet of the fourth switch valve 154 is connected to the hydraulic control end e4, the oil outlet of the fifth switch valve 155 is connected to the hydraulic control end e5, and the oil outlet of the sixth switch valve 156 is connected to the hydraulic control end e6. Specifically, the first switch valve 151 and the second switch valve 152 are used to control the direction of the pilot oil at both ends of the variable amplitude reversing valve 141, and correspondingly control the reversing of the variable amplitude reversing valve 141. Specifically, when the first switch valve 151 is opened and the second switch valve 152 is closed, the hydraulic oil flowing out of the oil outlet of the load-sensitive pump 12 flows into the hydraulic control end e1 through the first switch valve 151, pushing the valve core of the amplitude-changing reversing valve 141 to move downward, so that the upper position of the amplitude-changing reversing valve 141 is in the working position, thereby making the oil outlet of the amplitude-changing reversing valve 141 communicate with the rodless chamber of the amplitude-changing cylinder 71, pushing the cylinder rod of the amplitude-changing cylinder 71 to extend outward; when the first switch valve 151 is closed and the second switch valve 152 is opened, the hydraulic oil flowing out of the oil outlet of the load-sensitive pump 12 flows into the hydraulic control end e2 through the second switch valve 152, pushing the valve core of the amplitude-changing reversing valve 141 to move upward, so that the lower position of the amplitude-changing reversing valve 141 is in the working position, thereby making the oil outlet of the amplitude-changing reversing valve 141 communicate with the rod chamber of the amplitude-changing cylinder 71, pushing the cylinder rod of the amplitude-changing cylinder 71 to retract.When the third switch valve 153 is opened and the fourth switch valve 154 is closed, the hydraulic oil flowing out of the oil outlet of the load-sensitive pump 12 flows into the hydraulic control end e3 through the third switch valve 153, pushing the valve core of the flip switching valve 142 to move downward, so that the upper position of the flip switching valve 142 is in the working position, and then the oil outlet of the flip switching valve 142 is connected to the rodless chamber of the flip cylinder 72, pushing the cylinder rod of the flip cylinder 72 to extend outward; when the third switch valve 153 is closed and the fourth switch valve 154 is opened, the hydraulic oil flowing out of the oil outlet of the load-sensitive pump 12 flows into the hydraulic control end e4 through the fourth switch valve 154, pushing the valve core of the flip switching valve 142 to move upward, so that the lower position of the flip switching valve 142 is in the working position, and then the oil outlet of the flip switching valve 142 is connected to the rod chamber of the flip cylinder 72, pushing the cylinder rod of the flip cylinder 72 to retract. When the fifth switch valve 155 is opened and the sixth switch valve 156 is closed, the hydraulic oil flowing out of the oil outlet of the load-sensitive pump 12 flows into the hydraulic control end e5 through the fifth switch valve 155, pushing the valve core of the motor reversing valve 143 to move downward, so that the upper position of the motor reversing valve 143 is in the working position, thereby allowing the hydraulic oil to be used. Figure 3 The hydraulic oil flows from right to left through the hydraulic motor 73, thereby driving the output shaft of the hydraulic motor 73 to rotate around the first direction. When the fifth switch valve 155 is closed and the sixth switch valve 156 is opened, the hydraulic oil flowing out of the oil outlet of the load sensing pump 12 flows into the hydraulic control end e6 through the fifth switch valve 155, pushing the valve core of the motor reversing valve 143 to move upward, so that the lower position of the motor reversing valve 143 is in the working position, thereby allowing the hydraulic oil to rotate in a Figure 3 The fluid flows from left to right through the hydraulic motor 73, thereby driving the output shaft of the hydraulic motor 73 to rotate in a second direction opposite to the first direction, thereby achieving forward and reverse control of the output shaft of the hydraulic motor 73.

[0054] It can be understood that the oil inlet end of the hydraulic control valve group is the oil inlet of the first switch valve 151, the second switch valve 152, the third switch valve 153, the fourth switch valve 154, the fifth switch valve 155 and the sixth switch valve 156. The oil outlet end of the hydraulic control valve group is the oil outlet of the first switch valve 151, the second switch valve 152, the third switch valve 153, the fourth switch valve 154, the fifth switch valve 155 and the sixth switch valve 156.

[0055] In this embodiment, the hydraulic control system further includes a regulating valve group, the oil outlet of the load sensing pump 12 is connected to the regulating valve group, the regulating valve group is connected to the load oil circuit 13, and the regulating valve group is driven by the oil pressure of the load oil circuit 13 and the oil outlet side of the load sensing pump 12 to adjust the displacement of the load sensing pump 12. By setting the regulating valve group, the oil pressure of the load oil circuit 13 and the oil pressure of the oil outlet side of the load sensing pump 12 act on the regulating valve group, driving the regulating valve group to act, so that the output flow and pressure of the load sensing pump 12 can be dynamically adjusted according to demand, thereby improving efficiency and reducing energy waste.

[0056] In this embodiment, the load oil circuit 13 is connected to the load end of the transport device, that is, the oil pressure in the boom cylinder 64, the arm cylinder 65, the motor cylinder 66, the luffing cylinder 71, the tilting cylinder 72, and the hydraulic motor 73. It can be connected to the oil load end of the above structure by connecting the oil pipe, and finally gathered to the load oil circuit 13.

[0057] Specifically, the regulating valve group includes a load sensing valve 161, which has a working oil port a1, a working oil port a2, a working oil port a3, a hydraulic control end e5 and a hydraulic control end e6. The oil outlet of the load sensing pump 12 is connected to the hydraulic control end e5 and the working oil port a1, the working oil port a2 is connected to the oil tank 11, the load oil circuit 13 is connected to the hydraulic control end e6, and the hydraulic control end e6 is provided with a first elastic member 1611, which provides a force forcing the load sensing valve 161 to move toward the hydraulic control end e5; the slant plate of the load sensing pump 12 is connected to the piston of the differential variable cylinder 121, the oil outlet of the load sensing pump 12 is connected to the rod chamber of the differential variable cylinder 121, and the working oil port a3 is connected to the rodless chamber of the differential variable cylinder 121. Specifically, since the hydraulic control end e5 is connected to the oil outlet of the load sensing pump 12, the oil pressure acting on the hydraulic control end e5 is the oil pressure of the hydraulic system itself. There are two force-applying ends, the first elastic member 1611 and the load oil circuit 13, on one side of the hydraulic control end e6. The combined force of the first elastic member 1611 and the load oil circuit 13 on one side of the hydraulic control end e6 and the force between the system oil pressure and the hydraulic control end e5 affect the valve core position of the load sensitive valve 161. Specifically, when the oil pressure of the system on the hydraulic control end e5 side is greater than the combined force of the first elastic member 1611 and the load oil circuit 13 on the hydraulic control end e6 side, it is equivalent to that the oil pressure of the load oil circuit 13 is small. At this time, the valve core of the load sensitive pump 12 moves to the left, and the right position is in the working position. At this time, the hydraulic oil from the outlet of the load sensitive pump 12 can be passed through the working oil port a1 and the working oil port a3 to the rodless cavity of the differential variable cylinder 121, pushing the cylinder rod of the differential variable cylinder 121 to move rightward, thereby driving the swash plate angle of the load sensitive pump 12 to become smaller, correspondingly reducing the displacement of the load sensitive pump 12; when the hydraulic control end When the combined force of the first elastic member 1611 on the e6 side and the load oil circuit 13 is greater than the oil pressure of the system on the hydraulic control end e5 side, it is equivalent to that the oil pressure of the load oil circuit 13 is larger. At this time, the valve core of the load sensitive pump 12 moves to the right, and the left position is in the working position. At this time, the hydraulic oil from the outlet of the load sensitive pump 12 is blocked, and at the same time, the hydraulic oil in the rod chamber of the differential variable cylinder 121 flows back to the oil tank 11 through the working oil port a3 and the working oil port a2 in turn. The cylinder rod of the differential variable cylinder 121 moves to the left, thereby driving the swash plate angle of the load sensitive pump 12 to increase, and correspondingly increasing the displacement of the load sensitive pump 12.

[0058] Optionally, the first elastic member 1611 is configured as a spring.

[0059] In this embodiment, the regulating valve group also includes a shut-off valve 162. The shut-off valve 162 has a working oil port b1, a working oil port b2, a working oil port b3, a hydraulic control end e7 and a control end e8. The oil outlet of the load-sensitive pump 12 is connected to the hydraulic control end e7 and the working oil port b1. The working oil port a3 is connected to the working oil port b2. The working oil port b3 is connected to the rod chamber of the differential variable cylinder 121. The control end e8 is provided with a second elastic member 1621. The second elastic member 1621 provides a force that forces the shut-off valve 162 to move toward the hydraulic control end e7. Specifically, the stiffness of the second elastic member 1621 is set to be greater than the first elastic member 1611. Specifically, when the system oil pressure acting on the hydraulic control end e5 is able to push the load-sensitive valve 161 to change direction, the system oil pressure acting on the hydraulic control end e7 is not yet able to push the shut-off valve 162 to change direction. For details, refer to Figure 4 As shown, the force of the second elastic member 1621 acting on the control end e8 makes the valve core of the cut-off valve 162 always have a tendency to move to the right, so that the left position of the valve core of the cut-off valve 162 is usually in the working position. When the left position of the cut-off valve 162 is in the working position, the working oil port a3 of the load-sensing valve 161 and the working oil port b2 of the cut-off valve 162 are always in a conducting state. At this time, it is equivalent to the load-sensing valve 161 controlling the swash plate angle of the load-sensing pump 12, and the cut-off valve 162 does not work. When the pressure of the system oil pressure acting on the hydraulic control end e7 is greater than the force of the second elastic member 1621 acting on the control end e8, it means that the system oil pressure is too large. The hydraulic oil acting on the hydraulic control end e7 will push the valve core of the cut-off valve 162 to move to the left, so that the right position of the cut-off valve 162 is in the working position. At this time, the working oil port b2 is cut off from the working oil port b3, and the load-sensing valve 161 no longer works. At this time, the hydraulic oil from the outlet of the load-sensing pump 12 enters the rodless chamber of the differential variable cylinder 121 through the working oil port b3 and the working oil port b3, pushing the cylinder rod of the differential variable cylinder 121 to the right, thereby driving the swash plate angle of the load-sensing pump 12 to decrease, and correspondingly reducing the displacement of the load-sensing pump 12 to avoid the system oil pressure being in an excessively high state for a long time.

[0060] In this embodiment, the regulating valve group may also include a power control valve, whose control principle is similar to that of the cut-off valve 162. When the system power is too large, the power control valve can be used to switch the oil circuit to move the cylinder rod of the differential variable cylinder 121 to the right, thereby driving the swash plate angle of the load-sensitive pump 12 to decrease, and correspondingly reducing the displacement of the load-sensitive pump 12.

[0061] In this system, pressure cut-off takes precedence over power control, and power control takes precedence over load sensing.

[0062] Optionally, the second elastic member 1621 is configured as a spring.

[0063] In this embodiment, the hydraulic control system further includes an on-off valve group, which is disposed on the oil circuit between the oil outlet of the load-sensing pump 12 and the hydraulic control valve group, and is used to control the on-off of the oil circuit between the oil outlet of the load-sensing pump 12 and the hydraulic control valve group. Specifically, by providing the on-off valve group, the on-off of the oil circuit between the oil outlet of the load-sensing pump 12 and the hydraulic control valve group can be timely and effectively controlled.

[0064] Specifically, the on-off valve group includes an on-off reversing valve 171, which has an oil inlet c1 and an oil outlet c2. The oil outlet of the load sensing pump 12 is connected to the oil inlet c1, and the oil outlet c2 is connected to the oil inlet end of the hydraulic control valve group. Figure 4 The oil inlet c1 and the oil outlet c2 of the middle on-off reversing valve 171 are in a disconnected state, and the oil circuit between the oil outlet of the load-sensing pump 12 and the hydraulic control valve group is in a cut-off state. When the control reversing valve is reversed, the valve core of the on-off reversing valve 171 moves upward, so that its lower position is in the working position, and the oil inlet c1 and the oil outlet c2 can be connected, so that the oil outlet of the load-sensing pump 12 can flow through the oil inlet c1 and the oil outlet c2, and then flow to the oil inlet end of the hydraulic control valve group, that is, the oil inlet of the first switch valve 151, the second switch valve 152, the third switch valve 153, the fourth switch valve 154, the fifth switch valve 155 and the sixth switch valve 156.

[0065] Optionally, the on-off reversing valve 171 is configured as an electromagnetic reversing valve.

[0066] Furthermore, the on-off valve group also includes a one-way valve 172, which is disposed on the connecting pipeline between the oil outlet of the load sensing pump 12 and the oil inlet c1, and is configured to conduct one-way from the oil outlet of the load sensing pump 12 to the oil inlet c1. The setting of the one-way valve 172 can effectively prevent the oil from flowing back between the oil outlet of the load sensing pump 12 and the oil inlet c1, and effectively ensure the reliability and effectiveness of the flow of the pilot oil.

[0067] In this embodiment, the grabbing member 61 can be configured as a clamping claw structure or a negative pressure suction head structure, which is not further limited herein.

[0068] Reference Figures 1 to 5 As shown, this embodiment also provides a photovoltaic panel transport method. The photovoltaic panel transport method includes the above-mentioned photovoltaic panel transport device. The photovoltaic panel transport method includes the following steps:

[0069] The luffing cylinder 71 and the tilting cylinder 72 respectively control the fork arm 4 and the fork 5 to swing, so that the fork head 51 is adjusted to a horizontal position;

[0070] The chassis 2 moves, so that the fork head 51 forks the photovoltaic panel, and the luffing cylinder 71 and the tilting cylinder 72 respectively control the fork arm 4 and the fork 5 to swing, so that the support plate 52 is adjusted to a horizontal position, and the photovoltaic panel is supported on the support plate 52;

[0071] The working arm assembly 6 controls the grabbing member 61 to move so that the grabbing member 61 grabs the photovoltaic panel on the support plate 52, and the hydraulic motor 73 controls the grabbing member 61 to rotate to adjust the position of the photovoltaic panel;

[0072] The machine body 3 rotates relative to the chassis 2 so that the working arm assembly 6 faces the target installation position. The working arm assembly 6 controls the movement of the grabbing member 61 to transport the photovoltaic panel to the target installation position.

[0073] In this embodiment, when working, the fork arm 4 and the fork 5 are first controlled to swing respectively by the luffing cylinder 71 and the flipping cylinder 72, so that the fork head 51 is adjusted to a horizontal position, and then the chassis 2 moves under the action of the walking mechanism 21, so that the fork 5 is close to the photovoltaic panel to be transported, and finally the fork head 51 of the fork 5 is forked to load the photovoltaic panel, and then the luffing cylinder 71 and the flipping cylinder 72 are controlled again, and the support plate 52 is adjusted to a horizontal position by the swing of the fork arm 4 and the fork 5, so that the photovoltaic panel is supported on the support plate 52. Then the working arm assembly 6 controls the gripper 61 to move, so that the gripper 61 grabs the photovoltaic panel on the support plate 52. In this process, the gripper 61 can be controlled to rotate by the hydraulic motor 73 to adjust the position of the photovoltaic panel, so that the photovoltaic panel is adjusted to an angle suitable for the target installation position. The body 3 rotates relative to the chassis 2 to move the working arm assembly 6 to a position facing the target installation position, and then the working arm assembly 6 controls the movement of the grabbing member 61, so that the grabbing member 61 finally carries the photovoltaic panel and finally transports the photovoltaic panel to the target installation position, completing the transportation of the photovoltaic panels in sequence.

[0074] Specifically, the fork head 51 is adjusted to a horizontal position as follows: the cylinder rod of the variable amplitude cylinder 71 is retracted into the cylinder body, and the cylinder rod of the flip cylinder 72 is extended out of the cylinder body, so that the fork arm 4 is rotated upward and retracted relative to the chassis 2, and the fork 5 can be rotated downward relative to the fork arm 4. The above-mentioned action process can, on the one hand, gradually swing the fork head 51 in the horizontal direction, and on the other hand, bring the fork head 51 closer to the machine body 3 as a whole, reduce the distance between the fork 5 and the machine body 3 during the fork loading process, maintain the center of gravity, and ensure the reliability and stability of the photovoltaic panel handling device as a whole. The support plate 52 is adjusted to a horizontal position as follows: the cylinder rod of the variable amplitude cylinder 71 is extended out of the cylinder body, and the cylinder rod of the flip cylinder 72 is retracted outside the cylinder body, so that the fork arm 4 is rotated downward and unfolded relative to the chassis 2, and the fork 5 can be rotated relative to the fork arm 4. The above-mentioned action process, on the one hand, can realize reliable support of the photovoltaic panel on the support plate 52 after the fork 5 is loaded with the photovoltaic panel, and on the other hand, can increase the distance between the machine body 3 and the fork 5 to a certain extent, so that the fork 5 is appropriately away from the machine body 3 and closer to the working area of ​​the working arm assembly 6, thereby facilitating the effective grasping of the working arm assembly 6. It is understandable that a cab is generally provided on the machine body 3, and the operator observes and operates the photovoltaic panel handling device in the cab. The action of moving the fork 5 appropriately away from the machine body 3 can also increase the distance between the driver and the grasping member 61, that is, the photovoltaic panel, broaden the driver's field of vision, reduce the driver's blind spot, and ensure that the operation can be carried out more safely and reliably.

[0075] It is understandable that when the photovoltaic panel is supported on the support plate 52, it is equivalent to that the photovoltaic panel handling device has carried the photovoltaic panel. At this time, the walking mechanism 21 can be used to first move the entire device to one side of the target installation position, and then the working arm assembly 6 is moved, and the rotation of the body 3 relative to the chassis 2 controls the movement of the grabbing member 61, and finally the photovoltaic panel is transported to the target installation position.

[0076] Specifically, the hydraulic motor 73 controls the gripping member 61 to rotate and adjust the position of the photovoltaic panel. Generally speaking, the photovoltaic panel is generally a rectangular structure. By moving the working arm assembly 6 and adjusting the position of the gripping member 61 under the action of the hydraulic motor 73, the long sides of the photovoltaic panel are adjusted to a direction perpendicular to the ground, which can reduce the horizontal space occupied by the photovoltaic panel and reduce the risk of damage to the photovoltaic panel during the movement.

[0077] Specifically, if the chassis 2 and the target installation position are arranged at an angle, the body 3 can be rotated by the turntable 31 to a corresponding angle so that the body 3 is facing the target installation position. The angle can be 30°, 60° or 90°. In an ideal state, it can also be 0°.

[0078] Specifically, the target installation location may be a mounting bracket for supporting a photovoltaic panel.

[0079] It is worth mentioning that the working arm assembly 6 controls the movement of the grabbing member 61 by combining the swinging of the boom 62, the dipper arm 63 and the hydraulic motor 73, that is, the boom cylinder 64, the dipper arm cylinder 65 and the motor cylinder 66 work together to achieve a reliable and effective movement process of the grabbing member 61.

[0080] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A photovoltaic panel transport device, characterized in that: It comprises a hydraulic control system, a chassis (2), a machine body (3), a fork arm (4), a cargo fork (5) and a working arm assembly (6); wherein: The chassis (2) is provided with a walking mechanism (21), the machine body (3) is rotatably arranged on the chassis (2), the fork (5) comprises a fork head (51) and a support plate (52) arranged in an L shape, the fork arm (4) is hingedly arranged on the chassis (2), the fork (5) is hingedly arranged on the fork arm (4), and a variable amplitude cylinder (71) is arranged between the chassis (2) and the fork arm (4), and the variable amplitude cylinder (71) is used to control the rotation of the fork arm (4) A tilting cylinder (72) is provided between the fork arm (4) and the fork (5), and the tilting cylinder (72) is used to control the rotation of the fork (5); the working arm assembly (6) is movably arranged on the machine body (3); a grabbing member (61) is provided at the end of the working arm assembly (6); a hydraulic motor (73) is provided between the working arm assembly (61) and the grabbing member (61), and the hydraulic motor (73) is used to control the rotation of the grabbing member (61); The hydraulic control system is arranged on the machine body (3), and comprises an oil tank (11), a load-sensitive pump (12), a hydraulic control valve group and a main valve group. The oil tank (11) is connected to the oil inlet of the load-sensitive pump (12), the oil outlet of the load-sensitive pump (12) is connected to the oil inlet end of the hydraulic control valve group and the oil inlet end of the main valve group, the oil outlet end of the hydraulic control valve group is connected to the hydraulic control end of the main valve group, and the oil outlet end of the main valve group is connected to the rod chamber and the rodless chamber of the variable amplitude cylinder (71), the rod chamber and the rodless chamber of the tilting cylinder (72) and the two working oil ports of the hydraulic motor (73).

2. The photovoltaic panel transport device according to claim 1, characterized in that: The main valve group comprises a variable amplitude reversing valve (141), a flip reversing valve (142) and a motor reversing valve (143); the oil outlet of the load-sensing pump (12) is respectively connected to the oil inlets of the variable amplitude reversing valve (141), the flip reversing valve (142) and the motor reversing valve (143); the two working oil ports of the variable amplitude reversing valve (141) are respectively connected to the rod chamber and the rodless chamber of the variable amplitude cylinder (71); the two working oil ports of the flip reversing valve (142) are respectively connected to the rod chamber and the rodless chamber of the flip cylinder (72); and the two working oil ports of the motor reversing valve (143) are respectively connected to the two working oil ports of the hydraulic motor (73); The hydraulically controlled valve group is used to control the switching of the variable amplitude reversing valve (141), the flip reversing valve (142) and the motor reversing valve (143).

3. The photovoltaic panel transport device according to claim 2, characterized in that: The hydraulically controlled valve group comprises a first switch valve (151), a second switch valve (152), a third switch valve (153), a fourth switch valve (154), a fifth switch valve (155) and a sixth switch valve (156); an oil outlet of the load sensing pump (12) is respectively connected to oil inlets of the first switch valve (151), the second switch valve (152), the third switch valve (153), the fourth switch valve (154), the fifth switch valve (155) and the sixth switch valve (156); The variable amplitude reversing valve (141) has a hydraulic control end e1 and a hydraulic control end e2, the reversing reversing valve (142) has a hydraulic control end e3 and a hydraulic control end e4, the motor reversing valve (143) has a hydraulic control end e5 and a hydraulic control end e6, the oil outlet of the first switch valve (151) is connected to the hydraulic control end e1, the oil outlet of the second switch valve (152) is connected to the hydraulic control end e2, the oil outlet of the third switch valve (153) is connected to the hydraulic control end e3, the oil outlet of the fourth switch valve (154) is connected to the hydraulic control end e4, the oil outlet of the fifth switch valve (155) is connected to the hydraulic control end e5, and the oil outlet of the sixth switch valve (156) is connected to the hydraulic control end e6.

4. The photovoltaic panel transport device according to claim 1, characterized in that: The hydraulic control system further comprises a regulating valve group, the oil outlet of the load-sensing pump (12) is connected to the regulating valve group, the regulating valve group is connected to the load oil circuit (13), and the regulating valve group is driven by the oil pressure of the load oil circuit (13) and the oil outlet side of the load-sensing pump (12) to adjust the displacement of the load-sensing pump (12).

5. The photovoltaic panel transport device according to claim 4, characterized in that: The regulating valve group comprises a load sensing valve (161), the load sensing valve (161) having a working oil port a1, a working oil port a2, a working oil port a3, a hydraulic control end e5 and a hydraulic control end e6, the oil outlet of the load sensing pump (12) is connected to the hydraulic control end e5 and the working oil port a1, the working oil port a2 is connected to the oil tank (11), the load oil circuit (13) is connected to the hydraulic control end e6, and the hydraulic control end e6 is provided with a first elastic member (1611), the first elastic member (1611) provides a force forcing the load sensing valve (161) to move toward the hydraulic control end e5; The swash plate of the load-sensing pump (12) is connected to the piston of the differential variable cylinder (121), the oil outlet of the load-sensing pump (12) is connected to the rod chamber of the differential variable cylinder (121), and the working oil port a3 is connected to the rodless chamber of the differential variable cylinder (121).

6. The photovoltaic panel transport device according to claim 5, characterized in that: The regulating valve group also includes a shut-off valve (162), the shut-off valve (162) having a working oil port b1, a working oil port b2, a working oil port b3, a hydraulic control end e7 and a control end e8, the oil outlet of the load-sensitive pump (12) is connected to the hydraulic control end e7 and the working oil port b1, the working oil port a3 is connected to the working oil port b2, the working oil port b3 is connected to the rodless chamber of the differential variable cylinder (121), and the control end e8 is provided with a second elastic member (1621), the second elastic member (1621) provides a force forcing the shut-off valve (162) to move toward the hydraulic control end e7.

7. The photovoltaic panel transport device according to claim 1, characterized in that: It also comprises an on-off valve group, which is arranged in the oil circuit between the oil outlet of the load-sensitive pump (12) and the hydraulic control valve group, and is used to control the on-off of the oil circuit between the oil outlet of the load-sensitive pump (12) and the hydraulic control valve group.

8. The photovoltaic panel transport device according to claim 7, characterized in that: The on-off valve group comprises an on-off reversing valve (171), the on-off reversing valve (171) having an oil inlet c1 and an oil outlet c2, the oil outlet of the load sensing pump (12) being connected to the oil inlet c1, and the oil outlet c2 being connected to the oil inlet end of the hydraulic control valve group.

9. The photovoltaic panel transport device according to claim 8, characterized in that: The on-off valve group further comprises a one-way valve (172), which is arranged on a connecting pipeline between the oil outlet of the load-sensing pump (12) and the oil inlet c1, and is configured to conduct one-way flow from the oil outlet of the load-sensing pump (12) to the oil inlet c1.

10. A photovoltaic panel transport method, using the photovoltaic panel transport device according to any one of claims 1 to 9, characterized in that: The photovoltaic panel handling method comprises the following steps: The amplitude changing cylinder (71) and the tilting cylinder (72) respectively control the fork arm (4) and the fork (5) to swing, so that the fork head (51) is adjusted to a horizontal position; The chassis (2) moves so that the fork head (51) forks the photovoltaic panel, and the amplitude cylinder (71) and the tilting cylinder (72) respectively control the fork arm (4) and the fork (5) to swing so that the support plate (52) is adjusted to a horizontal position, and the photovoltaic panel is supported on the support plate (52); The working arm assembly (6) controls the movement of the grabbing member (61) so that the grabbing member (61) grabs the photovoltaic panel on the support plate (52), and the hydraulic motor (73) controls the rotation of the grabbing member (61) to adjust the position of the photovoltaic panel; The machine body (3) rotates relative to the chassis (2) so that the working arm assembly (6) faces the target installation position, and the working arm assembly (6) controls the movement of the grabbing member (61) to transport the photovoltaic panel to the target installation position.

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