Photovoltaic panel handling device and photovoltaic panel handling method

Abstract

The application belongs to the technical field of engineering machinery, and discloses a photovoltaic panel carrying device and a photovoltaic panel carrying method. The 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 rotatably arranged on the chassis, the pallet fork comprises an L-shaped fork head and a supporting plate, the fork arm is hingedly arranged on the machine body, the pallet fork is hingedly arranged on the fork arm, a luffing cylinder is arranged between the chassis and the fork arm, the luffing cylinder is used for controlling the rotation of the fork arm, a turnover cylinder is arranged between the fork arm and the pallet fork, the turnover cylinder is used for controlling the rotation of the pallet fork, the working arm assembly is movably arranged on the machine body and is provided with a grabbing piece, a hydraulic motor is arranged between the working arm assembly and the grabbing piece, and the hydraulic motor is used for controlling the rotation of the grabbing piece. The photovoltaic panel carrying method is applied to the above 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 application relates to the technical field of engineering machinery, in particular to a photovoltaic panel carrying device and a photovoltaic panel carrying method. BACKGROUND

[0002] Solar energy is widely used as one of new energy due to its clean, renewable and high economic benefits. Photovoltaic power generation is an important carrier for solar power generation. At present, the installation of photovoltaic panels in photovoltaic power stations is generally realized by hoisting equipment and manual assistance to carry and install the photovoltaic panels. Specifically, the transportation of photovoltaic panels can be realized by hoisting equipment such as cranes and gantry cranes, and can also be completed by manual carrying. Hoisting equipment has high carrying efficiency and can meet the hoisting of photovoltaic panels at a long distance, but the hoisting equipment such as cranes and gantry cranes has a large size, and its use is obviously limited by space, and cannot be used flexibly in some space-limited places. Although manual carrying has small space constraints, it consumes a lot of manpower and material resources, has low carrying efficiency, and poor reliability. SUMMARY

[0003] The purpose of the present application is to provide a photovoltaic panel carrying device and a photovoltaic panel carrying method, which can effectively carry photovoltaic panels, are convenient and flexible to operate, reduce the consumption of manpower and material resources, and improve the carrying efficiency.

[0004] To achieve this purpose, the present application adopts the following technical solutions:

[0005] A photovoltaic panel carrying device, comprising a hydraulic control system, a chassis, a machine body, a fork arm, a pallet fork and a working arm assembly; wherein,

[0006] The chassis is provided with a traveling mechanism, the machine body is rotatably arranged on the chassis, the pallet fork comprises a fork head and a support plate arranged in an L shape, the fork arm is hingedly arranged on the chassis, the pallet fork is hingedly arranged on the fork arm, a luffing cylinder is arranged between the chassis and the fork arm, the luffing cylinder is used to control the rotation of the fork arm, a turning cylinder is arranged between the fork arm and the pallet fork, the turning cylinder is used to control the rotation of the pallet fork, the working arm assembly is movably arranged on the machine body, an end portion of the working arm assembly is provided with a grabbing piece, 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 comprises an oil tank, a load sensing pump, a group of hydraulic control valves and a group of main valves, the oil tank is communicated with an oil inlet of the load sensing pump, an oil outlet of the load sensing pump is communicated with an oil inlet end of the group of hydraulic control valves and an oil inlet end of the group of main valves, an oil outlet end of the group of hydraulic control valves is communicated with a hydraulic control end of the group of main valves, and an oil outlet end of the group of main valves is communicated with a rod cavity and a rodless cavity of the swing cylinder, a rod cavity and a rodless cavity of the turnover cylinder and two working oil ports of the hydraulic motor.

[0008] Preferably, the group of main valves comprises a swing reversing valve, a turnover reversing valve and a motor reversing valve, the oil outlet of the load sensing pump is communicated with an oil inlet of the swing reversing valve, the turnover reversing valve and the motor reversing valve respectively, two working oil ports of the swing reversing valve are communicated with the rod cavity and the rodless cavity of the swing cylinder respectively, two working oil ports of the turnover reversing valve are communicated with the rod cavity and the rodless cavity of the turnover cylinder respectively, and two working oil ports of the motor reversing valve are communicated with the two working oil ports of the hydraulic motor respectively.

[0009] The group of hydraulic control valves is used for controlling the swing reversing valve, the turnover reversing valve and the motor reversing valve to reverse.

[0010] Preferably, the group of hydraulic control valves comprises 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, the oil outlet of the load sensing pump is communicated with an oil inlet 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 swing reversing valve has a hydraulic control end e1 and a hydraulic control end e2, the turnover 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 communicated with the hydraulic control end e1, the oil outlet of the second switch valve is communicated with the hydraulic control end e2, the oil outlet of the third switch valve is communicated with the hydraulic control end e3, the oil outlet of the fourth switch valve is communicated with the hydraulic control end e4, the oil outlet of the fifth switch valve is communicated with the hydraulic control end e5, and the oil outlet of the sixth switch valve is communicated with the hydraulic control end e6.

[0012] Preferably, the hydraulic control system further comprises a group of adjusting valves, the oil outlet of the load sensing pump is communicated with the group of adjusting valves, the group of adjusting valves is communicated with a load oil path, and the group of adjusting valves is driven by oil pressure on the side of the load oil path and the oil outlet of the load sensing pump to act, so as to adjust the displacement of the load sensing pump.

[0013] As preferred, the adjusting valve group comprises a load sensing valve, the load sensing valve has working oil port a1, working oil port a2, working oil port a3, pilot port e5 and pilot port e6, the outlet of the load sensing pump is communicated with the pilot port e5 and the working oil port a1, the working oil port a2 is communicated with the tank, the load oil circuit is communicated with the pilot port e6, the pilot port e6 is provided with a first elastic member, the first elastic member provides a force to force the load sensing valve to move towards the pilot port e5.

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

[0015] As preferred, the adjusting valve group further comprises a cut-off valve, the cut-off valve has working oil port b1, working oil port b2, working oil port b3, pilot port e7 and control port e8, the outlet of the load sensing pump is communicated with the pilot port e7 and the working oil port b1, the working oil port a3 is communicated with the working oil port b2, the working oil port b3 is communicated with the rodless cavity of the differential variable cylinder, the control port e8 is provided with a second elastic member, and the second elastic member provides a force to force the cut-off valve to move towards the pilot port e7.

[0016] As preferred, a on-off valve group is further included, the on-off valve group is arranged on the oil circuit between the outlet of the load sensing pump and the pilot valve group, and the on-off valve group is used to control the on-off of the oil circuit between the outlet of the load sensing pump and the pilot valve group.

[0017] As preferred, the on-off valve group comprises an on-off directional control valve, the on-off directional control valve has oil inlet c1 and oil outlet c2, the outlet of the load sensing pump is communicated with the oil inlet c1, and the oil outlet c2 is communicated with the oil inlet of the pilot valve group.

[0018] As preferred, the on-off valve group further comprises a check valve, the check valve is arranged on the communication pipeline between the outlet of the load sensing pump and the oil inlet c1, and is configured to be unidirectionally conducted from the outlet of the load sensing pump to the oil inlet c1.

[0019] A photovoltaic panel handling method, applying the photovoltaic panel handling device of any one of the above, the photovoltaic panel handling method comprising the following steps:

[0020] The variable amplitude cylinder and the overturning cylinder respectively control the swing of the fork arm and the fork, so that the fork head is adjusted to a horizontal position.

[0021] The chassis moves, the fork head forks the photovoltaic panel, the luffing cylinder and the turnover cylinder control the swing of the fork arm and the fork respectively, 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 piece, the grabbing piece grabs the photovoltaic panel on the support plate, and the hydraulic motor controls the rotation of the grabbing piece to adjust the position of the photovoltaic panel;

[0023] The machine body rotates relative to the chassis, the working arm assembly is opposite the target installation position, the working arm assembly controls the movement of the grabbing piece, and the photovoltaic panel is transported to the target installation position.

[0024] Advantages:

[0025] The photovoltaic panel transport device provided by the application has the advantages that the chassis has a moving function due to the walking mechanism. The machine body can rotate relative to the chassis to rotate the working arm assembly. The fork arm and the fork are arranged, so that the device has the function of a forklift. The angle of the fork is adjusted by the joint action of the luffing cylinder and the turnover cylinder, so that the fork loading and supporting of the photovoltaic panel are facilitated. The grabbing piece is arranged on the working arm assembly, and the grabbing piece is used to grab the photovoltaic panel. The grabbing piece is flexibly moved by the working arm assembly, and the chassis is moved and the machine body is rotated to realize the transport of the photovoltaic panel. The device is similar to the improvement of a conventional excavator. Compared with a crane, a gantry crane and other hoisting equipment, the device is small in size and flexible in movement, effectively reduces the space limitation on the use of the device, and effectively ensures the applicability. In addition, the device can effectively replace the conventional manual transport of the photovoltaic panel, effectively reduce the consumption of manpower and material resources, improve the transport efficiency, and ensure the reliable and stable transport work.

[0026] The photovoltaic panel transport method provided by the application applies the above-mentioned photovoltaic panel transport device. When working, the fork head is adjusted to a horizontal position by controlling the swing of the fork arm and the fork by the luffing cylinder and the turnover cylinder respectively. Then the chassis is moved under the action of the walking mechanism, the fork is close to the photovoltaic panel to be transported, the fork head forks the photovoltaic panel, the luffing cylinder and the turnover cylinder are controlled again, the support plate is adjusted to a horizontal position by the swing of the fork arm and the fork, and the photovoltaic panel is supported on the support plate. Then the working arm assembly controls the movement of the grabbing piece, and the grabbing piece grabs the photovoltaic panel on the support plate. In this process, the grabbing piece can be rotated 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, the working arm assembly is moved to be opposite the target installation position, and then the grabbing piece is moved by the working arm assembly, so that the grabbing piece finally carries the photovoltaic panel and finally transports the photovoltaic panel to the target installation position, thereby completing the transport work of the photovoltaic panel. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic diagram of a photovoltaic panel carrying device provided by the present application;

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

[0029] Figure 3 is a partial structural schematic diagram of a hydraulic control system provided by the present application;

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

[0031] Figure 5 is a flow schematic diagram of a photovoltaic panel carrying method provided by the present application.

[0032] In the drawings:

[0033] 11, oil tank; 12, load sensing pump; 121, differential variable cylinder; 13, load oil circuit; 141, amplitude reversing valve; 142, overturning reversing valve; 143, motor reversing valve; 144, first compensation valve; 145, second compensation valve; 146, third compensation valve; 151, first on-off valve; 152, second on-off valve; 153, third on-off valve; 154, fourth on-off valve; 155, fifth on-off valve; 156, sixth on-off valve; 161, load sensing 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, slewing platform;

[0036] 4, fork arm;

[0037] 5, fork; 51, fork head; 52, support plate;

[0038] 6, working arm assembly; 61, grabbing member; 62, boom; 63, arm lever; 64, boom cylinder; 65, arm lever cylinder; 66, motor cylinder;

[0039] 71, amplitude cylinder; 72, overturning cylinder; 73, hydraulic motor. DETAILED DESCRIPTION

[0040] The present application will be further described below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are intended to be illustrative only and are not limiting of the present application. In addition, it should be understood that, for the purpose of clarity, only those structures of the application that are relevant to the present application have been shown in the drawings.

[0041] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] In the present application, unless otherwise explicitly specified and limited, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0043] In the description of the present embodiment, the terms "up", "down", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0044] The present embodiment provides a photovoltaic panel carrying device. Referring to Figures 1 to 4As shown, the photovoltaic panel carrying device comprises a hydraulic control system, a chassis 2, a machine body 3, a fork arm 4, a pallet fork 5 and a working arm assembly 6. The chassis 2 is provided with a traveling mechanism 21, the machine body 3 is rotatably arranged on the chassis 2, the pallet fork 5 comprises an L-shaped fork head 51 and a supporting plate 52, the fork arm 4 is hingedly arranged on the chassis 2, the pallet fork 5 is hingedly arranged on the fork arm 4, a luffing cylinder 71 is arranged between the machine body 3 and the fork arm 4, the luffing cylinder 71 is used for controlling the rotation of the fork arm 4, a tilting cylinder 72 is arranged between the fork arm 4 and the pallet fork 5, the tilting cylinder 72 is used for controlling the rotation of the pallet fork 5, the working arm assembly 6 is movably arranged on the machine body 3, an end of the working arm assembly 6 is provided with a grabbing piece 61, a hydraulic motor 73 is arranged between the working arm assembly 6 and the grabbing piece 61, and the hydraulic motor 73 is used for controlling the rotation of the grabbing piece 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 an oil inlet of the load-sensitive pump 12, an oil outlet of the load-sensitive pump 12 is connected to an oil inlet end of the hydraulic control valve group and an oil inlet end of the main valve group, an oil outlet end of the hydraulic control valve group is connected to a hydraulic control end of the main valve group, and an oil outlet end of the main valve group is connected to a rod cavity and a rodless cavity of the luffing cylinder 71, a rod cavity and a rodless cavity of the tilting cylinder 72 and two working oil ports of the hydraulic motor 73.

[0045] In this embodiment, the traveling mechanism 21 enables the chassis 2 to have a moving function. The machine body 3 can rotate relative to the chassis 2 to rotate the working arm assembly 6. The fork arm 4 and the pallet fork 5 are arranged to enable the device to have the function of a forklift. Through the joint action of the luffing cylinder 71 and the tilting cylinder 72, the angle of the pallet fork 5 is adjusted to facilitate the fork loading and supporting of the photovoltaic panel. The grabbing piece 61 is arranged on the working arm assembly 6 and is used for grabbing the photovoltaic panel. Through the flexible movement of the grabbing piece 61 realized by the working arm assembly 6, the moving of the chassis 2 and the rotation of the machine body 3, the carrying work of the photovoltaic panel is realized. The device is similar to the improvement of a conventional excavator. Compared with a crane, a gantry crane and other lifting equipment, the device is small in size and flexible in movement, effectively reduces the limitation of space on its use and effectively ensures the applicability. In addition, the device can effectively replace the conventional manual carrying of the photovoltaic panel, effectively reduce the consumption of manpower and material resources, improve the carrying efficiency and ensure the reliable and stable carrying work.

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

[0047] In this embodiment, the traveling mechanism 21 is arranged as a track.

[0048] In the embodiment, the working arm assembly 6 further comprises a boom 62, a stick 63, a boom cylinder 64, a stick 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 connected with the first end of the stick 63, and the second end of the stick 63 is hingedly connected 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 connected with the machine body 3, and the other is hingedly connected with the boom 62. One of the cylinder body and the cylinder rod of the stick cylinder 65 is hingedly connected with the boom 62, and the other is hingedly connected with the stick 63. One of the cylinder body and the cylinder rod of the motor cylinder 66 is hingedly connected with the stick 63, and the other is hingedly connected with the hydraulic motor 73.

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

[0050] In the embodiment, the main valve group comprises a swing reversing valve 141, a tilt reversing valve 142 and a motor reversing valve 143. The oil outlet of the load-sensitive pump 12 is in communication with the oil inlets of the swing reversing valve 141, the tilt reversing valve 142 and the motor reversing valve 143, respectively. The two working oil outlets of the swing reversing valve 141 are in communication with the rod cavity and the rodless cavity of the swing cylinder 71, respectively. The two working oil outlets of the tilt reversing valve 142 are in communication with the rod cavity and the rodless cavity of the tilt cylinder 72, respectively. The two working oil outlets of the motor reversing valve 143 are in communication with the two working oil outlets of the hydraulic motor 73, respectively. The hydraulic control valve group is used to control the reversing of the swing reversing valve 141, the tilt reversing valve 142 and the motor reversing valve 143. Specifically, the hydraulic control valve group can act on the hydraulic control ends of the swing reversing valve 141, the tilt reversing valve 142 and the motor reversing valve 143 to drive the swing reversing valve 141, the tilt reversing valve 142 and the motor reversing valve 143 to reverse, thereby changing the oil in and out directions of the swing cylinder 71, the tilt cylinder 72 and the hydraulic motor 73, so as to realize the telescopic control of the cylinder rods of the swing cylinder 71 and the tilt 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 variable amplitude 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 turnover cylinder 72 is hinged to the fork arm 4, and the other is hinged to the fork 5. Specifically, the cylinder rod of the variable amplitude cylinder 71 is extended out of the cylinder body, so that the fork arm 4 is turned downward and unfolded relative to the chassis 2; the cylinder rod of the variable amplitude cylinder 71 is retracted into the cylinder body, so that the fork arm 4 is turned upward relative to the chassis 2. The cylinder rod of the turnover cylinder 72 is extended out of the cylinder body, so that the fork 5 can be turned downward relative to the fork arm 4, and the prongs 51 gradually swing toward the horizontal direction; the cylinder rod of the turnover cylinder 72 is retracted into the cylinder body, so that the fork 5 can be turned upward relative to the fork arm 4, and the support plates 52 gradually swing toward the horizontal direction. It can be understood that the prongs 51 and the support plates 52 of the fork 5 are arranged in an L shape, and during the swinging of the prongs 51 toward the horizontal direction, the support plates 52 gradually swing toward the vertical direction; during the swinging of the support plates 52 toward the horizontal direction, the prongs 51 gradually swing toward the vertical direction. Figure 1 The state shown in the figure is the state that the prongs 51 are vertical and the support plates 52 are horizontal, and in this state, the support plates 52 can reliably support the photovoltaic panel.

[0052] In the embodiment, a first compensation valve 144 is arranged on the communication oil path between the variable amplitude reversing valve 141 and the variable amplitude cylinder 71, a second compensation valve 145 is arranged on the communication oil path between the turnover reversing valve 142 and the turnover cylinder 72, and a third compensation valve 146 is arranged on the communication oil path between 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 arranged to control the constant pressure difference between the outlet of each reversing valve and the corresponding load by using the valve after compensation, and then adjust the pressure according to the change of the load, effectively reduce the energy consumption, and realize the adaptive adjustment of the circuit pressure. The connection principle and specific action process of the compensation valve are prior art.

[0053] In the embodiment, the hydraulic control valve group is used to control the reversing of the main valve group, so as to control the extension and retraction of the cylinder rod of the amplitude cylinder 71, the extension and retraction of the cylinder rod of the turnover cylinder 72, and the bidirectional rotation of the output shaft of the hydraulic motor 73. In the embodiment, the hydraulic control valve group includes a first on-off valve 151, a second on-off valve 152, a third on-off valve 153, a fourth on-off valve 154, a fifth on-off valve 155, and a sixth on-off valve 156. The oil outlet of the load-sensitive pump 12 is in communication with the oil inlets of the first on-off valve 151, the second on-off valve 152, the third on-off valve 153, the fourth on-off valve 154, the fifth on-off valve 155, and the sixth on-off valve 156. The amplitude reversing valve 141 has a hydraulic control end e1 and a hydraulic control end e2. The turnover 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 on-off valve 151 is in communication with the hydraulic control end e1. The oil outlet of the second on-off valve 152 is in communication with the hydraulic control end e2. The oil outlet of the third on-off valve 153 is in communication with the hydraulic control end e3. The oil outlet of the fourth on-off valve 154 is in communication with the hydraulic control end e4. The oil outlet of the fifth on-off valve 155 is in communication with the hydraulic control end e5. The oil outlet of the sixth on-off valve 156 is in communication with the hydraulic control end e6. Specifically, the first on-off valve 151 and the second on-off valve 152 are used to control the in-flow direction of the pilot oil at both ends of the amplitude reversing valve 141, and correspondingly control the reversing of the amplitude reversing valve 141. Specifically, when the first on-off valve 151 is opened and the second on-off 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 on-off valve 151, pushes the spool of the amplitude reversing valve 141 to move downward, so that the upper position of the amplitude reversing valve 141 is in the working position, and then the oil outlet of the amplitude reversing valve 141 is in communication with the rodless chamber of the amplitude cylinder 71, and the cylinder rod of the amplitude cylinder 71 is pushed to extend. When the first on-off valve 151 is closed and the second on-off 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 on-off valve 152, pushes the spool of the amplitude reversing valve 141 to move upward, so that the lower position of the amplitude reversing valve 141 is in the working position, and then the oil outlet of the amplitude reversing valve 141 is in communication with the rod chamber of the amplitude cylinder 71, and the cylinder rod of the amplitude cylinder 71 is pushed to retract.When the third switch valve 153 is opened and the fourth switch valve 154 is closed, the hydraulic oil from the outlet of the load sensing pump 12 flows into the hydraulic control end e3 through the third switch valve 153, pushes the spool of the turnover directional valve 142 to move downward, so that the upper position of the turnover directional valve 142 is in the working position, and then the outlet of the turnover directional valve 142 is communicated with the rodless cavity of the turnover cylinder 72, and the cylinder rod of the turnover cylinder 72 is pushed to extend; when the third switch valve 153 is closed and the fourth switch valve 154 is opened, the hydraulic oil from the outlet of the load sensing pump 12 flows into the hydraulic control end e4 through the fourth switch valve 154, pushes the spool of the turnover directional valve 142 to move upward, so that the lower position of the turnover directional valve 142 is in the working position, and then the outlet of the turnover directional valve 142 is communicated with the rod cavity of the turnover cylinder 72, and the cylinder rod of the turnover cylinder 72 is pushed to retract. Figure 3 When the fifth switch valve 155 is opened and the sixth switch valve 156 is closed, the hydraulic oil from the outlet of the load sensing pump 12 flows into the hydraulic control end e5 through the fifth switch valve 155, pushes the spool of the motor directional valve 143 to move downward, so that the upper position of the motor directional valve 143 is in the working position, and then the hydraulic oil can flow through the hydraulic motor 73 in the right-to-left direction, so as to drive the output shaft of the hydraulic motor 73 to rotate in the first direction. Figure 3 When the fifth switch valve 155 is closed and the sixth switch valve 156 is opened, the hydraulic oil from the outlet of the load sensing pump 12 flows into the hydraulic control end e6 through the fifth switch valve 155, pushes the spool of the motor directional valve 143 to move upward, so that the lower position of the motor directional valve 143 is in the working position, and then the hydraulic oil can flow through the hydraulic motor 73 in the left-to-right direction, so as to drive the output shaft of the hydraulic motor 73 to rotate in the second direction opposite to the first direction, thereby realizing the forward and reverse rotation control of the output shaft of the hydraulic motor 73.

[0054] It can be understood that the inlet of the hydraulic control valve group is the 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.

[0055] In the embodiment, the hydraulic control system further comprises a regulating valve group, the oil outlet of the load sensing pump 12 is communicated with the regulating valve group, the regulating valve group is communicated with the load oil circuit 13, and the regulating valve group is driven to act by the oil pressure on the load oil circuit 13 and the oil pressure on 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 on the load oil circuit 13 and the oil pressure on the oil outlet side of the load sensing pump 12 act on the regulating valve group to drive 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 the demand, the efficiency is improved, and the energy waste is reduced.

[0056] In the embodiment, the load oil circuit 13 is communicated with the load end of the carrying device, i.e. the oil pressure in the boom cylinder 64, the stick cylinder 65, the motor cylinder 66, the luffing cylinder 71, the turnover cylinder 72 and the hydraulic motor 73. It can be communicated with the oil load end of the above structure by the way of communicating oil pipe and finally gathered to the load oil circuit 13.

[0057] Specifically, the adjusting valve group comprises a load-sensitive valve 161, the load-sensitive valve 161 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 12 is communicated with the hydraulic control end e5 and the working oil port a1, the working oil port a2 is communicated with the oil tank 11, the load oil circuit 13 is communicated with the hydraulic control end e6, the hydraulic control end e6 is provided with a first elastic member 1611, the first elastic member 1611 provides a force for forcing the load-sensitive valve 161 to move towards the hydraulic control end e5; the swash plate of the load-sensitive pump 12 is connected with the piston of the differential variable cylinder 121, the oil outlet of the load-sensitive pump 12 is communicated with the rod cavity of the differential variable cylinder 121, and the working oil port a3 is communicated with the rodless cavity of the differential variable cylinder 121. Specifically, since the hydraulic control end e5 is communicated with the oil outlet of the load-sensitive pump 12, the oil pressure acting on the hydraulic control end e5 is the oil pressure of the hydraulic system itself. The first elastic member 1611 and the load oil circuit 13 on one side of the hydraulic control end e6 provide a resultant force to the hydraulic control end e6, and the force between the resultant force and the oil pressure of the system acting on the hydraulic control end e5 affects the position of the spool of the load-sensitive valve 161. Specifically, when the oil pressure of the system on one side of the hydraulic control end e5 is greater than the resultant force of the first elastic member 1611 and the load oil circuit 13 on one side of the hydraulic control end e6, it is equivalent to that the oil pressure of the load oil circuit 13 is smaller, at this time, the spool 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 pass through the working oil port a1 and the working oil port a3 and enter the rodless cavity of the differential variable cylinder 121, and the cylinder rod of the differential variable cylinder 121 moves to the right, thereby driving the swash plate of the load-sensitive pump 12 to become smaller, corresponding to reducing the displacement of the load-sensitive pump 12; when the resultant force of the first elastic member 1611 and the load oil circuit 13 on one side of the hydraulic control end e6 is greater than the oil pressure of the system on one side of the hydraulic control end e5, it is equivalent to that the oil pressure of the load oil circuit 13 is larger, at this time, the spool 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 the hydraulic oil in the rod cavity 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, and the cylinder rod of the differential variable cylinder 121 moves to the left, thereby driving the swash plate of the load-sensitive pump 12 to become larger, corresponding to increasing the displacement of the load-sensitive pump 12.

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

[0059] In the embodiment, the adjusting valve group further comprises a cut-off valve 162, the cut-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 sensing pump 12 is communicated with the hydraulic control end e7 and the working oil port b1, the working oil port b3 is communicated with the working oil port b2, the working oil port b2 is communicated with the rod cavity of the differential variable cylinder 121, the control end e8 is provided with a second elastic element 1621, and the second elastic element 1621 provides a force for forcing the cut-off valve 162 to move towards the hydraulic control end e7. Specifically, the rigidity of the second elastic element 1621 is set to be greater than that of the first elastic element 1611. Specifically, when the system oil pressure acting on the hydraulic control end e5 has been able to push the load sensing valve 161 to switch, the system oil pressure acting on the hydraulic control end e7 cannot push the cut-off valve 162 to switch. For details, refer to Figure 4 As shown, the force of the second elastic element 1621 acting on the control end e8 makes the spool of the cut-off valve 162 always have a tendency to move to the right, so that the left position of the spool of the cut-off valve 162 is normally 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 conductive state, at this time, it is equivalent to that the load sensing valve 161 controls 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 element 1621 acting on the control end e8, at this time, it indicates that the system oil pressure is too large, the hydraulic oil acting on the hydraulic control end e7 will push the spool 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 and the working oil port b3 are cut off, and the load sensing valve 161 no longer works. At this time, the hydraulic oil from the outlet of the load sensing pump 12 passes through the working oil port b3 and the working oil port b3 to the rodless cavity of the differential variable cylinder 121, and pushes the cylinder rod of the differential variable cylinder 121 to move to the right, so as to drive the swash plate angle of the load sensing pump 12 to be smaller, corresponding to the load sensing pump 12 to be smaller, so as to avoid the system oil pressure to be in a long-term state of being too large.

[0060] In the embodiment, the adjusting valve group can further comprise a power control valve, and the control principle of the power control valve is similar to that of the cut-off valve 162. When the system power is too large, the power control valve can switch the oil path to make the cylinder rod of the differential variable cylinder 121 move to the right, so as to drive the swash plate angle of the load sensing pump 12 to be smaller, corresponding to the load sensing pump 12 to be smaller.

[0061] In the system, the pressure cut-off is prior to the power control, and the power control is prior to the load sensing.

[0062] Optionally, the second elastic element 1621 is a spring.

[0063] In the embodiment, the hydraulic control system further comprises an on-off valve group, which is arranged on an oil circuit between the oil outlet of the load sensing pump 12 and the hydraulic control valve group, and is configured 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 arranging 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 comprises an on-off directional control valve 171, which has an oil inlet c1 and an oil outlet c2, the oil outlet of the load sensing pump 12 is communicated with the oil inlet c1, and the oil outlet c2 is communicated with the oil inlet end of the hydraulic control valve group. Specifically, Figure 4 When the oil inlet c1 and the oil outlet c2 of the on-off directional control valve 171 are in the disconnected state, the oil circuit between the oil outlet of the load sensing pump 12 and the hydraulic control valve group is in the cut-off state. When the on-off directional control valve 171 is controlled to change direction, the spool of the on-off directional control valve 171 moves upward, so that the lower part of the on-off directional control valve 171 is in the working position, the oil inlet c1 and the oil outlet c2 are connected, and 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, i.e., the oil inlets of the first, second, third, fourth, fifth and sixth on-off valves 151, 152, 153, 154, 155 and 156.

[0065] Optionally, the on-off directional control valve 171 is an electromagnetic directional control valve.

[0066] Further, the on-off valve group further comprises a check valve 172, which is arranged on a communication pipeline between the oil outlet of the load sensing pump 12 and the oil inlet c1, and is configured to be unidirectionally communicated from the oil outlet of the load sensing pump 12 to the oil inlet c1. The arrangement of the check valve 172 can effectively prevent the backflow of oil 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 pilot oil.

[0067] In the embodiment, the grabbing member 61 can be arranged in a clamping jaw structure or a negative pressure suction head structure, which is not limited here.

[0068] Referring to Figures 1 to 5 The embodiment also provides a photovoltaic panel carrying method. The photovoltaic panel carrying method comprises the photovoltaic panel carrying device.

[0069] The amplitude cylinder 71 and the overturning cylinder 72 control the oscillation of the fork arm 4 and the fork 5 respectively, so that the fork head 51 is adjusted to a horizontal position;

[0070] The chassis 2 moves, the fork head 51 forks the photovoltaic panel, the amplitude cylinder 71 and the overturning cylinder 72 control the oscillation of the fork arm 4 and the fork 5 respectively, so that the supporting plate 52 is adjusted to a horizontal position, and the photovoltaic panel is supported on the supporting plate 52.

[0071] The working arm assembly 6 controls the movement of the grabbing member 61 to grab 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.

[0072] The body 3 rotates relative to the chassis 2 to make the working arm assembly 6 face the target installation position, and the working arm assembly 6 controls the movement of the grabbing member 61 to carry the photovoltaic panel to the target installation position.

[0073] In the embodiment, during the operation, first, the luffing cylinder 71 and the tilting cylinder 72 are controlled to swing the fork arm 4 and the fork 5 respectively, so that the fork head 51 is adjusted to the horizontal position, then the chassis 2 is moved under the action of the traveling mechanism 21 to make the fork 5 close to the photovoltaic panel to be carried, and finally the fork head 51 of the fork 5 forks the photovoltaic panel, then the luffing cylinder 71 and the tilting cylinder 72 are controlled again to adjust the support plate 52 to the horizontal position through 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 movement of the grabbing member 61 to grab the photovoltaic panel on the support plate 52, and in this process, the hydraulic motor 73 can be used to control the rotation of the grabbing member 61 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 face the target installation position, 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 carries the photovoltaic panel to the target installation position, completing the carrying work of the photovoltaic panel.

[0074] Specifically, adjusting the fork head 51 to the horizontal position specifically means that the cylinder rod of the luffing cylinder 71 is retracted in the cylinder body, and the cylinder rod of the turnover cylinder 72 is extended out of the cylinder body, so that the fork arm 4 is rotated upward and folded relative to the chassis 2, and the pallet fork 5 can be rotated downward relative to the fork arm 4. The above movement process can make the fork head 51 gradually swing in the horizontal direction, and can also make the fork head 51 as a whole closer to the machine body 3, thereby reducing the distance between the pallet fork 5 and the machine body 3 during the forking process, maintaining the center of gravity, and ensuring the reliability and stability of the photovoltaic panel carrying device as a whole. Adjusting the support plate 52 to the horizontal position specifically means that the cylinder rod of the luffing cylinder 71 is extended out of the cylinder body, and the cylinder rod of the turnover cylinder 72 is retracted in the cylinder body, so that the fork arm 4 is rotated downward and unfolded relative to the chassis 2, and the pallet fork 5 can be rotated upward relative to the fork arm 4. The above movement process can realize reliable support of the photovoltaic panel on the support plate 52 after the pallet fork 5 forks the photovoltaic panel, and can also increase the distance between the machine body 3 and the pallet fork 5 to some extent, so that the pallet fork 5 is appropriately away from the machine body 3 and closer to the working area of the working arm assembly 6, thereby facilitating effective grabbing of the working arm assembly 6. It can be understood that the machine body 3 is generally provided with a cab, and the operator observes and operates the photovoltaic panel carrying device in the cab. The action of appropriately moving the pallet fork 5 away from the machine body 3 can also increase the distance between the driver and the grabbing part 61, i.e., the photovoltaic panel, widen the driver's field of view, reduce the driver's blind area, and ensure that the operation can be carried out more safely and reliably.

[0075] It can be understood that when the photovoltaic panel is supported on the support plate 52, the photovoltaic panel carrying device has already carried the photovoltaic panel. At this time, the device as a whole can be moved to one side of the target installation position through the walking mechanism 21, and then moved through the working arm assembly 6, the rotation of the machine body 3 relative to the chassis 2 controls the movement of the grabbing part 61, and finally the photovoltaic panel is carried to the target installation position.

[0076] Specifically, the hydraulic motor 73 controls the rotation of the grabbing part 61 to adjust the position of the photovoltaic panel. Generally, the photovoltaic panel is generally rectangular in structure, and the position of the grabbing part 61 is adjusted through the movement of the working arm assembly 6 and the action of the hydraulic motor 73, so that the two long sides of the photovoltaic panel are adjusted to be perpendicular to the ground, thereby reducing the occupation of the photovoltaic panel to the horizontal space and reducing the damage risk to the photovoltaic panel during movement.

[0077] Specifically, if the chassis 2 and the target installation position are arranged at an angle, the machine body 3 can be rotated by the appropriate angle through the rotary table 31, so that the machine body 3 is directly opposite 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 position can be a mounting bracket for supporting the photovoltaic panel.

[0079] It is worth mentioning that the process of the working arm assembly 6 controlling the movement of the grabbing piece 61 combines the swing of the movable arm 62, the bucket arm 63 and the hydraulic motor 73, that is, the cooperation of the movable arm cylinder 64, the bucket arm cylinder 65 and the motor cylinder 66, so as to realize the reliable and effective movement process of the grabbing piece 61.

[0080] Obviously, the above-mentioned embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present application. Here, it is not necessary and also impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A photovoltaic panel handling device, characterized in that, Including hydraulic control system, chassis (2), body (3), fork arm (4), fork (5) and working arm assembly (6); Among them, The chassis (2) is provided with a running mechanism (21), the body (3) is rotatably arranged on the chassis (2), the fork (5) comprises a fork head (51) and a support plate (52) arranged in 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 luffing cylinder (71) is arranged between the chassis (2) and the fork arm (4), the luffing cylinder (71) is used for controlling the rotation of the fork arm (4), a turnover cylinder (72) is arranged between the fork arm (4) and the fork (5), the turnover cylinder (72) is used for controlling the rotation of the fork (5), the working arm assembly (6) is movably arranged on the body (3), an end of the working arm assembly (6) is provided with a grabbing piece (61), a hydraulic motor (73) is arranged between the working arm assembly (61) and the grabbing piece (61), the hydraulic motor (73) is used for controlling the rotation of the grabbing piece (61); The hydraulic control system is arranged on the 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 communicated with the oil inlet of the load-sensitive pump (12), the oil outlet of the load-sensitive pump (12) is communicated with 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 communicated with the hydraulic control end of the main valve group, and the oil outlet end of the main valve group is communicated with the rod cavity and the rodless cavity of the luffing cylinder (71), the rod cavity and the rodless cavity of the turnover cylinder (72) and the two working oil ports of the hydraulic motor (73); The main valve group comprises a luffing directional valve (141), a turnover directional valve (142) and a motor directional valve (143), the oil outlet of the load-sensitive pump (12) is respectively communicated with the oil inlet of the luffing directional valve (141), the turnover directional valve (142) and the motor directional valve (143), the two working oil ports of the luffing directional valve (141) are respectively communicated with the rod cavity and the rodless cavity of the luffing cylinder (71), the two working oil ports of the turnover directional valve (142) are respectively communicated with the rod cavity and the rodless cavity of the turnover cylinder (72), and the two working oil ports of the motor directional valve (143) are respectively communicated with the two working oil ports of the hydraulic motor (73); The hydraulic control valve group is used for controlling the directional change of the luffing directional valve (141), the turnover directional valve (142) and the motor directional valve (143). The hydraulic control system further comprises a load sensing pump (12), a load oil path (13), a load sensing pump control valve (14), 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), a sixth switch valve (156), a variable amplitude directional valve (141), a flip directional valve (142), a motor directional valve (143), a regulating valve group, and a load sensing valve (161). The variable amplitude directional valve (141) has a hydraulic control end e1 and a hydraulic control end e2, the flip directional valve (142) has a hydraulic control end e3 and a hydraulic control end e4, the motor directional valve (143) has a hydraulic control end e5 and a hydraulic control end e6, the outlet of the first switch valve (151) is communicated with the hydraulic control end e1, the outlet of the second switch valve (152) is communicated with the hydraulic control end e2, the outlet of the third switch valve (153) is communicated with the hydraulic control end e3, the outlet of the fourth switch valve (154) is communicated with the hydraulic control end e4, the outlet of the fifth switch valve (155) is communicated with the hydraulic control end e5, and the outlet of the sixth switch valve (156) is communicated with the hydraulic control end e6.

2. The photovoltaic panel handling device of claim 1, wherein, The hydraulic control system further comprises a regulating valve group, the outlet of the load sensing pump (12) is communicated with the regulating valve group, the regulating valve group is communicated with the load oil path (13), and the regulating valve group is driven by the oil pressure on the outlet side of the load sensing pump (12) and the load oil path (13) to act, so as to adjust the displacement of the load sensing pump (12).

3. The photovoltaic panel handling device of claim 2, wherein, The regulating valve group comprises a load sensing valve (161), the load sensing valve (161) 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 outlet of the load sensing pump (12) is communicated with the hydraulic control end e5 and the working oil port a1 of the load sensing valve (161), the working oil port a2 is communicated with the oil tank (11), the load oil path (13) is communicated with the hydraulic control end e6 of the load sensing valve (161), the hydraulic control end e6 of the load sensing valve (161) is provided with a first elastic member (1611), and the first elastic member (1611) provides a force for moving the load sensing valve (161) towards the hydraulic control end e5 of the load sensing valve (161); The swash plate of the load sensing pump (12) is connected with a piston of a differential variable cylinder (121), the outlet of the load sensing pump (12) is communicated with a rod cavity of the differential variable cylinder (121), and the working oil port a3 is communicated with a rodless cavity of the differential variable cylinder (121).

4. The photovoltaic panel handling device of claim 3, wherein, The adjusting valve group further comprises a cut-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 sensing pump (12) is communicated with the hydraulic control end e7 and the working oil port b1, the working oil port b2 is communicated with the working oil port a3, the working oil port b3 is communicated with the rodless cavity of the differential variable cylinder (121), the control end e8 is provided with a second elastic element (1621) providing a force for moving the cut-off valve (162) towards the hydraulic control end e7.

5. The photovoltaic panel handling device of claim 1, wherein, Further comprising an on-off valve group arranged on an oil circuit between the oil outlet of the load sensing pump (12) and the hydraulic control valve group, for controlling the on-off of the oil circuit between the oil outlet of the load sensing pump (12) and the hydraulic control valve group.

6. The photovoltaic panel handling device of claim 5, wherein, The on-off valve group comprises an on-off directional control valve (171) having an oil inlet c1 and an oil outlet c2, the oil outlet of the load sensing pump (12) is communicated with the oil inlet c1, and the oil outlet c2 is communicated with the oil inlet end of the hydraulic control valve group.

7. The photovoltaic panel handling device of claim 6, wherein, The on-off valve group further comprises a check valve (172) arranged on a communication pipeline between the oil outlet of the load sensing pump (12) and the oil inlet c1, and configured to be unidirectionally conducted from the oil outlet of the load sensing pump (12) to the oil inlet c1.

8. A method for handling photovoltaic panels, using a handling device according to any one of claims 1-7, characterized in that, The photovoltaic panel carrying method comprises the following steps: The amplitude cylinder (71) and the turnover cylinder (72) control the swing of the fork arm (4) and the fork (5) respectively, so that the fork head (51) is adjusted to a horizontal position; The chassis (2) moves, the fork head (51) forks the photovoltaic panel, the amplitude cylinder (71) and the turnover cylinder (72) control the swing of the fork arm (4) and the fork (5) respectively, 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 part (61), so that the grabbing part (61) grabs the photovoltaic panel on the support plate (52), and the hydraulic motor (73) controls the rotation of the grabbing part (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 part (61) to carry the photovoltaic panel to the target installation position.

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