Photovoltaic paving equipment

Abstract

The invention discloses photovoltaic paving equipment, and belongs to the technical field of photovoltaics. The photovoltaic paving equipment comprises two walking mechanisms, a pitch changing mechanism and a grabbing mechanism, the pitch changing mechanism is arranged between the two walking mechanisms and has a folded state and an unfolded state, and the grabbing mechanism is arranged on the pitch changing mechanism; wherein when the distance changing mechanism is in the folded state, the distance between the two walking mechanisms is D1, when the distance changing mechanism is in the unfolded state, the grabbing mechanism is used for taking and placing a photovoltaic module, the distance between the two walking mechanisms is D2, and D1 is smaller than D2. And the distance between the two walking mechanisms is adjusted by utilizing the folding state and the unfolding state of the variable-pitch mechanism, so that the dual requirements of transportation and operation are met.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic technology, and particularly relates to a photovoltaic paving device. Background Art

[0002] With the rapid development of photovoltaic technology, the laying scale of photovoltaic modules has been continuously expanding. Especially for centralized photovoltaics, not only are the individual photovoltaic modules large in size, but they also often need to be installed in areas with sufficient sunlight but low land utilization rates (such as gobi, tidal flats, and mountains, etc.). The current paving methods have problems such as being time-consuming and laborious, and difficult in handling and turnover. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application proposes a photovoltaic paving device that adjusts the distance between two traveling mechanisms by using the folded state and the unfolded state of a variable-distance mechanism, taking into account the dual requirements of transportation and operation.

[0004] In terms of folding, this application provides a photovoltaic paving device, including:

[0005] Two traveling mechanisms;

[0006] A variable-distance mechanism, arranged between the two traveling mechanisms and having a folded state and an unfolded state,

[0007] A grasping mechanism, arranged on the variable-distance mechanism; wherein,

[0008] In the folded state of the variable-distance mechanism, the distance between the two traveling mechanisms is D1, and in the unfolded state of the variable-distance mechanism, the grasping mechanism is used to pick up and place photovoltaic modules, and the distance between the two traveling mechanisms is D2, and D1 < D2.

[0009] According to the photovoltaic paving device of this application, on the one hand, in the folded state, the distance between the two traveling mechanisms is small, so that the entire photovoltaic paving device is as compact as possible, reducing the occupied size, thereby facilitating transportation and turnover and passing through relatively narrow and uneven terrains (such as mountainous areas, forest lands, or temporary passages within a construction site, etc.), improving the adaptability and flexibility of the photovoltaic paving device; on the other hand, in the unfolded state, the distance between the two traveling mechanisms is large, which not only expands the operation range of paving photovoltaic modules, but also facilitates walking outside both sides of the photovoltaic brackets for fixing photovoltaic modules, reducing interference while facilitating the paving of photovoltaic modules by the grasping mechanism and providing more stable support, especially on uneven ground or in complex environments, improving the accuracy and safety during paving.

[0010] According to an embodiment of this application, the variable-distance mechanism includes:

[0011] Two first support members, respectively corresponding to and connected to the two traveling mechanisms one by one;

[0012] Two second support members, the two second support members are sequentially distributed, one end of one of the second support members is movably connected to one end of the other second support member, one end of one of the second support members is rotatably connected to one of the first support members, and the other end of the other second support member is rotatably connected to the other first support member; wherein,

[0013] In the folded state, the extending direction of the first support member and the extending direction of the second support member intersect;

[0014] In the unfolded state, the extending direction of the first support member and the extending direction of the second support member are parallel.

[0015] According to an embodiment of the present application, the variable pitch mechanism further includes:

[0016] A third support member, respectively rotatably connected to the two second support members and parallel to the extending direction of the first support member; wherein,

[0017] The grasping mechanism can be arranged on the third support member.

[0018] According to an embodiment of the present application,

[0019] In the folded state, along the direction close to the traveling mechanism, the first support member, the second support member, and the third support member are sequentially distributed.

[0020] According to an embodiment of the present application, it further includes:

[0021] A holding assembly, the holding assembly is arranged between the two second support members and between the second support member and the first support member, at least for maintaining the variable pitch mechanism in the unfolded state.

[0022] According to an embodiment of the present application, the first support member is located above the traveling mechanism, and the height of the first support member is adjustable.

[0023] According to an embodiment of the present application, the grasping mechanism includes:

[0024] An adsorption assembly, used for adsorbing or releasing the photovoltaic module;

[0025] A driving assembly, the driving assembly is arranged between the adsorption assembly and the variable pitch mechanism, and is used for adjusting the pose of the adsorption assembly.

[0026] According to an embodiment of the present application, it further includes:

[0027] A carrying mechanism is provided on one of the traveling mechanisms. One side of the carrying mechanism away from the traveling mechanism has two mating surfaces connected at an angle, and the photovoltaic module is placed on one of the mating surfaces and is in limit fit with the other mating surface.

[0028] According to an embodiment of the present application, the carrying mechanism includes:

[0029] A carrying platform having the mating surface;

[0030] An adjusting assembly is provided between the carrying platform and the traveling mechanism for adjusting the position and pose of the carrying platform.

[0031] According to an embodiment of the present application, the adjusting assembly includes:

[0032] A base, and the base is provided on the traveling mechanism;

[0033] At least one limiting member is rotatably provided on the base and is in sliding fit with the side of the carrying platform away from the mating surface for adjusting the angle formed between the mating surface and the base;

[0034] A first rotation driving member, the fixed end of the first rotation driving member is provided on the base, and the output end of the first rotation driving member is connected to at least one of the limiting members for driving the corresponding limiting member to rotate.

[0035] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present application. Description of the Drawings

[0036] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0037] Figure 1 is one of the structural diagrams of the photovoltaic paving device provided by the embodiment of the present application in the folded state;

[0038] Figure 2 is the second structural diagram of the photovoltaic paving device provided by the embodiment of the present application in the folded state;

[0039] Figure 3 is the structural diagram of the photovoltaic paving device provided by the embodiment of the present application in the deployed state when laying the photovoltaic module;

[0040] Figure 4 is one of the structural diagrams of the photovoltaic paving device provided by the embodiment of the present application in the deployed state;

[0041] Figure 5 This is the second schematic structural diagram of the photovoltaic paving device provided by the embodiment of the present application in the deployed state.

[0042] Reference numerals:

[0043] 10, photovoltaic module; 20, photovoltaic support; 30, vehicle;

[0044] 100, traveling mechanism; 110, bottom plate; 120, universal wheel;

[0045] 200, variable pitch mechanism; 210, first support member; 220, second support member; 230, third support member; 240, hinge; 250, connecting member; 260, lifting drive member;

[0046] 300, grasping mechanism; 310, adsorption assembly;

[0047] 320, drive assembly; 321, first drive member; 322, second drive member; 323, third drive member; 324, fourth drive member; 325, fifth drive member;

[0048] 400, holding assembly;

[0049] 500, carrying mechanism;

[0050] 510, carrying platform; 511, mating surface; 512, chute;

[0051] 520, adjusting assembly;

[0052] 521, base; 522, limiting member; 523, first rotation drive member; 524, second rotation drive member;

[0053] 600, control system. Detailed implementation manners

[0054] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.

[0055] The following references Figures 1 - 5 Describe the photovoltaic paving device provided by the embodiment of the present application. The photovoltaic paving device includes two traveling mechanisms 100, a variable pitch mechanism 200, and a grasping mechanism 300.

[0056] The variable-spacing mechanism 200 is disposed between two traveling mechanisms 100 and has a folded state and an unfolded state; the grasping mechanism 300 is disposed on the variable-spacing mechanism 200; wherein, in the folded state of the variable-spacing mechanism 200, the distance between the two traveling mechanisms 100 is D1, and in the unfolded state of the variable-spacing mechanism 200, the grasping mechanism 300 is used to pick and place the photovoltaic module 10, and the distance between the two traveling mechanisms 100 is D2, and D1 < D2.

[0057] It can be understood that, on the one hand, in the folded state, the distance between the two traveling mechanisms 100 is small, so that the entire photovoltaic paving device is as compact as possible, reducing the occupied size, thereby facilitating transportation and turnover and passing through relatively narrow and uneven terrains (such as mountainous areas, forest lands or temporary passages in construction sites, etc.), improving the adaptability and flexibility of the photovoltaic paving device; on the other hand, in the unfolded state, the distance between the two traveling mechanisms 100 is large, which not only expands the operation range of paving the photovoltaic module 10, but also facilitates walking outside both sides of the photovoltaic bracket 20 for fixing the photovoltaic module 10, reducing interference while facilitating the paving of the photovoltaic module 10 by the grasping mechanism 300 and providing more stable support, especially on uneven ground or in complex environments, improving the accuracy and safety during paving.

[0058] It should be noted that, in this embodiment, as Figure 3 shown, in the unfolded state, the photovoltaic bracket 20 is located between the two traveling mechanisms 100 along the second direction, so as to realize the span of the photovoltaic paving device on the photovoltaic bracket 20, that is, the distance between the two traveling mechanisms 100 refers to the vertical distance along the second direction between the two traveling mechanisms 100. Of course, in other embodiments, both of the two traveling mechanisms 100 may also be located outside one side of the photovoltaic bracket 20 along the second direction, that is, the two traveling mechanisms 100 are arranged at intervals along the first direction, that is, the distance between the two traveling mechanisms 100 refers to the vertical distance along the first direction between the two traveling mechanisms 100.

[0059] According to the photovoltaic paving device provided by the embodiment of the present application, by using the folded state and the unfolded state of the variable-spacing mechanism 200, the distance between the two traveling mechanisms 100 is adjusted, taking into account the dual requirements of transportation and operation.

[0060] In some embodiments, such as Figure 5As shown, the traveling mechanism 100 includes a bottom plate 110 and at least one universal wheel 120, and the universal wheel 120 is disposed at the bottom of the bottom plate 110. That is, the traveling mechanism 100 adopts a wheeled traveling mechanism, and the rotation of the universal wheel 120 drives the movement of the bottom plate 110, improving the flexibility and the usage range of the photovoltaic paving device. Exemplarily, a plurality of universal wheels 120 are provided, and the plurality of universal wheels 120 are respectively disposed at the four corners of the bottom plate 110 to ensure the stability of movement. Of course, in other embodiments, the traveling mechanism 100 may also adopt a crawler-type traveling mechanism, and the present embodiment does not make specific limitations thereto. Exemplarily, D1 = 0, that is, in the folded state, the two bottom plates 110 are in abutting cooperation, so as to minimize the floor area occupied by the photovoltaic paving device as much as possible.

[0061] In some embodiments, as Figure 1 and Figure 2 shown, in the folded state, in the third direction, the projection of the grasping mechanism 300 is located within the outer contour formed by the projections of the two traveling mechanisms 100, so as to minimize the space occupied by the photovoltaic paving device as much as possible and make the entire photovoltaic paving device as compact as possible.

[0062] It should be noted that, as Figure 3 shown, the first direction, the second direction, and the third direction intersect pairwise.

[0063] In some embodiments, as Figures 1 to 5 shown, the pitch-changing mechanism 200 includes two first support members 210 and two second support members 220. The two first support members 210 are respectively corresponding to and connected with the two traveling mechanisms 100; the two second support members 220 are sequentially distributed, one end of one second support member 220 is movably connected to one end of the other second support member 220, the other end of one second support member 220 is rotatably connected to one of the first support members 210, and the other end of the other second support member 220 is rotatably connected to the other first support member 210. Wherein, in the folded state, the extending directions of the first support member 210 and the second support member 220 intersect; in the unfolded state, the extending directions of the first support member 210 and the second support member 220 are parallel.

[0064] It can be understood that one of the first support members 210, one of the second support members 220, the other second support member 220, and the other first support member 210 are arranged in sequence. By movably connecting between one ends of the two second support members 220 and rotatably connecting between the other ends of the two first support members 210 and the corresponding second support members 220, the extension direction of the second support members 220 is changed, so as to realize the switching between the unfolded state and the folded state. That is, in the folded state, the extension directions of the first support members 210 and the second support members 220 intersect, so that the distance between the two first support members 210 becomes smaller, and further the distance between the two traveling mechanisms 100 becomes as small as possible, realizing that the photovoltaic paving device forms a compact structure; in the unfolded state, the extension direction of the first support members 210 is parallel to the extension direction of the second support members 220, so that the distance between the two traveling mechanisms 100 becomes as large as possible, facilitating providing a larger working range and stability for the grasping mechanism 300.

[0065] It should be noted that the extension direction of the first support member 210 being parallel to the extension direction of the second support member 220 means that the parallel error between the two is less than 5%, that is, considering the error in the production and processing process and the wear during subsequent long-term use, it is basically parallel between the two. In this embodiment, as Figures 1 to 5 shown, in the unfolded state, the extension directions between the first support members 210 and the second support members 220 coincide to form a straight line, so as to further ensure the stability of the distance-changing mechanism 200 in the unfolded state.

[0066] In this embodiment, as Figures 1 to 5 shown, the two first support members 210 are respectively arranged on the two bottom plates 110 and always extend along the second direction, and the mutually close ends of the two second support members 220 are movably connected to each other. The second support members 220 and the corresponding first support members 210 rotate around the first axis, and the first axis is parallel to the first direction.

[0067] In some embodiments, as Figures 1 to 5 shown, the distance-changing mechanism 200 further includes a third support member 230. The third support member 230 is respectively rotatably connected to the two second support members 220 and is parallel to the extension direction of the first support member 210; wherein,

[0068] the grasping mechanism 300 can be arranged on the third support member 230. Of course, in other embodiments, the movable connection between the two second support members 220 can also be directly realized by means of telescoping, and this embodiment does not limit this.

[0069] It can be understood that one of the first support members 210, one of the second support members 220, the third support member 230, the other second support member 220, and the other first support member 210 are sequentially rotatably connected, which not only realizes the change in the extension direction of the second support member 220 in the folded state and the unfolded state, but also enhances the stability of the variable pitch mechanism 200. In addition, the grasping mechanism 300 is arranged on the third support member 230 in the folded state, so that the grasping mechanism 300 can be properly stored while reducing the interference between the grasping mechanism 300 and the second support member 220, improving the overall compactness of the photovoltaic paving device and increasing the reliability of the use of the photovoltaic paving device.

[0070] In this embodiment, as Figure 1 and Figure 2 shown, both between the first support member 210 and the second support member 220 and between the second support member 220 and the third support member 230 rotate relative to the first axis through the hinge 240. The third support member 230 extends along the second direction; in the folded state, the second support member 220 extends along the third direction, and the first direction, the second direction, and the third direction are perpendicular to each other in pairs to improve the overall stability of the variable pitch mechanism 200 in the folded state.

[0071] In some embodiments, as Figure 1 and Figure 2 shown, in the folded state, along the direction close to the traveling mechanism 100, the first support member 210, the second support member 220, and the third support member 230 are sequentially distributed.

[0072] It can be understood that in the folded state, the third support member 230 is located on the side of the second support member 220 away from the first support member 210, that is, the third support member 230 and the traveling mechanism 100 are on the same side of the second support member 220, so that the size of the entire photovoltaic paving device in the third direction can be further compacted in the folded state, reducing the overall center of gravity of the photovoltaic paving device and improving the reliability and stability of the photovoltaic paving device.

[0073] In this embodiment, as Figure 1 and Figure 2 shown, the third direction is parallel to the up-down direction, and in the folded state, the first support member 210, the second support member 220, the third support member 230, and the traveling mechanism 100 are arranged in sequence from top to bottom.

[0074] In some embodiments, as Figures 3 - 5 shown, in the unfolded state, the outer side walls of the first support member 210, the second support member 220, and the third support member 230 form a continuous plane correspondingly.

[0075] It can be understood that in the deployed state, along the first direction, the outer walls of the first support member 210, the corresponding outer walls of the second support member 220, and the corresponding outer walls of the third support member 230 are spliced to form a continuous plane. This not only improves the stability of the variable pitch mechanism 200 in the deployed state but also facilitates the subsequent gripper mechanism 300 to move relative to the plane along the second direction, enhancing the paving range and efficiency. Similarly, along the third direction, the outer walls of the first support member 210, the corresponding outer walls of the second support member 220, and the corresponding outer walls of the third support member 230 are spliced to form a continuous plane, which not only improves the stability of the variable pitch mechanism 200 in the deployed state but also facilitates the subsequent gripper mechanism 300 to move relative to the plane along the second direction, enhancing the paving range and efficiency.

[0076] It should be noted that the continuous plane means that in the deployed state, the outer side walls of the first support member 210, the outer side walls of the second support member 220, and the outer side walls of the third support member 230 are connected in sequence and are basically at the same height. Considering the errors in the production and processing process and the wear during subsequent long-term use, the angular error and the interval error between the outer side walls of the first support member 210, the outer side walls of the second support member 220, and the outer side walls of the third support member 230 are respectively less than 5%.

[0077] In some embodiments, as Figures 3 - 5 shown, the photovoltaic paving device further includes a holding assembly 400. The holding assembly 400 is provided between two second support members 220 and between the second support member 220 and the first support member 210, at least for maintaining the variable pitch mechanism 200 in the deployed state. Exemplarily, the holding assembly 400 can be implemented in a completely mechanical manner, such as by manually operating mechanical structures such as bolts, pins, latches, or ratchet mechanisms to lock and unlock the positions between adjacent support members (including the first support member 210, the second support member 220, and the third support member 230); or it can be implemented by combining hydraulic, pneumatic, or electrical means with mechanical structures to automatically lock and unlock the positions between adjacent support members.

[0078] It can be understood that the holding assembly 400 is provided between the first support member 210 and the second support member 220 and between the second support member 220 and the third support member 230, so as to ensure that the extending directions of the first support member 210, the second support member 220, and the third support member 230 coincide to form a straight line in the deployed state, ensuring the stability of the variable pitch mechanism 200 when the gripper mechanism 300 is operating.

[0079] In this embodiment, as Figures 3 - 5 shown, the holding assembly 400 includes a cylinder and a bolt. The reciprocating movement of the bolt is driven by the cylinder to lock and unlock the relative positions between adjacent support members.

[0080] In some embodiments, such as Figures 1 to 5 shown, the first support member 210 is located above the traveling mechanism 100, and the height of the first support member 210 is adjustable. This can not only reduce the size of the photovoltaic paving device in the vertical direction in the folded state, making the structure of the photovoltaic paving device as compact as possible, but also adjust the distance between the grasping mechanism 300 and the photovoltaic bracket 20 in the unfolded state, improving the flexibility of the photovoltaic paving device in use and enhancing the paving efficiency and quality.

[0081] In some embodiments, such as Figures 1 to 5 shown, the distance-changing mechanism 200 further includes two connecting members 250 and a lifting driving member 260. The traveling mechanism 100, the connecting members 250, and the first support member 210 are in one-to-one correspondence and are connected in sequence. The first support member 210 and the traveling mechanism 100 are spaced apart in the vertical direction. The connecting member 250 includes a vertical beam and a lifting beam. The vertical beam is disposed on the corresponding traveling mechanism 100, and the lifting beam is connected to the corresponding first support member 210. The fixed end of the lifting driving member 260 is disposed on the vertical beam, and the driving end of the lifting driving member 260 is connected to the lifting beam for driving the lifting beam to move in the vertical direction, thereby realizing the adjustable height of the first support member 210. Exemplarily, the shape of the lifting beam is L-shaped. The lifting driving member 260 includes, but is not limited to, an electric push rod or a linear motor, etc.

[0082] Of course, in other embodiments, the connecting member 250 can also adopt screw adjustment or rack and pinion adjustment to realize the adjustable length of the connecting member 250, and this embodiment does not make specific limitations on this.

[0083] In some embodiments, such as Figures 1 to 5 shown, the grasping mechanism 300 includes an adsorption component 310 and a driving component 320. The adsorption component 310 is used for adsorbing or releasing the photovoltaic module 10; the driving component 320 is disposed between the adsorption component 310 and the distance-changing mechanism 200 for adjusting the position and pose of the adsorption component 310.

[0084] It can be understood that the adsorption component 310 is used for adsorbing or releasing the photovoltaic module 10 to ensure the stability and reliability of the grasping process and reduce the damage to the surface of the photovoltaic module 10. The driving component 320 is disposed between the adsorption component 310 and the distance-changing mechanism 200 for adjusting the position and pose (including at least one of position and attitude) of the adsorption component 310 to ensure the accuracy of grasping and placing the photovoltaic module 10 and improve the paving efficiency and quality. Exemplarily, the adsorption component 310 includes, but is not limited to, a suction cup and a negative pressure generating device connected together, that is, the negative pressure generating device is used to provide stable negative pressure to the suction cup so that the suction cup grasps the photovoltaic module 10 through the adsorption force.

[0085] In some embodiments, such as Figures 1 to 5As shown, a plurality of suction cups are provided, and the plurality of suction cups are arranged in an array, which not only improves the uniformity of the adsorption force, but also can adapt to photovoltaic modules 10 of different shapes and sizes. It should be noted that the number and specific distribution of the suction cups can be designed according to actual needs, and this embodiment does not make specific limitations on this.

[0086] In some embodiments, such as Figure 2 , Figure 4 and Figure 5 As shown, the driving assembly 320 includes a first driving member 321, a second driving member 322, a third driving member 323, a fourth driving member 324 and a fifth driving member 325. The output end of the first driving member 321 is connected to the adsorption assembly 310 for driving the adsorption assembly 310 to rotate about a first axis; the output end of the second driving member 322 is connected to the fixed end of the first driving member 321 for driving the adsorption assembly 310 to rotate about a second axis; the output end of the third driving member 323 is connected to the fixed end of the second driving member 322 for driving the adsorption assembly 310 to reciprocate in a third direction; the output end of the fourth driving member 324 is connected to the fixed end of the third driving member 323 for driving the adsorption assembly 310 to reciprocate in a first direction, and the first direction is parallel to the first axis; the fixed end of the fifth driving member 325 is arranged on the pitch-changing mechanism 200, and the output end of the fifth driving member 325 is connected to the fixed end of the fourth driving member 324 for driving the adsorption assembly 310 to reciprocate in a second direction. Exemplarily, the first driving member 321 and the second driving member 322 include but are not limited to rotary motors; the third driving member 323, the fourth driving member 324 and the fifth driving member 325 include but are not limited to linear motors.

[0087] It should be noted that the first axis is parallel to the first direction, and the second axis is parallel to the second direction.

[0088] It can be understood that the first driving member 321 realizes the rotation of the suction cup assembly about the first axis, the second driving member 322 realizes the rotation of the suction cup assembly about the second axis, the third driving member 323 realizes the up-and-down movement of the suction cup assembly, the fourth driving member 324 realizes the movement of the suction cup assembly in the first direction, and the fifth driving member 325 realizes the movement of the suction cup assembly in the second direction, so as to realize the multi-degree-of-freedom adjustment of the adsorption assembly 310 and improve the accuracy of grasping and placing the photovoltaic module 10.

[0089] In some embodiments, such as Figure 1 , Figures 3 - 5As shown, the photovoltaic paving device further includes a guiding assembly. A guiding assembly is provided between the third driving member 323 and the fourth driving member 324, between the fourth driving member 324 and the fifth driving member 325, and between the fifth driving member 325 and the support member, so as to ensure that the suction cup can move in a straight line when moving in different directions, reduce the possibility of deviation and shaking, and improve the accuracy of grasping and placing. Exemplarily, the guiding assembly includes, but is not limited to, a slidingly mated guide rail and guide block.

[0090] In some embodiments, as Figure 1 and Figure 4 shown, the photovoltaic paving device further includes a carrying mechanism 500. The carrying mechanism 500 is disposed on one of the traveling mechanisms 100. One side of the carrying mechanism 500 away from the traveling mechanism 100 has two mating surfaces 511 connected at an angle. The photovoltaic module 10 is placed on one of the mating surfaces 511 and is in limiting fit with the other mating surface 511. Exemplarily, the mating surface 511 includes, but is not limited to, a flat surface; the two mating surfaces 511 are connected at a right angle.

[0091] It can be understood that, on the one hand, the carrying mechanism 500 serves to temporarily place the photovoltaic module 10, facilitating the grasping mechanism 300 to adsorb the photovoltaic module 10 from the carrying mechanism 500 and move it to the photovoltaic bracket 20 and then release it, thereby completing an operation of paving the photovoltaic module 10. And by directly mounting the carrying mechanism 500 on one of the traveling mechanisms 100, the structure of the entire photovoltaic paving device can be made as compact as possible. On the other hand, through the two mating surfaces 511 connected at an angle, when the carrier 30 with a plurality of photovoltaic modules 10 is placed on one of the mating surfaces 511, one side of the plurality of photovoltaic modules 10 can be in abutting fit with the other mating surface 511, thereby reducing the displacement and sliding of the photovoltaic modules 10 caused by the movement or vibration of the photovoltaic paving device, and improving the safety and reliability of the operation of the photovoltaic paving device.

[0092] In some embodiments, as Figures 1 to 5 shown, the carrying mechanism 500 includes a carrying platform 510 and an adjusting assembly 520. The carrying platform 510 has the mating surface 511; the adjusting assembly 520 is disposed between the carrying platform 510 and the traveling mechanism 100 and is used to adjust the position and pose of the carrying platform 510.

[0093] It can be understood that the adjusting assembly 520 is disposed between the carrying platform 510 and the bottom plate 110 and is used to adjust the position and pose (including at least one of position and attitude) of the carrying platform 510, so as to adjust the inclination angle and direction of the mating surface 511 relative to the bottom plate 110, thereby facilitating the placement of the photovoltaic module 10 on the mating surface 511 and the grasping assembly to take away the photovoltaic module 10 from the mating surface 511, and improving the paving efficiency and quality.

[0094] In some embodiments, as Figures 2 to 5 shown, the adjusting assembly 520 includes a base 521, at least one limiting member 522, and a first rotational driving member 523. The base 521 is disposed on the traveling mechanism 100; at least one limiting member 522 is rotatably disposed on the base 521 and is slidably engaged with a side of the carrying platform 510 away from the mating surface 511 for adjusting the included angle formed between the mating surface 511 and the base 521; the fixed end of the first rotational driving member 523 is disposed on the base 521, and the output end of the first rotational driving member 523 is connected to at least one limiting member 522 for driving the corresponding limiting member 522 to rotate. The first rotational driving member 523 includes, but is not limited to, a rotating motor.

[0095] It can be understood that in the unfolded state, the driving force of the first rotational driving member 523 drives the limiting member 522 to rotate relative to the base 521 about the second axis, and at the same time, the limiting member 522 is slidably engaged with a side of the carrying platform 510 away from the mating surface 511, so as to adjust the inclination direction and angle of the mating surface 511 for placing the photovoltaic module 10 and facilitating the gripping assembly to pick up the photovoltaic module 10.

[0096] In some embodiments, as Figures 2 to 5 shown, a plurality of limiting members 522 are circumferentially arranged on the base 521, and the output end of the first rotational driving member 523 is connected to one of the limiting members 522, thereby improving the smoothness of the rotation of the carrying platform 510 about the second axis and reducing the manufacturing and maintenance costs. It should be noted that

[0097] In some embodiments, as Figure 3 and Figure 5 shown, the carrying platform 510 is provided with a sliding groove 512, and at least one limiting member 522 is engaged with the sliding groove 512, and at least a part of the outer sidewall of the limiting member 522 is slidably engaged with the inner wall of the sliding groove 512.

[0098] It can be understood that in the unfolded state, the output end of the first rotational driving member 523 drives the limiting member 522 to rotate, and at the same time, the limiting member 522 slides in the sliding groove 512, which can not only reduce the friction between the two, reduce wear, but also use the two relatively arranged inner sidewalls of the limiting member 522 and the sliding groove 512 to abut, so as to play a role in limiting the carrying platform 510 in the direction of the rotation axis.

[0099] In some embodiments, as Figure 3 and Figure 5As shown, one side of the carrier 510 away from the mating surface 511 is an arc surface. Two sliding grooves 512 are spaced apart on the arc surface, and the sliding groove 512 penetrates the carrier 510 along a direction perpendicular to the rotation axis of the limiting member 522, thereby improving the smoothness and rotation range of the rotation of the carrier 510. It should be noted that the size of the arc surface can be designed according to actual needs, and this embodiment does not make specific limitations thereto.

[0100] In some embodiments, as Figure 2 shown, the adjusting assembly 520 further includes a second rotation driving member 524. The fixed end of the second rotation driving member 524 is disposed on the traveling mechanism 100, and the driving end of the second rotation driving member is connected to the base 521 for driving the base 521 to rotate about a third axis. The third axis is parallel to the third direction, thereby improving the attitude adjustment direction of the mating surface 511 to improve the flexibility of the use of the carrier mechanism 500. The second rotation driving member 524 includes but is not limited to a rotary cylinder.

[0101] In some embodiments, as Figure 1 and Figure 2 shown, in the folded state, one of the mating surfaces 511 is horizontally disposed, and the other mating surface 511 is vertically disposed and located on a side of the traveling mechanism 100 away from the other traveling mechanism 100. That is, the mating surface 511 in the vertical direction extends along the first direction and is located outside, which not only reduces the possibility of interference with the second support member 220, the third support member 230, and the grasping mechanism 300, but also realizes the compactness of the photovoltaic paving device as much as possible.

[0102] In some embodiments, as Figures 3 - 5 shown, in the unfolded state, the carrier 510 has a first position and a second position; when the carrier 510 is in the first position, one of the mating surfaces 511 is horizontally placed, and the other mating surface 511 is vertically placed and disposed close to the variable pitch mechanism 200; when the carrier 510 is in the second position, both mating surfaces 511 are in an inclined direction. That is, in the case of the first position, it is convenient for feeding from multiple directions and reduces the possibility of movement of the photovoltaic module 10; in the second position, a larger activity space can be provided for the grasping mechanism 300 to take away the photovoltaic module 10, and the possibility of interference between the grasping mechanism 300 and the carrier 510 can also be reduced, improving the versatility and adaptability of the photovoltaic paving device.

[0103] Exemplarily, as Figure 3 and Figure 5 shown, when the carrier 510 is in the second position, the mating surface 511 is inclined from top to bottom along the first direction, and the two mating surfaces 511 respectively form an angle of 45° with the horizontal plane.

[0104] In some embodiments, as Figures 1 to 5As shown in the figure, the photovoltaic paving device further includes a control system 600. The control system 600 and the carrying mechanism 500 are respectively arranged on two traveling mechanisms 100. The control system 600 is electrically connected to the traveling mechanism 100, the pitch-changing mechanism 200, the holding component 400, the grasping mechanism 300, and the carrying mechanism 500 respectively, so as to coordinate the respective operations of the traveling mechanism 100, the pitch-changing mechanism 200, the holding component 400, the grasping mechanism 300, and the carrying mechanism 500, complete the automatic paving operation of the photovoltaic module 10, realize the automatic operation of the photovoltaic paving device, reduce the overall cost of the photovoltaic paving device, and improve the stability of the photovoltaic paving device.

[0105] Exemplarily, the control system 600 includes, but is not limited to, a controller, a sensor, and a communication module, etc. The controller receives signals from sensors (including but not limited to position sensors and angle sensors, etc.) through the communication module and sends instructions to the corresponding actuators (including the traveling mechanism 100, the pitch-changing mechanism 200, the holding component 400, the grasping mechanism 300, and the carrying mechanism 500), so as to control the traveling direction and speed of the traveling mechanism 100, switch the pitch-changing mechanism 200 between the unfolded state and the folded state, the movement of the grasping mechanism 300 between the carrying mechanism 500 and the photovoltaic support 20, and the switching of the carrying mechanism 500 between the first position and the second position, etc.

[0106] Terms such as "folding" and "unfolding" in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described here. And the objects distinguished by "folding", "unfolding", etc. are usually of the same type, and do not limit the number of objects. For example, the folding object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects. The character " / " generally means that the related objects before and after are in an "or" relationship.

[0107] In the description of this application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0108] In the description of the present application, the "folding feature" and the "unfolding feature" may include one or more of such features.

[0109] In the description of the present application, the meaning of "a plurality of" is two or more.

[0110] In the description of the present application, the folding feature being "above" or "below" the unfolding feature may include the folding and unfolding features being in direct contact, or may include the folding and unfolding features not being in direct contact but being in contact through additional features therebetween.

[0111] In the description of the present application, the folding feature being "above", "over" and "on top of" the unfolding feature includes the folding feature being directly above and obliquely above the unfolding feature, or merely indicates that the horizontal height of the folding feature is higher than that of the unfolding feature.

[0112] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0113] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A photovoltaic paving device, characterized in that, Comprising: Two traveling mechanisms; A variable pitch mechanism, disposed between the two traveling mechanisms and having a folded state and an unfolded state, A grasping mechanism, disposed on the variable pitch mechanism; wherein, In the folded state of the variable pitch mechanism, the distance between the two traveling mechanisms is D1, and in the unfolded state of the variable pitch mechanism, the grasping mechanism is used for picking and placing a photovoltaic module, and the distance between the two traveling mechanisms is D2, and D1 < D2.

2. The photovoltaic paving device according to claim 1, wherein, The variable pitch mechanism includes: Two first support members, respectively corresponding to and connected to the two traveling mechanisms one by one; Two second support members, the two second support members are sequentially distributed, one end of one of the second support members is movably connected to one end of the other second support member, one end of one of the second support members is rotatably connected to one of the first support members, and the other end of the other second support member is rotatably connected to the other first support member; wherein, In the folded state, the extending direction of the first support member and the extending direction of the second support member intersect; In the unfolded state, the extending direction of the first support member and the extending direction of the second support member are parallel.

3. The photovoltaic paving device according to claim 2, characterized in that, The variable pitch mechanism further includes: A third support member, rotatably connected to the two second support members respectively and parallel to the extending direction of the first support member; wherein, The grasping mechanism can be disposed on the third support member.

4. The photovoltaic paving device according to claim 3, wherein In the folded state, along the direction close to the traveling mechanism, the first support member, the second support member, and the third support member are sequentially distributed.

5. The photovoltaic paving device according to claim 2, characterized in that, Further comprising: A holding assembly, the holding assembly is disposed between the two second support members and between the second support member and the first support member, at least for maintaining the variable pitch mechanism in the unfolded state.

6. The photovoltaic paving device according to claim 2, wherein, The first support member is located above the traveling mechanism, and the height of the first support member is adjustable.

7. The photovoltaic paving device according to any one of claims 1 to 6, characterized in that, The grasping mechanism includes: An adsorption assembly, used for adsorbing or releasing the photovoltaic module; A driving assembly, the driving assembly is disposed between the adsorption assembly and the variable pitch mechanism, and is used for adjusting the pose of the adsorption assembly.

8. The photovoltaic paving device according to any one of claims 1 to 6, characterized in that Further comprising: A carrying mechanism, disposed on one of the traveling mechanisms, one side of the carrying mechanism away from the traveling mechanism has two mating surfaces connected at an angle, and the photovoltaic module is placed on one of the mating surfaces and is in limit fit with the other mating surface.

9. The photovoltaic paving device according to claim 8, wherein, The carrying mechanism includes: A carrying platform, having the mating surface; An adjusting assembly, disposed between the carrying platform and the traveling mechanism, and used for adjusting the pose of the carrying platform.

10. The photovoltaic paving device according to claim 9, wherein, The adjusting assembly includes: A base, the base is disposed on the traveling mechanism; At least one limiting member, rotatably disposed on the base and slidably engaged with the side of the carrying platform away from the mating surface, for adjusting the angle formed between the mating surface and the base; A first rotary driving member, the fixed end of the first rotary driving member is disposed on the base, and the output end of the first rotary driving member is connected to at least one of the limiting members, for driving the corresponding limiting member to rotate.

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