Mounting equipment and trolley thereof

Abstract

The utility model discloses mounting equipment and a trolley thereof. The mounting equipment comprises a main trolley. The trolley comprises a frame, a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism is arranged on the frame, and the second micro-motion mechanism is arranged on the first micro-motion mechanism and can be connected with the lifting appliance in the vertical direction. The vehicle frame is slidably connected to the main vehicle, and the first micro-motion mechanism is slidably connected to the vehicle frame in the first direction so as to adjust the positions of the second micro-motion mechanism and the lifting appliance in the first direction; the second micro-motion mechanism is connected to the first micro-motion mechanism in a sliding mode in the second direction so as to adjust the position of the lifting appliance in the second direction; the first direction, the second direction and the vertical direction intersect pairwise. Through combination of the two micro-motion mechanisms, accurate determination and fine adjustment of the hoisting position of the trolley can be achieved, and therefore accurate butt joint installation can be conducted on a to-be-installed part hoisted by the hoisting tool. The weights of the two micro-motion mechanisms directly or indirectly act on the frame, the supporting strength and the supporting stability are good, and the structural layout of the trolley is more compact.

Description

Technical Field

[0001] The present application belongs to the technical field of installation equipment, and in particular, relates to an installation equipment and a trolley thereof. Background Art

[0002] Photovoltaic array units (photovoltaic array squares) are the core part of the entire power generation system. Photovoltaic array squares need to be hoisted and transferred using installation equipment during the manufacturing process. However, existing photovoltaic panel installation equipment can only transfer photovoltaic array squares within a large range and cannot achieve precise docking and installation of photovoltaic array squares. Utility Model Content

[0003] The embodiment of the present application provides an installation device and a trolley thereof to achieve fine adjustment of the hoisting position of the trolley, thereby meeting the use requirements of accurate docking and installation of the parts to be installed.

[0004] According to the first aspect of the present application, the present application provides a trolley for installing equipment, the installation equipment includes a main car, the trolley is slidably connected to one side of the main car along the vertical direction, the trolley includes a frame, a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism is arranged on the frame, the second micro-motion mechanism is arranged on the first micro-motion mechanism and can be vertically connected to the sling; the frame is slidably connected to the main car, the first micro-motion mechanism is slidably connected to the frame along the first direction to adjust the positions of the second micro-motion mechanism and the sling in the first direction; the second micro-motion mechanism is slidably connected to the first micro-motion mechanism along the second direction to adjust the position of the sling in the second direction; the first direction, the second direction and the vertical direction intersect each other, one of the first direction and the second direction is the travel direction of the main car, and the other is the sliding direction of the frame along the main car.

[0005] Optionally, the first micro-motion mechanism includes a single frame, which supports the second micro-motion mechanism and is slidably connected to the frame; the frame is vertically stacked with the frame or is in the same horizontal plane as the frame.

[0006] Optionally, the trolley includes a first driving mechanism, which is configured to drive the frame to slide along a first direction; the first driving mechanism includes a first power module, which is disposed on the frame and connected to the frame to drive the frame to slide along the first direction; or, the first driving mechanism includes a first power module and a first transmission assembly, which is disposed on the frame, and the first transmission assembly is configured to transmit the power output by the first power module to the first micro-motion mechanism to drive the frame to slide along the first direction.

[0007] Optionally, the first micro-motion mechanism includes a first support frame and a second support frame arranged relative to each other in a first direction, the first support frame and the second support frame jointly support the second micro-motion mechanism and are slidably connected to the frame; the first support frame and the second support frame are configured to slide in the same direction along the first direction to drive the second micro-motion mechanism and the sling to move along the first direction.

[0008] Optionally, the trolley includes a first driving mechanism, which is configured to drive the first support frame and the second support frame to slide in the same direction along a first direction; the first driving mechanism includes at least one driving unit, the driving unit includes a first power module, the first power module is arranged on the frame, and is connected to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide along the first direction; or, the driving unit includes a first power module and a first transmission assembly, the first power module is arranged on the frame, and the first transmission assembly is configured to transmit the power output by the first power module to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide along the first direction.

[0009] Optionally, the first driving mechanism includes two driving units; the first transmission assembly of at least one driving unit includes a push rod and a connecting rod, one end of the push rod along the first direction is connected to the first power module, the push rod is configured to extend and retract along the first direction in response to the power output by the first power module, the middle part of the connecting rod along the second direction is connected to the other end of the push rod along the first direction, and the two opposite ends of the connecting rod along the second direction are connected to the first support frame.

[0010] Optionally, the trolley also includes: a connecting device, including a plurality of connecting units, each connecting unit is at least partially fixed to the second micro-motion mechanism, so that the second micro-motion mechanism is connected to the sling through the plurality of connecting units; the vertical length of each connecting unit is adjustable, and the length adjustment of each connecting unit is independent of each other.

[0011] Optionally, the connecting unit includes a winding mechanism and a connecting rope, the winding mechanism is fixed to the second micro-motion mechanism, at least part of the connecting rope is wound around the winding mechanism, the winding mechanism is connected to the sling through the connecting rope, and the winding mechanism is configured to achieve adjustable length of the connecting unit by winding the connecting rope.

[0012] Optionally, at least part of the connection unit is arranged on a side of the second micro-motion mechanism that faces the walking surface of the main vehicle vertically.

[0013] Optionally, the length of the connection unit is configured to be adjusted by a control mechanism, and the control mechanism adjusts the length of the connection unit according to a detection signal of the horizontal detection mechanism so that the spreader is in a horizontal state.

[0014] Optionally, the second micro-motion mechanism includes a first carrier frame and a second carrier frame for carrying the connecting device, the first carrier frame and the second carrier frame are arranged relative to each other in a first direction, and are slidably connected to the first micro-motion mechanism; the first carrier frame and the second carrier frame are configured to slide in the same direction along the second direction to drive the sling to move along the second direction, or slide in the opposite direction along the second direction to drive the sling to rotate in a horizontal plane.

[0015] Optionally, the trolley also includes a second driving mechanism, which is configured to drive the first carrier and the second carrier to slide in the same direction or in opposite directions along the second direction; the second driving mechanism includes two driving modules that respectively drive the first carrier and the second carrier, each driving module includes a second power module, the second power module is arranged in the first micro-motion mechanism, and is connected to the first carrier or the second carrier to drive the first carrier or the second carrier to slide along the second direction; or, each driving module includes a second power module and a second transmission assembly, the second power module is arranged in the first micro-motion mechanism, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier or the second carrier to drive the first carrier or the second carrier to slide along the second direction.

[0016] Optionally, the first carrier and the second carrier respectively carry a plurality of connection units, and the plurality of connection units are distributed along the second direction on the first carrier or the second carrier.

[0017] Optionally, the main vehicle includes a vertical support assembly and a transverse support assembly, the transverse support assembly is supported on one side of the vertical support assembly, the trolley is slidably connected to the transverse support assembly, and a partial section of the frame extends out of the transverse support assembly along the travel direction of the main vehicle; the first load-bearing frame, the second load-bearing frame and the connecting device are arranged on the section of the frame extending out of the transverse support assembly.

[0018] Optionally, the trolley also includes: an anti-sway device, including two or more anti-sway mechanisms arranged at intervals along the first direction, each anti-sway mechanism is retractable along the vertical direction, the anti-sway mechanism is fixedly connected to the second micro-motion mechanism, and one end of the anti-sway mechanism along the vertical direction can be connected to a sling.

[0019] Optionally, the anti-sway mechanism includes a first connecting member, a second connecting member and a plurality of sleeves, the plurality of sleeves are movably socketed, the first connecting member is fixedly connected to the second micro-motion mechanism and the outermost sleeve, the second connecting member is hinged to the innermost sleeve along the vertical lower end and fixedly connected to the sling.

[0020] Optionally, the connecting device includes two groups of connecting units arranged relative to each other, and the length adjustment of the two groups of connecting units can make the sling flip in the vertical direction relative to the horizontal plane, and the sling includes a central axis located between the two groups of connecting units; the trolley also includes an anti-sway device, the anti-sway device includes at least one anti-sway mechanism fixed on the frame in sequence in a direction parallel to the central axis, and the anti-sway mechanism is connected to the sling at one end along the vertical direction; the anti-sway mechanism is adjustable in length along the vertical direction, and the length adjustment of each anti-sway mechanism is independent of each other.

[0021] Optionally, the anti-sway mechanism includes an anti-sway rope and multiple winding structures, the winding structure is arranged on the frame, at least part of the anti-sway rope is wound around the winding structure, the winding structure is connected to the sling through the anti-sway rope, and the winding structure is configured to achieve adjustable length of the anti-sway mechanism by winding the anti-sway rope; the anti-sway mechanism forms an inverted triangle connection with the sling through the anti-sway rope.

[0022] Optionally, in the event that the spreader flips over, the connection point between the anti-sway mechanism and the spreader deviates from the central axis of the spreader toward the frame.

[0023] Optionally, the main vehicle includes a vertical support assembly and a transverse support assembly, the transverse support assembly is carried on one side of the vertical support assembly, the trolley is slidably connected to the transverse support assembly, and a partial section of the frame extends out of the transverse support assembly along the travel direction of the main vehicle; the anti-sway device is arranged on the section of the frame extending out of the transverse support assembly.

[0024] Optionally, the main vehicle includes a vertical support assembly and a transverse support assembly, the transverse support assembly is carried on one side of the vertical support assembly along the vertical direction, the transverse support assembly and the vertical support assembly enclose and constitute a working space, and the trolley is slidably connected to the transverse support assembly; the trolley also includes an anti-collision mechanism, the anti-collision mechanism is arranged on the side of the frame toward the working space in the vertical direction, and the anti-collision mechanism is configured to limit the sling connected to the second micro-motion mechanism from moving vertically toward the transverse support assembly.

[0025] Optionally, the anti-collision mechanism includes a limit sensor, a limit structure and a striker, the striker is movably arranged in the vertical direction, the limit structure is arranged on the side of the striker vertically away from the working space, and is configured to move in response to the vertical abutment of the striker, thereby prompting the limit sensor to generate a stop signal, and the stop signal is used to instruct the sling to stop moving vertically toward the lateral support assembly.

[0026] Optionally, the first direction is the travel direction of the main vehicle, and the frame is slidably connected to the main vehicle along the second direction; the frame includes more than two beams spaced apart along the second direction, and each beam extends along the first direction; the first micro-motion mechanism includes a single frame, the frame supports the second micro-motion mechanism and is slidably connected to the frame along the first direction, and the frame and the frame are vertically stacked; the second micro-motion mechanism is connected to the sling through a connecting device, the connecting device includes a plurality of connecting units, the second micro-motion mechanism includes a first load-bearing frame and a second load-bearing frame, the first load-bearing frame and the second load-bearing frame are arranged opposite to each other in the first direction, and are slidably connected to the first micro-motion mechanism, and each of the first load-bearing frame and the second load-bearing frame carries two connecting units distributed along the second direction.

[0027] Optionally, the trolley includes a first driving mechanism and a second driving mechanism; the first driving mechanism includes a first power module and a first transmission assembly, the first transmission assembly connects the opposite sides of the frame in the first direction, and is configured to transmit the power output by the first power module to the frame to drive the frame to slide along the first direction, the first power module is arranged on the frame and is located between the opposite sides of the frame in the first direction; the second driving mechanism includes two driving modules that respectively drive the first carrier and the second carrier, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the frame, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier or the second carrier to drive the first carrier or the second carrier to slide along the second direction.

[0028] Optionally, the first direction is the travel direction of the main vehicle, and the frame is slidably connected to the main vehicle along the second direction; the frame includes more than two beams spaced apart along the second direction, and each beam extends along the first direction; the first micro-motion mechanism includes a first support frame and a second support frame arranged relative to each other in the first direction, the first support frame and the second support frame jointly support the second micro-motion mechanism and are slidably connected to the frame; the second micro-motion mechanism is connected to the sling through a connecting device, the connecting device includes a plurality of connecting units, the second micro-motion mechanism includes a first load-bearing frame and a second load-bearing frame for carrying the connecting device, the first load-bearing frame and the second load-bearing frame are arranged relative to each other in the first direction, and are slidably connected to the first micro-motion mechanism, and each of the first load-bearing frame and the second load-bearing frame carries two connecting units distributed along the second direction.

[0029] Optionally, the trolley includes a first driving mechanism and a second driving mechanism; the first driving mechanism includes two driving units located between the first support frame and the second support frame in the first direction, each driving unit includes a first power module and a first transmission assembly, the first power module is arranged on the frame, and the first transmission assembly transmits the power output by the first power module to the first support frame or the second support frame to drive the first support frame or the second support frame to slide along the first direction; the second driving mechanism includes two driving modules that respectively drive the first support frame and the second support frame, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the first support frame or the second support frame, and the second transmission assembly is configured to transmit the power output by the second power module to the first support frame or the second support frame to drive the first support frame or the second support frame to slide along the second direction.

[0030] According to a second aspect of the present application, the present application further provides an installation device, which includes a main vehicle and a trolley provided according to any one of the embodiments, wherein the trolley is slidably connected to one side of the main vehicle along the vertical direction.

[0031] Optionally, the installation equipment is used to install a semi-finished photovoltaic array.

[0032] The trolley provided in the embodiment of the present application can be slidably connected to one side of the main vehicle along the vertical direction. The trolley includes a frame, a first micro-motion mechanism and a second micro-motion mechanism. The first micro-motion mechanism is slidably connected to the frame along the first direction, and the second micro-motion mechanism is slidably connected to the first micro-motion mechanism along the second direction. The first direction, the second direction and the vertical direction intersect each other. The second micro-motion mechanism can be connected to a sling, and the sling can hoist parts to be installed, such as semi-finished products of photovoltaic arrays. The position of the sling in the second direction can be adjusted by the second micro-motion mechanism, and the position of the second micro-motion mechanism along the first direction can be adjusted by the first micro-motion mechanism, thereby adjusting the position of the sling in the first direction. The combination of the first micro-motion mechanism and the second micro-motion mechanism can realize the accurate determination and fine adjustment of the hoisting position of the trolley, so that the parts to be installed hoisted by the sling can be accurately docked and installed.

[0033] In the embodiment of the present application, the frame carries the first micro-motion mechanism, and the first micro-motion mechanism carries the second micro-motion mechanism. On the one hand, the weight of the two micro-motion mechanisms acts directly or indirectly on the frame, and the supporting strength and supporting stability are better; on the other hand, the structural layout of the trolley is more compact, and the adjustment of the lifting position is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 It is a structural schematic diagram of an installation device provided in one embodiment of the present application.

[0036] Figure 2 yes Figure 1 The shown schematic diagram is a side view of the structure of the installation device installing the part to be installed.

[0037] Figure 3 It is a schematic diagram of the structure of a trolley provided in one embodiment of the present application.

[0038] Figure 4 yes Figure 3 The side view structural diagram of the trolley after being connected to the lifting device is shown.

[0039] Figure 5 It is a schematic diagram of the structure of a trolley provided in another embodiment of the present application.

[0040] Figure 6 yes Figure 5 A schematic diagram of the structure of the trolley from above is shown.

[0041] Figure 7 yes Figure 3 Schematic diagram of the enlarged structure of area A in the middle.

[0042] Figure 8 yes Figure 3 The structural schematic diagram of the anti-sway mechanism of the trolley is shown.

[0043] Fig. 9 yes Figure 5 Schematic diagram of the enlarged structure of area B in the middle. DETAILED DESCRIPTION

[0044] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the known structures and technologies are not shown to avoid unnecessary ambiguity in the present application; and, for clarity, the size of some structures may be exaggerated. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.

[0045] In the description of the present application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating directions or positional relationships, are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0046] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the embodiments of the present application. In the description of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0047] In order to better understand this application, Figures 1 to 6 The installation equipment and the trolley of the embodiment of the present application are described in detail.

[0048] like Figure 1 and Figure 2As shown, the installation device 1000 provided in the embodiment of the present application includes a trolley 100 and a main vehicle 200, and the trolley 100 is slidably connected to one side of the main vehicle 200 along the vertical direction. A working space can be formed on the side of the main vehicle 200 that is vertically away from the trolley 100. The installation device 1000 is used to install parts 2000 to be installed, and the parts 2000 to be installed include but are not limited to large structural parts such as semi-finished photovoltaic arrays. Among them, the semi-finished photovoltaic array includes a plurality of photovoltaic panels arranged in a certain form, and these photovoltaic panels are fixed together by fixing means, for example, but not limited to, being connected and fixed by at least one connecting beam arranged on the back of the photovoltaic panel.

[0049] like Figure 3 and Figure 4 As shown, in the first aspect of the present application, a trolley 100 for installing equipment is proposed, and the trolley 100 includes a frame 1, a first micro-motion mechanism 2, and a second micro-motion mechanism 3. The first micro-motion mechanism 2 is arranged on the frame 1, and the second micro-motion mechanism 3 is arranged on the first micro-motion mechanism 2 and can be connected to the sling 300 in the vertical direction. The frame 1 is slidably connected to the main vehicle 200, and the first micro-motion mechanism 2 is slidably connected to the frame 1 along the first direction X to adjust the position of the second micro-motion mechanism 3 and the sling 300 in the first direction X. The second micro-motion mechanism 3 is slidably connected to the first micro-motion mechanism 2 along the second direction Y to adjust the position of the sling 300 in the second direction Y. The first direction X, the second direction Y and the vertical direction intersect each other, and one of the first direction X and the second direction Y is the traveling direction of the main vehicle 200, and the other is the sliding direction of the frame 1 along the main vehicle 200.

[0050] In the embodiments of the present application, the two are slidingly connected, that is, one is movably connected in a specific direction relative to the other. For the two sliding connections, the specific implementation form of the sliding connection is not limited. It can be a structure such as a slide rail, a slide groove, a slide way, and any combination of sliding parts such as a slider, a pulley, a roller, or any other form that can achieve relative sliding between the two.

[0051] In the embodiment provided in the present application, the frame 1 is slidably connected to the main vehicle 200, and can adjust the position of the trolley 100 as a whole relative to the main vehicle 200. The sliding of the frame 1 relative to the main vehicle 200 can be a long-distance sliding, which is used to adjust the working space of the sling 300. The sliding of the first micro-motion mechanism 2 and the second micro-motion mechanism 3 can be a short-distance sliding, which is used to fine-tune the position of the sling 300 in the working space to facilitate the installation of the parts to be installed.

[0052] The second micro-motion mechanism 3 can be connected to the sling 300 in the vertical direction, that is, the second micro-motion mechanism 3 can be connected to the sling 300 and provide vertical support for the sling 300, so that the sling 300 can be movably suspended in the working space of the main vehicle 200. The sling 300 can be connected to one side of the second micro-motion mechanism 3 in the vertical direction. For example, the sling 300 can be connected below the second micro-motion mechanism 3.

[0053] One of the first direction X and the second direction Y is the traveling direction of the main vehicle 200, and the other is the sliding direction of the frame 1 along the main vehicle 200. The sliding direction of the frame 1 relative to the main vehicle 200 intersects with the traveling direction of the main vehicle 200.

[0054] Alternatively, if Figure 1 and Figure 3 As shown, the first direction X can be the traveling direction of the main vehicle 200, and the second direction Y can be the sliding direction of the trolley 100 along the frame 1. The first micro-motion mechanism 2 connected to the frame 1 slides along the traveling direction of the main vehicle 200, and the positions of the second micro-motion mechanism 3 and the sling 300 in the traveling direction of the main vehicle 200 can be adjusted. The second micro-motion mechanism 3 connected to the first micro-motion mechanism 2 slides along the sliding direction of the trolley 100 relative to the main vehicle 200, and the position of the sling 300 in the sliding direction of the trolley 100 relative to the main vehicle 200 can be adjusted.

[0055] It can be understood that, as some other examples, the first direction X can also be the sliding direction of the frame 1 along the main vehicle 200, and the second direction Y can be the moving direction of the main vehicle 200, that is, the first micro-motion mechanism 2 connected to the frame slides along the sliding direction of the trolley 100 relative to the main vehicle 200, and the second micro-motion mechanism 3 connected to the first micro-motion mechanism slides along the moving direction of the main vehicle 200.

[0056] The trolley 100 provided in the embodiment of the present application adjusts the position of the sling 300 in the second direction Y through the second micro-motion mechanism 3, and adjusts the position of the second micro-motion mechanism 3 along the first direction X through the first micro-motion mechanism 2, thereby adjusting the position of the sling 300 in the first direction X. The combination of the first micro-motion mechanism 2 and the second micro-motion mechanism 3 can realize the accurate determination and fine adjustment of the trolley hoisting position, so that the to-be-installed parts hoisted by the sling 300 can be accurately docked and installed.

[0057] In addition, the trolley 100 provided in the embodiment of the present application carries the first micro-motion mechanism 2 through the frame 1, and carries the second micro-motion mechanism 3 through the first micro-motion mechanism 2. The weight of the two micro-motion mechanisms directly or indirectly acts on the frame 1, and the support strength and support stability are good. In addition, the structural layout of the trolley 100 is more compact, and the design of the sling 300 and the adjustment of the hoisting position are simpler.

[0058] In some optional embodiments, such as Figure 3 and Figure 4 As shown, the first micro-motion mechanism 2 includes a single frame 211, which supports the second micro-motion mechanism 3 and is slidably connected to the frame 1. The frame 211 is stacked vertically with the frame 1 or is in the same horizontal plane as the frame 1.

[0059] In these optional embodiments, the second micro-motion mechanism 3 is supported on the frame 211 and moves with the sliding of the frame 211, thereby realizing position adjustment of the second micro-motion mechanism 3 and the sling 300 in the first direction X. The single-frame structure design of the first micro-motion mechanism 2 can make the driving of the first micro-motion mechanism 2 simpler.

[0060] For example, the frame 211 can be suspended below the frame 1 and spaced apart from the frame 1 to facilitate smooth sliding. As another example, the frame 211 can also be at the same horizontal position as the frame 1, for example, the frame 211 can be located in the space surrounded by the frame 1.

[0061] Optionally, the vehicle frame 1 may include more than two vehicle beams 11 spaced apart along the second direction Y, each vehicle beam 11 extends along the first direction X, and each vehicle beam 11 is provided with a slide rail 111. Two opposite ends of the frame 211 along the second direction Y are connected to at least two vehicle beams 11, and each end of each frame 211 along the second direction Y is provided with a sliding member 212 that can be coupled to the slide rail 111. The sliding member 212 may be a slider, a pulley or other suitable sliding structures, and the specific forms of the slide rail 111 and the sliding member 212 are not limited herein.

[0062] In some optional embodiments, such as Figure 3 As shown, the trolley 100 includes a first driving mechanism 4, which is configured to drive the frame 211 to slide along the first direction X. In one example, the first driving mechanism 4 may include a first power module, which can generate and output power, and the first power module is disposed on the frame 1 (for example, but not limited to, disposed on one side of the frame 211 in the first direction X), and is connected to the frame 211 to drive the frame 211 to slide along the first direction X. Optionally, the first power module may include a telescopic cylinder, a hydraulic cylinder, etc.

[0063] As an alternative example, the first driving mechanism 4 includes a first power module and a first transmission assembly, the first power module is arranged on the frame 1, and the first transmission assembly is configured to transmit the power output by the first power module to the first micro-motion mechanism 2 to drive the frame 211 to slide along the first direction X.

[0064] In these optional embodiments, the first power module is capable of generating and outputting power. The power output by the first power module is transmitted to the first micro-motion mechanism 2 through the first transmission assembly, thereby driving the frame 211 to slide along the first direction X, thereby realizing the position adjustment of the first micro-motion mechanism 2, the second micro-motion mechanism 3 and the sling 300 along the first direction X.

[0065] Optionally, the first power module may include a motor. Further, the first power module may also include a speed reduction mechanism, and the first power module outputs power through the speed reduction mechanism.

[0066] Optionally, the first transmission assembly may include one or more of a rack and pinion transmission assembly, a sprocket and chain transmission assembly, a worm gear transmission assembly, a transmission belt assembly or other suitable transmission assemblies.

[0067] In some other optional embodiments, Figure 5 and Figure 6 As shown, the first micro-motion mechanism 2 includes a first support frame 213 and a second support frame 214 arranged relatively in the first direction X, and the first support frame 213 and the second support frame 214 jointly support the second micro-motion mechanism 3 and are slidably connected to the frame 1. The first support frame 213 and the second support frame 214 are configured to slide in the same direction along the first direction X to drive the second micro-motion mechanism 3 and the sling 300 to move along the first direction X. The first micro-motion mechanism 2 adopts the form of two support frames, which can reduce the weight of the first micro-motion mechanism, lower the center of gravity of the trolley 100 and the installation device 1000, and enhance the structural stability.

[0068] In these optional embodiments, the first support frame 213 and the second support frame 214 are both supported on the frame 1 and are slidably connected to the frame 1. The first support frame 213 and the second support frame 214 can slide in the same direction along the first direction X, that is, the first support frame 213 and the second support frame 214 always slide in the same direction, and the sliding of the first support frame 213 and the second support frame 214 is synchronized.

[0069] Optionally, the first support frame 213 and the second support frame 214 may be provided independently of each other, or may be connected via a connecting member.

[0070] Optionally, the vehicle frame 1 may include more than two vehicle beams 11 spaced apart along the second direction Y, each vehicle beam 11 extends along the first direction X, and each vehicle beam 11 is provided with a guide structure. The first support frame 213 and the second support frame 214 have two opposite ends along the second direction Y connected to at least two vehicle beams 11, and each end of each frame 211 along the second direction Y is provided with a sliding member that can be coupled to the guide structure. Exemplarily, the guide structure can be a structure that can play a guiding role, such as a slide rail, a slide groove, a slideway, etc., and the sliding member can be a slider, a pulley, a roller, etc.

[0071] In some optional embodiments, such as Figure 5 As shown, the trolley 100 includes a first driving mechanism, which is configured to drive the first support frame 213 and the second support frame 214 to slide in the same direction along the first direction X. The first driving mechanism includes at least one driving unit 40. In one example, the driving unit 40 includes a first power module, which is capable of generating and outputting power. The first power module is arranged on the frame 1 (for example, but not limited to, arranged on one side of each support frame or between two support frames in the first direction X), and is connected to the first support frame 213 and / or the second support frame 214 to drive the first support frame 213 and / or the second support frame 214 to slide along the first direction X. Optionally, the first power module may include a single-port or dual-port telescopic cylinder, a single-port or dual-port hydraulic cylinder, etc.

[0072] In another example, the drive unit 40 includes a first power module 41 and a first transmission assembly 42. The first power module 41 is arranged on the frame 1, and the first transmission assembly 42 is configured to transmit the power output by the first power module 41 to the first support frame 213 and / or the second support frame 214 to drive the first support frame 213 and / or the second support frame 214 to slide along the first direction X.

[0073] In these optional embodiments, the first support frame 213 and the second support frame 214 slide in the same direction along the first direction X under the driving action of the first driving mechanism. Optionally, the first driving mechanism may include two driving units 40, and the first transmission components 42 of the two driving units 40 are respectively connected to the first support frame 213 and the second support frame 214 to transmit the power output by the first power modules' of the two driving units 40 to the first support frame 213 and the second support frame 214, respectively, so as to drive the first support frame 213 and the second support frame 214 to slide in the same direction.

[0074] Optionally, the first driving mechanism may also include a driving unit 40, the first transmission assembly 42 of the driving unit 40 is simultaneously connected to the first support frame 213 and the second support frame 214 to transmit the power output by the first power module to the first support frame 213 and the second support frame 214, thereby driving the first support frame 213 and the second support frame 214 to slide in the same direction along the first direction X.

[0075] It can be understood that, as another example, the first driving mechanism may also include three or more driving units 40 .

[0076] In some optional embodiments, such as Figure 5As shown, the first driving mechanism includes two driving units 40. The first transmission assembly 42 of at least one driving unit 40 includes a push rod 421 and a connecting rod 422, one end of the push rod 421 along the first direction X is connected to the first power module, the push rod 421 is configured to extend and retract along the first direction X in response to the power output by the first power module 41, the connecting rod 422 is connected to the other end of the push rod 421 along the first direction X in the middle of the second direction Y, and the two opposite ends of the connecting rod 422 along the second direction Y are connected to the first support frame 213.

[0077] In these optional embodiments, the push rod 421 is extended and retracted along the first direction X under the power output by the first power module 41, driving the connecting rod 422 to move along the first direction X, and the connecting rod 422 further drives the first support frame 213 to slide along the first direction X.

[0078] The push rod 421 is connected to the middle part of the connecting rod 422 along the second direction Y, and can transmit power relatively evenly to the two ends of the first support frame 213 along the second direction Y, thereby avoiding the phenomenon of jamming or stucking caused by uneven force on the two ends of the first support frame 213, thereby improving the smoothness of the sliding of the first support frame 213.

[0079] Exemplarily, the connecting rod 422 may include two symmetrically arranged rod segments, the two rod segments are arranged at an obtuse angle or a right angle, and the push rod 421 is connected to the connecting position of the two rod segments to form a "Y"-shaped or "T"-shaped structure with the connecting rod 422 to transmit power to the first support frame 213 more evenly.

[0080] Optionally, the push rod 421 and the connecting rod 422 can be fixedly connected by screw connection, welding, clamping, etc., and the connecting rod 422 can also be integrally formed with the telescopic section of the push rod 421. The connecting rod 422 and the two ends of the first support frame 213 can also be fixedly connected by screw connection, welding, clamping, etc.

[0081] Optionally, the first power module 41 may include a motor. Further, the first power module 41 may also include a speed reduction mechanism, and the first power module 41 outputs power through the speed reduction mechanism.

[0082] In some optional embodiments, such as Figure 5As shown, the two driving units 40 of the first driving mechanism are respectively used to drive the first support frame 213 and the second support frame 214 to slide along the first direction X. The first transmission assembly 42 of at least one of the two driving units 40 includes a push rod 421 and a connecting rod 422, one end of the push rod 421 along the first direction X is connected to the first power module 41, the push rod 421 is configured to extend and retract along the first direction X in response to the power output by the first power module 41, the connecting rod 422 is connected to the other end of the push rod 421 along the first direction X in the middle of the second direction Y, and the two opposite ends of the connecting rod 422 along the second direction Y are connected to the second support frame 214.

[0083] It can be understood that the driving unit 40 for driving the second support frame 214 to slide has the same structure as the driving unit 40 for driving the first support frame 213 to slide, and therefore, they are not described in detail here.

[0084] The examples of the first transmission assembly 42 are not limited thereto, and the first transmission assembly 42 may also use one or more of a rack and pinion transmission assembly, a sprocket and chain transmission assembly, a worm gear transmission assembly, a transmission belt assembly, or other suitable transmission assemblies.

[0085] In some optional embodiments, such as Figure 3 and Figure 5 As shown, the trolley 100 further includes a connecting device, which includes a plurality of connecting units 5, each of which is at least partially fixed to the second micro-motion mechanism 3, so that the second micro-motion mechanism 3 is connected to the sling 300 through the plurality of connecting units 5. The length of each connecting unit 5 along the vertical direction is adjustable, and the length adjustment of each connecting unit 5 is independent of each other.

[0086] In these optional embodiments, the plurality of connection units 5 may be connected to different positions of the sling 300. The connection positions between the plurality of connection units 5 and the sling 300 may be relatively evenly distributed. For example, the sling 300 may be a rectangular structure, and the plurality of connection units 5 may be respectively connected to the corners of the sling 300 or positions adjacent to the corners.

[0087] The vertical length of each connection unit 5 can be adjusted independently to adjust the spatial orientation and orientation angle of the sling 300, so as to flexibly realize the installation angle of the installation part. For example, the vertical length of the connection unit 5 connected to one side of the sling 300 is adjusted to be smaller than the vertical length of the connection unit 5 connected to the other side of the sling 300, so that the sling 300 can be tilted.

[0088] In some optional embodiments, such as Figure 7As shown, the connecting unit 5 includes a winding mechanism 51 and a connecting rope 52. The winding mechanism 51 is fixed to the second micro-motion mechanism 3. At least a portion of the connecting rope 52 is wound around the winding mechanism 51. The winding mechanism 51 is connected to the sling 300 through the connecting rope 52. The winding mechanism 51 is configured to achieve adjustable length of the connecting unit 5 by winding the connecting rope 52.

[0089] In these optional embodiments, at least part of the connecting rope 52 is wound around the winding mechanism 51, and another part of the connecting rope 52 is not wound around the winding mechanism 51. Controlling the length of the connecting rope 52 wound around the winding mechanism 51 can adjust the length of the part not wound around the winding mechanism 51, so that the length of the connecting unit 5 is adjustable. The winding mechanism 51 is fixedly disposed on the second micro-motion mechanism 3 and connected to the sling 300 via the connecting rope 52. The length of the wound part of the connecting rope 52 can be adjusted by the winding mechanism 51 to achieve the sling 300 approaching or moving away from the second micro-motion mechanism 3, that is, adjusting the vertical position of the sling 300.

[0090] Optionally, the connecting rope 52 can be led out from the winding mechanism 51 toward the inner side of the adjacent connecting unit 5 to increase the rope angle of the connecting rope 52 and enhance the connection stability. It is understood that, as another example, the connecting rope 52 can also be led out from the outer side of the winding mechanism 51.

[0091] Optionally, the winding mechanism 51 may include a drum and a driving structure, and at least part of the connecting rope 52 is wound around the drum. The driving mechanism may drive the drum to rotate in different directions, thereby extending or shortening the length of the connecting rope not wound around the drum.

[0092] It is understandable that, as another example, the winding mechanism 51 may also be fixedly connected to the frame 1 , and the connecting rope 52 is connected to the second micro-motion mechanism 3 after passing around the connection point of the sling 300 .

[0093] In some optional embodiments, such as Figure 5 As shown, at least part of the connecting unit 5 is arranged on a side of the second micro-motion mechanism 3 facing the walking surface of the main vehicle 200 in the vertical direction.

[0094] In these optional embodiments, the connection unit 5 faces the walking surface of the main vehicle 200, which is conducive to lowering the center of gravity of the trolley 100 and the installation device 1000, and enhancing the structural stability. In addition, the structural interference between the connection unit 5 and the second micro-motion mechanism 3, the first micro-motion mechanism 2 and the frame 1 is reduced, which is conducive to flexibly selecting the connection position between the connection unit 5 and the sling 300.

[0095] Exemplarily, the trolley 100 may be slidably connected to the upper side of the main vehicle 200 in the vertical direction, and the connecting unit 5 may be disposed on the lower side of the second micro-motion mechanism 3 .

[0096] In some optional embodiments, the length of the connecting unit 5 is configured to be adjusted by a control mechanism (not shown in the figure), and the control mechanism adjusts the length of the connecting unit 5 according to a detection signal of a horizontal detection mechanism (not shown in the figure) so that the sling 300 is in a horizontal state.

[0097] In these optional embodiments, the horizontal detection mechanism can detect the state of the sling 300 and output a detection signal. Optionally, the horizontal detection mechanism may include a gyroscope, a laser scanner, etc. The control mechanism is connected to the horizontal detection mechanism to receive the detection signal and adjust the vertical length of each connecting unit 5 according to the detection signal, thereby achieving the purpose of leveling the sling 300.

[0098] In some optional embodiments, such as Figure 3 and Figure 6 As shown, the second micro-motion mechanism 3 includes a first carrier 31 and a second carrier 32 for carrying the connection device, the first carrier 31 and the second carrier 32 are arranged relatively in the first direction X, and are slidably connected to the first micro-motion mechanism 2. The first carrier 31 and the second carrier 32 are configured to slide in the same direction along the second direction Y to drive the hanger 300 to move along the second direction Y, and can slide in the opposite direction along the second direction Y to drive the hanger 300 to rotate in a horizontal plane.

[0099] In these optional embodiments, the multiple connecting units 5 of the connecting device are respectively provided on the first supporting frame 31 and the second supporting frame 32, and the first supporting frame 31 and the second supporting frame 32 are arranged relative to each other in the first direction X, so that the multiple connecting units 5 can be connected to the sling 300 at multiple different positions relative to each other along the first direction X, thereby improving the connection stability.

[0100] The first carrier 31 and the second carrier 32 can slide in the same direction along the second direction Y, thereby driving the sling 300 to move along the second direction Y and adjusting the position of the sling 300 in the second direction Y. The first carrier 31 and the second carrier 32 can also slide in the opposite direction along the second direction Y, thereby driving the two opposite ends of the sling 300 along the first direction X to move in the opposite direction along the second direction Y, thereby achieving the purpose of rotating the sling 300 in a horizontal plane.

[0101] Alternatively, if Figure 3 As shown, the first micro-motion mechanism 2 may include a single frame 211 , and the first carrier 31 and the second carrier 32 are supported on the frame 211 and slidably connected to the frame 211 .

[0102] Alternatively, if Figure 6 As shown, the first micro-motion mechanism 2 may also include a first support frame 213 and a second support frame 214, and the first carrier frame 31 and the second carrier frame 32 are respectively disposed on the first support frame 213 and the second support frame 214, and are respectively slidably connected to the first support frame 213 and the second support frame 214.

[0103] In some optional embodiments, the trolley 100 further includes a second driving mechanism, which is configured to drive the first carrier 31 and the second carrier 32 to slide in the same direction or in the opposite direction along the second direction Y. The second driving mechanism includes two driving modules that drive the first carrier 31 and the second carrier 32 respectively. In one example, each driving module includes a second power module, which is disposed on the first micro-motion mechanism 2 (for example, but not limited to, disposed on one side of the first carrier 31 or the second carrier 32 along the second direction Y), and is connected to the first carrier 31 or the second carrier 32 to drive the first carrier 31 or the second carrier 32 to slide along the second direction Y. Optionally, the second power module may include a telescopic cylinder, a hydraulic cylinder, etc.

[0104] As an alternative example, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the first micro-motion mechanism 2, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier frame 31 or the second carrier frame 32 to drive the first carrier frame 31 or the second carrier frame 32 to slide along the second direction Y.

[0105] In these optional embodiments, the two driving modules of the second driving mechanism are independently provided to independently drive the first carrier 31 and the second carrier 32 to slide along the second direction Y, and the structure is simple. The second transmission assembly of one of the driving modules is connected to the first carrier 31 to transmit the power output by the second power module of the driving module to the first carrier 31, thereby driving the first carrier 31 to slide along the second direction Y. The second transmission assembly of the other driving module is connected to the second carrier 32 to transmit the power output by the second power module of the driving module to the second carrier 32, thereby driving the second carrier 32 to slide along the second direction Y.

[0106] Optionally, the second power module may include a motor. Further, the second power module may also include a speed reduction mechanism, and the second power module outputs power through the speed reduction mechanism.

[0107] Optionally, the second transmission assembly may include one or more of a rack and pinion transmission assembly, a sprocket and chain transmission assembly, a worm gear transmission assembly, a transmission belt assembly or other suitable transmission assemblies.

[0108] In some optional embodiments, the first carrier frame 31 and the second carrier frame 32 respectively carry multiple connection units 5, and the multiple connection units 5 are distributed along the second direction Y on the first carrier frame 31 or the second carrier frame 32, so that the multiple connection units 5 can be connected to the sling 300 at multiple different positions relative to each other along the second direction Y, thereby improving the connection stability.

[0109] In these optional embodiments, the first carrier 31 and the second carrier 32 are arranged opposite to each other in the first direction X, and the first carrier 31 and the second carrier 32 respectively carry a plurality of connection units 5. Therefore, the plurality of connection units 5 of the connection device can be distributed in an array in the first direction X and the second direction Y, thereby improving the connection stability between the connection device and the sling 300.

[0110] Optionally, the first carrier frame 31 and the second carrier frame 32 can respectively carry two connection units 5 , and the two connection units 5 are arranged along the second direction Y at intervals.

[0111] In some optional embodiments, such as Figure 1 , Figure 2 and Figure 6 As shown, the main vehicle 200 includes a vertical support assembly 201 and a transverse support assembly 202. The transverse support assembly 202 is supported on one side of the vertical support assembly 201. The trolley 100 is slidably connected to the transverse support assembly 202. A portion of the frame 1 extends out of the transverse support assembly 202 along the travel direction of the main vehicle 200. The first load-bearing frame 31, the second load-bearing frame 32 and the connecting device are arranged on the section of the frame 1 extending out of the transverse support assembly 202.

[0112] In these optional embodiments, a portion of the frame 1 extends the lateral support assembly 202 along the travel direction of the main vehicle 200, which reduces the track gauge of the trolley 100 and improves the support stability of the trolley 100. The first load-bearing frame 31, the second load-bearing frame 32 and the connecting device are all located on the section of the frame 1 extending from the lateral support assembly 202, which is conducive to the connection between the connecting device and the sling 300 and reduces the possibility of structural interference between the connecting device and the main vehicle 200. In addition, the increase in the distance between the lifting points also ensures the stability of the sling 300.

[0113] The first carrier 31 and the second carrier 32 are carried by the first micro-motion mechanism 2, and the first micro-motion mechanism 2 slides relative to the vehicle frame 1 along the first direction X. When the first direction X is the traveling direction of the main vehicle 200, the first carrier 31, the second carrier 32 and the connecting device move along the first direction X with the first micro-motion mechanism 2, and the path of the first carrier 31, the second carrier 32 and the connecting device moving along the first direction X is on the section of the vehicle frame 1 extending out of the lateral support assembly 202.

[0114] Optionally, two end sections 12 of the frame 1 opposite to each other along the traveling direction of the main vehicle 200 extend out of the lateral support assembly 202 in opposite directions, and the two end sections 12 extend out to the same length. The first load-bearing frame 31 and the second load-bearing frame 32 can be respectively located at the two end sections of the frame 1, so that the force distribution of the trolley 100 on the main vehicle 200 is more balanced, thereby improving the structural stability.

[0115] In some optional embodiments, such as Figure 3 As shown, the trolley 100 also includes an anti-sway device, which includes more than two anti-sway mechanisms 7 arranged at intervals along the first direction X, each anti-sway mechanism 7 is vertically retractable, the anti-sway mechanism 7 is fixedly connected to the second micro-motion mechanism 3, and one end of the anti-sway mechanism 7 along the vertical direction can be connected to the sling 300.

[0116] In these optional embodiments, the anti-sway mechanism 7 is vertically telescopically arranged to adjust the vertical length of the anti-sway mechanism 7 to adapt to the height of the sling 300. The anti-sway mechanism 7 may have a rigid structure, and the structural strength of the anti-sway mechanism 7 may suppress the sling 300 from swaying due to external environmental interference.

[0117] Optionally, the anti-sway mechanism 7 and the second micro-motion mechanism 3 , as well as the anti-sway mechanism 7 and the sling 300 , may be fixedly connected in a suitable manner.

[0118] In some optional embodiments, such as Figure 4 and Figure 8 As shown, the anti-sway mechanism 7 includes a first connecting member 71, a second connecting member 72 and a plurality of sleeves 73. The plurality of sleeves 73 are movably socketed. The first connecting member 71 is fixedly connected to the second micro-motion mechanism 3 and the outermost sleeve 73. The second connecting member 72 is hinged to the innermost sleeve 73 along the vertical lower end and is fixedly connected to the sling 300.

[0119] In these optional embodiments, a plurality of sleeves 73 are movably socketed, and each sleeve 73 extends vertically. The vertical height of the anti-sway mechanism 7 can be adjusted through the mutual movement between the plurality of sleeves 73, thereby realizing the vertical extension and retraction of the anti-sway mechanism 7.

[0120] Optionally, the first connecting member 71 may be a connecting plate, which is fixedly connected to the second micro-motion mechanism 3 and the outermost sleeve 73 by bolt connection, welding, riveting or other suitable means.

[0121] The second connecting member 72 is fixedly connected to the sling 300, and the second connecting member 72 is hinged to the innermost sleeve 73 along the vertical lower end, allowing the sling 300 to rotate relative to the multiple sleeves 73 together with the second connecting member 72, thereby allowing the sling 300 to have a variety of postures at different angles of inclination relative to the horizontal plane.

[0122] In some optional embodiments, such as Figure 6As shown, the connection device includes two groups of connection units 5 arranged opposite to each other. The length adjustment of the two groups of connection units 5 (i.e., the lengths of the two groups of connection units 5 are different) can make the sling 300 flip vertically relative to the horizontal plane. The sling 300 includes a central axis a located between the two groups of connection units 5. The trolley 100 also includes an anti-sway device, which includes at least one anti-sway mechanism 7' fixed to the frame 1 in sequence in a direction parallel to the central axis a. One end of the anti-sway mechanism 7' is connected to the sling 300 in the vertical direction. The length of the anti-sway mechanism 7' in the vertical direction can be adjusted, and the length adjustment of each anti-sway mechanism 7' is independent of each other.

[0123] In these optional embodiments, during the process of gradually extending the vertical length of the connecting device to lower the sling 300, the anti-sway mechanism 7' may not generate a force on the sling 300. When the vertical lengths of the two groups of connecting units 5 are equal, the sling 300 is in a horizontal position; when the vertical lengths of the two groups of connecting units 5 are unequal, the sling 300 flips to a position inclined relative to the horizontal plane. After the posture of the sling 300 relative to the position to be installed is determined, when the sling 300 is shaken by the external environment, the shaking displacement of the sling 300 can be detected by a detection device (for example, but not limited to a laser scanner), and the anti-sway control system can adjust the vertical length of each anti-sway mechanism 7' according to the shaking displacement, thereby controlling the horizontal displacement of the sling 300 and suppressing the shaking of the sling 300.

[0124] Optionally, the number of the anti-sway mechanism 7' can be one, and the anti-sway mechanism 7' can be connected to the center of the sling 300 along the direction of the central axis a. The number of the anti-sway mechanism 7' can also be more than two, and the more than two anti-sway mechanisms 7' are distributed at equal intervals along the direction of the central axis a, thereby producing a balanced anti-sway effect on the sling 300 in the direction of the central axis a, so as to improve the anti-sway effect of the entire sling 300.

[0125] In some optional embodiments, such as Figure 2 As shown, the anti-sway mechanism 7' comprises an anti-sway rope 74 and a plurality of winding structures 75, the winding structure 75 is provided on the vehicle frame 1, at least part of the anti-sway rope 74 is wound around the winding structure 75, the winding structure 75 is connected to the sling 300 through the anti-sway rope 74, and the winding structure 75 is configured to achieve adjustable length of the anti-sway mechanism 7 by winding the anti-sway rope 74. The anti-sway mechanism 7' forms an inverted triangle connection with the sling 300 through the anti-sway rope 74.

[0126] In these optional embodiments, an inverted triangle connection is formed between the anti-sway mechanism 7' and the sling 300. This shape of the connection structure is relatively stable and has a better anti-sway effect.

[0127] Optionally, the anti-sway mechanism 7' may include two winding structures 75, the two winding structures 75 are spaced apart in a direction perpendicular to the central axis a, and the connection position between the anti-sway mechanism 7' and the sling 300 is located between the two winding structures 75. The two winding structures 75 may be independently provided or have a certain connection relationship.

[0128] Exemplarily, the winding structure 75 may include a drum and a driving structure, and at least part of the anti-sway rope 74 is wound on the drum. The driving structure is connected to the drum and is used to drive the drum to rotate in different directions, thereby extending or shortening the length of the anti-sway rope 74 not wound on the drum.

[0129] Optionally, the anti-sway rope 74 can be led out from the outer side of the winding structure 75 away from the other winding structure 75 to increase the rope angle of the anti-sway rope 74 and enhance the connection stability and anti-sway effect. It is understood that, as another example, the anti-sway rope 74 can also be led out from the inner side of the winding structure 75.

[0130] In some optional embodiments, when the sling 300 is flipped relative to the horizontal plane, the connection point between the anti-sway mechanism 7 ′ and the sling 300 deviates from the central axis a of the sling 300 toward the frame 1 .

[0131] In these optional embodiments, when the sling 300 is in a flipped state, the connection point between the anti-sway mechanism 7' and the sling 300 is deviated from the central axis a of the sling 300 toward the frame 1, so that the anti-sway ropes 74 led out from each winding structure 75 can have the same angle with the horizontal direction (also with the vertical direction), thereby effectively achieving an anti-sway effect.

[0132] In some optional embodiments, such as Figure 1 , Figure 5 and Figure 6 As shown, the main vehicle 200 includes a vertical support assembly 201 and a transverse support assembly 202. The transverse support assembly 202 is carried on one side of the vertical support assembly 201. The trolley 100 is slidably connected to the transverse support assembly 202. Part of the section of the frame 1 extends out of the transverse support assembly 202 along the travel direction of the main vehicle 200. The anti-sway device is provided on the section of the frame 1 extending out of the transverse support assembly 202.

[0133] In these optional embodiments, a portion of the frame 1 extends the lateral support assembly 202 along the travel direction of the main vehicle 200, which reduces the track gauge of the trolley 100 and improves the support stability of the trolley 100. The anti-sway device is located in the section of the frame 1 extending from the lateral support assembly 202, which is conducive to the connection between the anti-sway device and the sling 300 and reduces the possibility of structural interference between the anti-sway device and the main vehicle 200. In addition, the increase in the distance between the suspension points also ensures the stability of the sling.

[0134] Optionally, two end sections 12 of the frame 1 opposite to each other along the traveling direction of the main vehicle 200 extend out of the lateral support assembly 202 in opposite directions, and the two end sections extend out to the same length. The anti-sway device may include two anti-sway mechanisms 7', which are respectively located at two end sections of the frame 1, so that the force distribution of the trolley 100 acting on the main vehicle 200 is more balanced, and the connection position distribution of the anti-sway device and the sling 300 is more even, thereby improving the structural stability.

[0135] In some optional embodiments, such as Figure 1 and Figure 5 As shown, the main vehicle 200 includes a vertical support assembly 201 and a transverse support assembly 202. The transverse support assembly 202 is carried on one side of the vertical support assembly 201 in the vertical direction. The transverse support assembly 202 and the vertical support assembly 201 enclose and form a working space. The trolley 100 is slidably connected to the transverse support assembly 202. The trolley 100 also includes an anti-collision mechanism 8, which is arranged on one side of the frame 1 facing the working space in the vertical direction. The anti-collision mechanism 8 is configured to restrict the sling 300 connected to the second micro-motion mechanism 3 from moving vertically toward the transverse support assembly 202.

[0136] In these optional embodiments, the vertical length adjustment of the connecting device can adjust the vertical length of the sling 300. If the height of the sling 300 is too high, it may collide with the lateral support assembly 202. In the embodiment of the present application, an anti-collision mechanism 8 is provided on the frame 1 of the trolley 100, which can limit the sling 300 from continuing to move upward after the sling 300 moves upward to a certain height, thereby preventing the sling 300 from colliding with the lateral support assembly 202, thereby improving the safety of the operation.

[0137] In some optional embodiments, such as Figure 5 and Fig. 9 As shown, the anti-collision mechanism 8 includes a limit sensor, a limit structure 82 and a striker 83. The striker 83 is movably arranged in the vertical direction. The limit structure 82 is arranged on the side of the striker 83 that is vertically away from the working space, and is configured to move in response to the vertical abutment of the striker 83, thereby prompting the limit sensor to generate a stop signal, and the stop signal is used to instruct the sling 300 to stop moving vertically toward the lateral support assembly 202.

[0138] In these optional embodiments, when the sling 300 hits the impact rod 83 upward in the working space, the impact rod 83 moves vertically upward. When the impact rod 83 moves to contact with the limiting structure 82, the limiting structure 82 moves under the abutment of the impact rod 83. When the limiting structure 82 moves to a certain position, it can trigger the limit sensor to generate a stop signal, so that the control mechanism can control the connecting device to stop the sling 300.

[0139] Exemplarily, the striker 83 may be a rigid rod with high structural strength and is not easily deformed. The limit structure 82 may be rotatably arranged. When the striker 83 abuts against the limit structure 82, the limit structure 82 rotates. When it rotates to a predetermined position, the limit sensor is triggered to generate a stop signal. Exemplarily, the limit structure may be a cam limit switch.

[0140] In some optional embodiments, such as Figure 3 and Figure 4 As shown, the first direction X is the traveling direction of the main vehicle 200, and the frame 1 is slidably connected to the main vehicle 200 along the second direction Y. The frame 1 includes more than two beams 11 spaced apart along the second direction Y, and each beam 11 extends along the first direction X. The first micro-motion mechanism 2 includes a single frame 211, which supports the second micro-motion mechanism 3 and is slidably connected to the frame 1 along the first direction X. The frame 211 and the frame 1 are stacked vertically. The second micro-motion mechanism 3 is connected to the sling 300 through a connecting device, and the connecting device includes a plurality of connecting units 5. The second micro-motion mechanism 3 includes a first carrier frame 31 and a second carrier frame 32, which are arranged opposite to each other in the first direction X and are slidably connected to the first micro-motion mechanism 2 along the second direction Y. Each of the first carrier frame 31 and the second carrier frame carries two connecting units 5 distributed along the second direction Y.

[0141] In these optional embodiments, the main vehicle 200 moves along the first direction X, and the positions of the frame 1 and the sling 300 in the first direction X can be adjusted. The frame 1 slides along the second direction Y, and the position of the sling 300 in the second direction Y can be adjusted. It can be understood that the movement of the main vehicle 200 and the frame 1 can be a long-distance movement, which is used to roughly adjust the position of the sling 300. The frame 211 of the first micro-motion mechanism 2 slides along the first direction X, and the fine position of the sling 300 in the direction of travel of the main vehicle 200 can be adjusted. The second micro-motion mechanism 3 slides along the second direction Y, and the fine position of the sling 300 in the sliding direction of the frame 1 can be adjusted. It can be understood that the sliding of the first micro-motion mechanism 2 and the second micro-motion mechanism 3 can be a short-distance sliding, which is used to fine-tune the position of the sling 300.

[0142] In these optional embodiments, the first carrier 31 and the second carrier 32 can slide in the same direction along the second direction Y, thereby driving the sling 300 to move along the second direction Y and adjusting the position of the sling 300 in the second direction Y. The first carrier 31 and the second carrier 32 can also slide in opposite directions along the second direction Y, so as to drive the two opposite ends of the sling 300 along the first direction X to move in opposite directions along the second direction Y, thereby achieving the purpose of rotating the sling 300 in a horizontal plane.

[0143] In some optional embodiments, such as Figure 3 and Figure 4As shown, the trolley 100 includes a first driving mechanism 4 and a second driving mechanism. The first driving mechanism 4 includes a first power module and a first transmission assembly. The first transmission assembly connects the two opposite sides of the frame 211 in the first direction X and is configured to transmit the power output by the first power module to the frame 211 to drive the frame 211 to slide along the first direction X. The first power module is arranged on the frame 1 and is located between the two opposite sides of the frame 211 in the first direction X. In this embodiment, a power module and a set of transmission assemblies are used between the two opposite sides of the frame 211 in the first direction X, so that better transmission force distribution and transmission effect can be achieved at a lower cost.

[0144] In some optional embodiments, the second driving mechanism includes two driving modules for driving the first carrier 31 and the second carrier 32 respectively, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the frame 211, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier 31 or the second carrier, so as to drive the first carrier 31 or the second carrier 32 to slide along the second direction Y. In this embodiment, the use of two driving modules is conducive to simplifying the implementation, and a power module and a set of transmission assemblies are used for each carrier, which can achieve better transmission force distribution and transmission effect at a lower cost.

[0145] As a non-limiting example, the first power module and the second power module may include a motor, and the first transmission assembly and the second transmission assembly may include a rack and pinion transmission assembly, a sprocket chain transmission assembly, a worm gear transmission assembly, a transmission belt assembly or any other suitable transmission assembly.

[0146] In some optional embodiments, such as Figure 5 and Figure 6 As shown, the first direction X is the traveling direction of the main vehicle 200, and the frame 1 is slidably connected to the main vehicle 200 along the second direction Y; the frame 1 includes more than two beams 11 arranged at intervals along the second direction Y, and each beam 11 extends along the first direction X. The first micro-motion mechanism 2 includes a first support frame 213 and a second support frame 214 arranged opposite to each other in the first direction X, and the first support frame 213 and the second support frame 214 jointly support the second micro-motion mechanism 3 and are slidably connected to the frame 1. The second micro-motion mechanism 3 is connected to the sling 300 through a connecting device, and the connecting device includes a plurality of connecting units 5. The second micro-motion mechanism 3 includes a first bearing frame 31 and a second bearing frame 32 for carrying the connecting device, and the first bearing frame 31 and the second bearing frame 32 are arranged opposite to each other in the first direction X and are slidably connected to the first micro-motion mechanism 2, and each of the first bearing frame 31 and the second bearing frame carries two connecting units 5 distributed along the second direction Y.

[0147] In these optional embodiments, the first carrier 31 and the second carrier 32 can slide in the same direction along the second direction Y, thereby driving the sling 300 to move along the second direction Y and adjusting the position of the sling 300 in the second direction Y. The first carrier 31 and the second carrier 32 can also slide in opposite directions along the second direction Y, so as to drive the two opposite ends of the sling 300 along the first direction X to move in opposite directions along the second direction Y, thereby achieving the purpose of rotating the sling 300 in a horizontal plane.

[0148] Optionally, the first carrier frame 31 and the second carrier frame 32 are respectively disposed on the first support frame 213 and the second support frame 214 , and are slidably connected to the first support frame 213 and the second support frame 214 , respectively.

[0149] In some optional embodiments, the trolley 100 includes a first drive mechanism 4 and a second drive mechanism. The first drive mechanism 4 includes two drive units 40 located between the first support frame 213 and the second support frame 214 in the first direction X, each drive unit 40 includes a first power module and a first transmission assembly, the first power module is arranged on the frame 1, and the first transmission assembly transmits the power output by the first power module to the first support frame 213 or the second support frame 214 to drive the first support frame 213 or the second support frame 214 to slide along the first direction X. As a non-limiting example, the first power module may include a motor, and the first transmission assembly may include a gear rack transmission assembly, a sprocket chain transmission assembly, a worm gear transmission assembly or any other suitable transmission assembly. In this embodiment, two drive units 40 are used, and the implementation method is simpler.

[0150] The second driving mechanism includes two driving modules that drive the first carrier 31 and the second carrier 32 respectively, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the first support frame 213 or the second support frame 214, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier 31 or the second carrier, so as to drive the first carrier 31 or the second carrier 32 to slide along the second direction Y. In this embodiment, the use of two driving modules is conducive to simplifying the implementation, and a power module and a set of transmission assemblies are used for each carrier, which can achieve better transmission force distribution and transmission effect at a lower cost.

[0151] As a non-limiting example, the first power module and the second power module may include a motor, and the first transmission assembly and the second transmission assembly may include a rack and pinion transmission assembly, a sprocket chain transmission assembly, a worm gear transmission assembly, a transmission belt assembly or any other suitable transmission assembly.

[0152] According to the second aspect of the present application, Figure 1 and Figure 2As shown, an embodiment of the present application further provides an installation device 1000, which includes a trolley 100 and a main vehicle 200 provided in any of the above embodiments, and the trolley 100 is slidably connected to one side of the main vehicle 200 along the vertical direction.

[0153] Since the installation device 1000 provided in the embodiment of the present application includes the trolley 100 provided in any of the above-mentioned embodiments, it has the corresponding technical effects possessed by the trolley 100 provided in any of the embodiments, which will not be repeated here.

[0154] Optionally, the main vehicle 200 may include a vertical support assembly 201, a transverse support assembly 202 and a walking mechanism assembly 203, wherein the walking mechanism assembly 203 is arranged on one side of the vertical support assembly 201 in the vertical direction, the transverse support assembly 202 is supported on the side of the vertical support assembly 201 that is vertically away from the walking mechanism assembly 203, and the trolley 100 is slidably connected to the transverse support assembly 202.

[0155] In some optional embodiments, the installation device 1000 is used to install a semi-finished photovoltaic array product. That is, the installation device 1000 can be a photovoltaic array semi-finished product installation device.

[0156] Optionally, the installation device 1000 is connected to a hanger 300, and the hanger 300 is used to hang the semi-finished photovoltaic array. The main vehicle 200 can form a working space along the side away from the vehicle 100 in the vertical direction, and the hanger 300 can hang the semi-finished photovoltaic array in the working space.

[0157] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, m and / or n can represent: m exists alone, m and n exist at the same time, and n exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0158] In the description of the embodiments of the present application, the term "plurality" refers to more than two (including two).

[0159] In the embodiments of the present application, "parallel" includes not only the absolutely parallel situation, but also the roughly parallel situation conventionally recognized in engineering; at the same time, "perpendicular" also includes not only the absolutely perpendicular situation, but also the roughly perpendicular situation conventionally recognized in engineering. For example, if the angle between two directions is 85°-90°, the two directions can be considered perpendicular; if the angle between two directions is 0°-5°, the two directions can be considered parallel.

[0160] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A trolley for installing equipment, the installation equipment comprising a main vehicle, the trolley being slidably connected to one side of the main vehicle along the vertical direction, characterized in that: The trolley comprises a frame, a first micro-motion mechanism and a second micro-motion mechanism, wherein the first micro-motion mechanism is arranged on the frame, and the second micro-motion mechanism is arranged on the first micro-motion mechanism and can be connected to the sling along the vertical direction; the frame is slidably connected to the main vehicle, and the first micro-motion mechanism is slidably connected to the frame along a first direction to adjust the positions of the second micro-motion mechanism and the sling in the first direction; the second micro-motion mechanism is slidably connected to the first micro-motion mechanism along a second direction to adjust the position of the sling in the second direction; The first direction, the second direction and the vertical direction intersect each other, one of the first direction and the second direction is the traveling direction of the main vehicle, and the other is the sliding direction of the frame along the main vehicle.

2. The trolley according to claim 1, characterized in that: The first micro-motion mechanism includes a single frame that supports the second micro-motion mechanism and is slidably connected to the vehicle frame; The frame is stacked vertically with the vehicle frame or is in the same horizontal plane with the vehicle frame.

3. The trolley according to claim 2, characterized in that: The trolley includes a first driving mechanism configured to drive the frame to slide along the first direction; The first driving mechanism comprises a first power module, which is disposed on the vehicle frame and connected to the frame to drive the frame to slide along the first direction; or The first driving mechanism includes a first power module and a first transmission assembly. The first power module is arranged on the frame. The first transmission assembly is configured to transmit the power output by the first power module to the first micro-motion mechanism to drive the frame to slide along the first direction.

4. The trolley according to claim 1, characterized in that: The first micro-motion mechanism comprises a first support frame and a second support frame which are arranged opposite to each other in the first direction, the first support frame and the second support frame jointly support the second micro-motion mechanism and are slidably connected to the vehicle frame; The first support frame and the second support frame are configured to slide in the same direction along the first direction to drive the second micro-motion mechanism and the hanger to move along the first direction.

5. The trolley according to claim 4, characterized in that: The trolley comprises a first driving mechanism configured to drive the first support frame and the second support frame to slide in the same direction along the first direction; The first driving mechanism includes at least one driving unit, and the driving unit includes a first power module, and the first power module is arranged on the frame and connected to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide along the first direction; or The driving unit includes a first power module and a first transmission assembly, wherein the first power module is disposed on the frame, and the first transmission assembly is configured to transmit power output by the first power module to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide along the first direction.

6. The trolley according to claim 5, characterized in that: The first driving mechanism includes two driving units; The first transmission assembly of at least one driving unit includes a push rod and a connecting rod, one end of the push rod along the first direction is connected to the first power module, the push rod is configured to extend and retract along the first direction in response to the power output by the first power module, the middle part of the connecting rod along the second direction is connected to the other end of the push rod along the first direction, and the opposite ends of the connecting rod along the second direction are connected to the first support frame.

7. The trolley according to any one of claims 1 to 6, characterized in that: Also includes: A connecting device, comprising a plurality of connecting units, each of the connecting units being at least partially fixed to the second micro-motion mechanism, so that the second micro-motion mechanism is connected to the sling through the plurality of connecting units; The vertical length of each connection unit is adjustable, and the length adjustment of each connection unit is independent of each other.

8. The trolley according to claim 7, characterized in that: The connecting unit includes a winding mechanism and a connecting rope, the winding mechanism is fixed to the second micro-motion mechanism, at least a portion of the connecting rope is wound around the winding mechanism, the winding mechanism is connected to the sling via the connecting rope, and the winding mechanism is configured to achieve adjustable length of the connecting unit by winding the connecting rope.

9. The trolley according to claim 7, characterized in that: At least part of the connection unit is arranged on a side of the second micro-motion mechanism that faces the walking surface of the main vehicle vertically.

10. The trolley according to claim 7, characterized in that: The length of the connection unit is configured to be adjusted by a control mechanism, and the control mechanism adjusts the length of the connection unit according to a detection signal of a horizontal detection mechanism so that the hanger is in a horizontal state.

11. The trolley according to claim 7, characterized in that: The second micro-motion mechanism comprises a first carrier and a second carrier for carrying the connecting device, the first carrier and the second carrier are arranged opposite to each other in the first direction and are slidably connected to the first micro-motion mechanism; The first carrier and the second carrier are configured to slide in the same direction along the second direction to drive the sling to move along the second direction, or slide in opposite directions along the second direction to drive the sling to rotate in a horizontal plane.

12. The trolley according to claim 11, characterized in that: The trolley further comprises a second driving mechanism configured to drive the first carrier and the second carrier to slide in the same direction or in opposite directions along the second direction; The second driving mechanism includes two driving modules that drive the first carrier and the second carrier respectively, each of the driving modules includes a second power module, the second power module is arranged on the first micro-motion mechanism, and is connected to the first carrier or the second carrier to drive the first carrier or the second carrier to slide along the second direction; or Each of the driving modules includes a second power module and a second transmission assembly, wherein the second power module is arranged on the first micro-motion mechanism, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier frame or the second carrier frame to drive the first carrier frame or the second carrier frame to slide along the second direction.

13. The vehicle according to claim 11, characterized in that: The first carrier and the second carrier respectively carry a plurality of the connection units, and the plurality of the connection units are distributed along the second direction on the first carrier or the second carrier.

14. The trolley according to claim 11, characterized in that: The main vehicle comprises a vertical support assembly and a transverse support assembly, wherein the transverse support assembly is carried on one side of the vertical support assembly, the trolley is slidably connected to the transverse support assembly, and a part of the frame extends out of the transverse support assembly along the travel direction of the main vehicle; The first load-bearing frame, the second load-bearing frame and the connecting device are arranged on a section of the vehicle frame extending out of the transverse supporting assembly.

15. The vehicle according to any one of claims 1-6, 8-14, characterized in that: Also includes: The anti-sway device comprises two or more anti-sway mechanisms arranged at intervals along the first direction, each of the anti-sway mechanisms is vertically telescopically arranged, the anti-sway mechanism is fixedly connected to the second micro-motion mechanism, and one end of the anti-sway mechanism along the vertical direction can be connected to the sling.

16. The trolley according to claim 15, characterized in that: The anti-sway mechanism includes a first connecting member, a second connecting member and a plurality of sleeves, the plurality of sleeves are movably socketed, the first connecting member is fixedly connected to the second micro-motion mechanism and the outermost sleeve, the second connecting member is hinged to the innermost sleeve along the vertical lower end and fixedly connected to the sling.

17. The vehicle according to claim 7, characterized in that: The connecting device comprises two sets of connecting units arranged opposite to each other, the length adjustment of the two sets of connecting units can make the sling flip in the vertical direction relative to the horizontal plane, and the sling comprises a central axis located between the two sets of connecting units; The trolley further comprises an anti-sway device, the anti-sway device comprising at least one anti-sway mechanism sequentially fixed on the frame in a direction parallel to the central axis, and one end of the anti-sway mechanism is connected to the sling along a vertical direction; The anti-sway mechanism is adjustable in length along the vertical direction, and the length adjustments of the anti-sway mechanisms are independent of each other.

18. The trolley according to claim 17, characterized in that: The anti-sway mechanism comprises an anti-sway rope and a plurality of winding structures, wherein the winding structure is provided on the vehicle frame, at least a portion of the anti-sway rope is wound around the winding structure, the winding structure is connected to the sling via the anti-sway rope, and the winding structure is configured to achieve adjustable length of the anti-sway mechanism by winding the anti-sway rope; The anti-sway mechanism forms an inverted triangle connection with the sling through the anti-sway rope.

19. The trolley according to claim 18, characterized in that: In the case where the spreader turns over, the connection point between the anti-sway mechanism and the spreader deviates from the central axis of the spreader toward the frame.

20. The vehicle according to claim 17, characterized in that: The main vehicle comprises a vertical support assembly and a transverse support assembly, wherein the transverse support assembly is carried on one side of the vertical support assembly, the trolley is slidably connected to the transverse support assembly, and a part of the frame extends out of the transverse support assembly along the travel direction of the main vehicle; The anti-sway device is arranged on the section of the frame extending from the lateral support assembly.

21. The vehicle according to any one of claims 1-6, 8-14, 16-20, characterized in that: The main vehicle comprises a vertical support assembly and a transverse support assembly, wherein the transverse support assembly is carried on one side of the vertical support assembly, the transverse support assembly and the vertical support assembly enclose and form a working space, and the trolley is slidably connected to the transverse support assembly; The trolley also includes an anti-collision mechanism, which is arranged on a side of the frame vertically facing the working space, and is configured to limit the spreader connected to the second micro-motion mechanism from moving vertically toward the lateral support assembly.

22. The vehicle according to claim 21, characterized in that: The anti-collision mechanism includes a limit sensor, a limit structure and a striker, wherein the striker is movably arranged in the vertical direction, and the limit structure is arranged on the side of the striker vertically away from the working space, and is configured to move in response to the vertical abutment of the striker, thereby prompting the limit sensor to generate a stop signal, and the stop signal is used to instruct the sling to stop moving vertically toward the lateral support assembly.

23. The vehicle according to any one of claims 1-6, 8-14, 16-20, 22, characterized in that: The first direction is the traveling direction of the main vehicle, and the frame is slidably connected to the main vehicle along the second direction; the frame includes more than two beams spaced apart along the second direction, and each beam extends along the first direction; The first micro-motion mechanism includes a single frame, the frame supports the second micro-motion mechanism and is slidably connected to the frame along the first direction, and the frame is vertically stacked with the frame; The second micro-motion mechanism is connected to the sling via a connecting device, the connecting device includes a plurality of connecting units, the second micro-motion mechanism includes a first carrier frame and a second carrier frame, the first carrier frame and the second carrier frame are arranged relative to each other in the first direction and are slidably connected to the first micro-motion mechanism, and each of the first carrier frame and the second carrier frame carries two connecting units distributed along the second direction.

24. The vehicle according to claim 23, characterized in that: The trolley comprises a first driving mechanism and a second driving mechanism; The first driving mechanism includes a first power module and a first transmission assembly, the first transmission assembly is connected to two opposite sides of the frame in the first direction, and is configured to transmit the power output by the first power module to the frame to drive the frame to slide along the first direction, the first power module is arranged on the frame and is located between the two opposite sides of the frame in the first direction; The second driving mechanism includes two driving modules for driving the first carrier and the second carrier respectively, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the frame, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier or the second carrier to drive the first carrier or the second carrier to slide along the second direction.

25. The vehicle according to any one of claims 1-6, 8-14, 16-20, 22, characterized in that: The first direction is the traveling direction of the main vehicle, and the frame is slidably connected to the main vehicle along the second direction; the frame includes more than two beams spaced apart along the second direction, and each beam extends along the first direction; The first micro-motion mechanism comprises a first support frame and a second support frame which are arranged opposite to each other in the first direction, the first support frame and the second support frame jointly support the second micro-motion mechanism and are slidably connected to the vehicle frame; The second micro-motion mechanism is connected to the sling via a connecting device, the connecting device includes a plurality of connecting units, the second micro-motion mechanism includes a first carrier frame and a second carrier frame for carrying the connecting device, the first carrier frame and the second carrier frame are arranged relative to each other in the first direction, and are slidably connected to the first micro-motion mechanism, each of the first carrier frame and the second carrier frame carries two connecting units distributed along the second direction.

26. The vehicle according to claim 25, characterized in that: The trolley comprises a first driving mechanism and a second driving mechanism; The first driving mechanism includes two driving units located between the first support frame and the second support frame in the first direction, each driving unit includes a first power module and a first transmission assembly, the first power module is arranged on the vehicle frame, and the first transmission assembly transmits the power output by the first power module to the first support frame or the second support frame to drive the first support frame or the second support frame to slide along the first direction; The second driving mechanism includes two driving modules for driving the first support frame and the second support frame respectively, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the first support frame or the second support frame, and the second transmission assembly is configured to transmit the power output by the second power module to the first support frame or the second support frame to drive the first support frame or the second support frame to slide along the second direction.

27. A mounting device, characterized in that: It comprises a main vehicle and a trolley according to any one of claims 1 to 26, wherein the trolley is slidably connected to one side of the main vehicle along the vertical direction.

28. The mounting device according to claim 27, characterized in that The installation equipment is used to install semi-finished photovoltaic arrays.

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