Photovoltaic array semi-finished product installation equipment

Abstract

The utility model discloses photovoltaic array semi-finished product installation equipment, which comprises a main vehicle, the main vehicle comprises a vertical supporting assembly, a transverse supporting assembly and a walking mechanism assembly, the transverse supporting assembly is borne on one side of the vertical supporting assembly in the vertical direction, and the walking mechanism assembly is arranged on the other side of the vertical supporting assembly in the vertical direction; the transverse supporting assemblies and the vertical supporting assemblies enclose and form an operation space. The trolley comprises a frame, the frame is connected to the transverse supporting assembly of the main trolley in a sliding mode and can be connected with a lifting appliance, the lifting appliance is configured to lift a photovoltaic array semi-finished product in the working space, and the photovoltaic array semi-finished product comprises a plurality of photovoltaic panels; and the micro-motion device is configured to drive the lifting appliance to move along the first direction and / or the second direction relative to the frame so as to adjust the position of the lifting appliance in the first direction and / or the second direction, so that the photovoltaic array semi-finished product is accurately butted and mounted, and the mounting operation efficiency and the mounting precision are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of photovoltaic panel installation, and in particular, relates to a photovoltaic array semi-finished product installation device. Background Art

[0002] Photovoltaic array units (photovoltaic array arrays) are the core part of the entire power generation system. Existing photovoltaic array arrays are mainly formed by manually assembling multiple photovoltaic panels to photovoltaic brackets. The photovoltaic brackets are large in size, and each photovoltaic panel is heavy, making installation difficult. In addition, the dimensions need to be repeatedly measured on site, resulting in a long construction period and low installation efficiency.

[0003] Therefore, there is an urgent need for an installation device that can meet the installation requirements of photovoltaic panels. Utility Model Content

[0004] The embodiment of the present application provides a photovoltaic array semi-finished product installation device, which can accurately dock and install the photovoltaic array semi-finished product with high installation efficiency.

[0005] An embodiment of the present application provides a photovoltaic array semi-finished product installation device, which includes: a main vehicle, including a vertical support assembly, a transverse support assembly and a traveling mechanism assembly, the transverse support assembly is carried on one side of the vertical support assembly along the vertical direction, and the traveling mechanism assembly is arranged on the other side of the vertical support assembly along the vertical direction, and the transverse support assembly and the vertical support assembly enclose and constitute a working space; a trolley, including a frame, the frame is slidably connected to the transverse support assembly of the main vehicle, and can be connected to a hoist, the hoist is configured to hoist the photovoltaic array semi-finished product in the working space, and the photovoltaic array semi-finished product includes a plurality of photovoltaic panels; a micro-motion device, configured to drive the hoist to move relative to the frame along a first direction and / or a second direction to adjust the position of the hoist in the first direction and / or 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 vehicle, and the other is the sliding direction of the frame along the main vehicle.

[0006] Optionally, the photovoltaic array semi-finished product installation equipment also includes a connecting device configured to connect a hanger; the micro-motion device is arranged on the frame, at least a part of the connecting device is fixed on the micro-motion device, and the micro-motion device is slidably connected to the frame along the first direction and / or the second direction to drive at least a part of the connecting device to move, thereby driving the hanger to move.

[0007] Optionally, the micro-motion device includes a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism is slidably connected to the frame along a first direction, the second micro-motion mechanism is slidably connected to the first micro-motion mechanism along a second direction, and at least a portion of the connecting device is fixed to the second micro-motion mechanism.

[0008] Optionally, the first micro-motion mechanism includes at least one support frame, at least one support frame supports the second micro-motion mechanism and can be slidably connected to the frame, at least one support frame can 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; 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, 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, and can slide in the opposite direction along the second direction to drive the sling to rotate in a horizontal plane.

[0009] Optionally, the photovoltaic array semi-finished product installation equipment also includes a first driving mechanism and a second driving mechanism: 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 at least one support frame to drive at least one support 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, and the first transmission assembly is configured to transmit the power output by the first power module to at least one support frame to drive at least one support frame to slide along the first direction; the second driving mechanism includes two driving modules that drive the first support frame and the second support frame respectively, each driving module includes a second power module, the second power module is arranged on the first micro-motion mechanism, and is connected 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; or, 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, 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.

[0010] Optionally, the hanger includes a frame component and an adsorption component, and the adsorption component includes a plurality of suction cups spaced apart and distributed on the frame component to adsorb a plurality of photovoltaic panels of a semi-finished photovoltaic array.

[0011] Optionally, the sling further comprises at least two vacuum pumping assemblies for a plurality of suction cups, the suction cups connected to the same vacuum pumping assembly are in the same passage, and each vacuum pumping assembly operates independently to independently provide negative pressure to its corresponding passage.

[0012] Optionally, the frame assembly includes at least one main beam and multiple auxiliary beams, the multiple auxiliary beams are spaced apart along the extension direction of the main beam and are arranged to intersect with the main beam, and multiple suction cups are spaced apart on the auxiliary beams; at least four suction cups adsorb a single photovoltaic panel, and at least four suction cups correspond to at least two vacuum assemblies.

[0013] Optionally, the spreader further comprises a distance measuring device mounted on the frame assembly, wherein the distance measuring device is configured to output measurement information related to the compression degree of the suction cup.

[0014] Optionally, the photovoltaic array semi-finished product installation equipment also includes a detection device, which is provided on the main vehicle and / or the trolley and is configured to detect position information of the photovoltaic bracket used to install the photovoltaic array semi-finished product to determine the target stopping position of the trolley.

[0015] Optionally, the detection device is also configured to detect position information of the semi-finished photovoltaic array product; the semi-finished photovoltaic array installation equipment also includes a control mechanism, which is connected to the micro-motion device and is configured to drive the micro-motion device to move along the first direction and / or the second direction according to the position information of the semi-finished photovoltaic array product and the photovoltaic bracket after the trolley stops at the target stop position and when the semi-finished photovoltaic array product and the photovoltaic bracket are not horizontally aligned.

[0016] Optionally, the walking mechanism assembly includes a plurality of walking mechanisms, and the plurality of walking mechanisms include at least one crawler-type walking mechanism.

[0017] Optionally, the multiple walking mechanisms include more than four crawler-type walking mechanisms, and the more than four crawler-type walking mechanisms are distributed at intervals on one side of the vertical support assembly along the vertical direction.

[0018] Optionally, the crawler walking mechanism is hinged to the vertical support assembly and includes a one-to-one crawler walking unit and a drive unit, the crawler walking unit includes a driving wheel, a driven wheel and a track, the drive unit includes a power output module, which is configured to provide power to the driving wheel, and the driving wheel drives the driven wheel to rotate via the track.

[0019] Optionally, a partial section of the frame extends out of the lateral support assembly along the traveling direction of the main vehicle.

[0020] Optionally, the frame includes a first section, a second section and a third section which are sequentially arranged side by side along the traveling direction, and the first section and the third section respectively extend transverse support components in opposite directions along the traveling direction.

[0021] Optionally, the length of the first section along the traveling direction is the same as the length of the third section along the traveling direction.

[0022] Optionally, the vertical support assembly includes more than two support units spaced apart along the sliding direction of the frame; each support unit includes two brackets spaced apart along the traveling direction, and each bracket is connected to the transverse support assembly; the two brackets of each support unit extend obliquely toward each other from bottom to top along the traveling direction.

[0023] Optionally, the vertical support assembly includes two or more support units spaced apart along the sliding direction; each support unit includes two or more brackets and at least one bottom beam, the two or more brackets are spaced apart along the traveling direction, and each bracket is connected to the transverse support assembly; the bottom beam is connected between the ends of adjacent brackets along the vertically adjacent walking mechanism assembly.

[0024] Optionally, a recess is provided in the middle of the bottom beam along the traveling direction, and the recess is sunken toward the walking surface of the walking mechanism assembly to provide an accommodating space; and an outer bottom wall of the recess is higher than the bottom of the walking mechanism assembly along the vertical direction.

[0025] Optionally, the photovoltaic array semi-finished product installation equipment further includes: a control device, which is arranged in a recessed portion of one of the support units; and an anti-collision mechanism of the control device, which is arranged in the support unit and includes a plurality of guardrails.

[0026] Optionally, the traveling mechanism assembly includes a plurality of traveling mechanisms, and opposite ends of the bottom beam along the traveling direction are respectively hinged to at least one traveling mechanism.

[0027] Optionally, the vertical support assembly includes two or more support units spaced apart along the sliding direction; the transverse support assembly is detachably connected to each support unit in the form of an integral part; the transverse support assembly and at least one support unit are provided with electronic circuits, and the electronic circuits of the transverse support assembly are detachably connected to the electronic circuits of the support units via plug-in connectors.

[0028] Optionally, the vertical support assembly includes two or more support units arranged at intervals along the sliding direction; each support unit includes two or more brackets and at least one auxiliary mounting beam, the two or more brackets are distributed at intervals along the traveling direction, and each bracket is connected to the transverse support assembly; the auxiliary mounting beam is connected between adjacent brackets, and the length of the auxiliary mounting beam along the traveling direction is adjustable.

[0029] Optionally, the transverse support assembly includes two or more cross beams arranged at intervals along the direction of travel, and each cross beam extends along the sliding direction to cross the vertical support assembly; the transverse support assembly also includes two or more connecting beams distributed at intervals along the sliding direction, each connecting beam is connected between adjacent cross beams, and each connecting beam includes at least three connecting sections arranged along the direction of travel, and adjacent connecting sections are detachably connected.

[0030] The photovoltaic array panel finished product installation equipment provided in the embodiment of the present application includes a main vehicle, a trolley and a micro-motion device. The vertical support assembly and the lateral support assembly of the main vehicle enclose a working space, and the support effect of this main vehicle structure is more stable. The frame of the trolley can be connected to a sling, and the sling can hoist a photovoltaic array semi-finished product formed by splicing multiple photovoltaic panels. The micro-motion device can drive the sling to move along the travel direction of the main vehicle and / or the frame along the sliding direction of the main vehicle to adjust the position of the sling in these two directions, thereby realizing fine adjustment of the hoisting position of the sling. Therefore, the photovoltaic array panel finished product installation equipment of the embodiment of the present application can directly hoist the photovoltaic array semi-finished product to the installation position, and accurately dock and install the photovoltaic array semi-finished product, thereby improving the installation work efficiency and installation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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.

[0032] Figure 1 It is a schematic structural diagram of a semi-finished photovoltaic array according to an embodiment of the present application.

[0033] Figure 2 It is a structural schematic diagram of a photovoltaic array semi-finished product installation device provided in one embodiment of the present application.

[0034] Figure 3 It is a side structural schematic diagram of a photovoltaic array semi-finished product installation device in an installation state provided by an embodiment of the present application.

[0035] Figure 4 It is a schematic diagram of the structure of a trolley and a micro-motion device of a photovoltaic array semi-finished product installation device provided in one embodiment of the present application.

[0036] Figure 5 It is a structural schematic diagram of a trolley and a micro-motion device of a photovoltaic array semi-finished product installation device provided in another embodiment of the present application.

[0037] Figure 6 It is a structural schematic diagram of a walking mechanism assembly of a photovoltaic array semi-finished product installation device provided in one embodiment of the present application.

[0038] Figure 7 It is a structural schematic diagram of a main vehicle of a photovoltaic array semi-finished product installation device provided in one embodiment of the present application.

[0039] Figure 8 It is a side structural schematic diagram of a photovoltaic array semi-finished product installation device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] 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.

[0043] In order to better understand this application, Figures 1 to 8 The photovoltaic array semi-finished product installation equipment according to the embodiment of the present application is described in detail.

[0044] The photovoltaic array semi-finished product installation device provided in the embodiment of the present application can hoist a photovoltaic array semi-finished product. The photovoltaic array semi-finished product 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, connected and fixed by at least one connecting beam arranged on the back of the photovoltaic panel.

[0045] Figure 1A non-limiting example of a photovoltaic array semi-finished product 2000 is shown. The connecting beam includes a plurality of purlins 2001 and a plurality of diagonal beams 2002. The plurality of purlins 2001 are spaced apart and arranged in parallel, the plurality of diagonal beams 2002 are spaced apart and arranged in parallel, the purlins 2001 and the diagonal beams 2002 intersect and overlap to form a frame, and a plurality of photovoltaic panels 2003 are arranged in an array and installed on the side of the purlins 2001 away from the diagonal beams 2002 to form a photovoltaic array semi-finished product. In other examples, the connecting beam may also include a main shaft around which the photovoltaic panel can rotate.

[0046] The photovoltaic array semi-finished product 2000 can be assembled in a factory. Compared with outdoor photovoltaic installation on-site assembly, the assembly process can rely on professional equipment, which is conducive to improving installation accuracy and efficiency. When installing the assembled photovoltaic array semi-finished product, the hoist and installation equipment provided in the embodiment of the present application can be used to hoist, transfer and install the photovoltaic array semi-finished product.

[0047] like Figure 2 and Figure 3 As shown, the photovoltaic array semi-finished product installation equipment 1000 provided in the embodiment of the present application includes a main vehicle 100, a trolley 200 and a micro-motion device 300. The main vehicle 100 includes a vertical support assembly 11, a transverse support assembly 12 and a running mechanism assembly 13. The transverse support assembly 12 is carried on one side of the vertical support assembly 11, and the running mechanism assembly 13 is arranged on the other side of the vertical support assembly 11. The transverse support assembly 12 and the vertical support assembly 11 enclose and form a working space. The trolley 200 includes a frame 21, which is slidably connected to the transverse support assembly 12 of the main vehicle 100 and can be connected to a hoist 900. The hoist 900 is configured to hoist the photovoltaic array semi-finished product in the working space, and the photovoltaic array semi-finished product includes a plurality of photovoltaic panels. The micro-motion device 300 is configured to drive the sling 900 to move relative to the frame 21 along the first direction X and / or the second direction Y to adjust the position of the sling 900 in the first direction X and / or the second direction Y. The first direction X, the second direction Y and the vertical direction intersect each other. One of the first direction X and the second direction Y is the traveling direction of the main vehicle 100, and the other is the sliding direction of the frame 21 along the main vehicle 100.

[0048] In the embodiment provided in the present application, the main vehicle 100 is moved to a preset position by the walking mechanism assembly 13. The frame 21 is slidably connected to the main vehicle 100, and can adjust the position of the trolley 200 as a whole relative to the main vehicle 100. The sliding of the frame 21 relative to the main vehicle 100 can be a long-distance sliding, which is used to adjust the working space of the sling 900. The micro-motion device 300 drives the sling 900 to slide relative to the frame 21 along the first direction X and / or the second direction Y, which can be a short-distance sliding, which is used to fine-tune the position of the sling 900 in the working space to facilitate the installation of the semi-finished photovoltaic array.

[0049] One of the first direction X and the second direction Y is the traveling direction of the main vehicle 100, and the other is the sliding direction of the frame 21 along the main vehicle 100. The sliding direction of the frame 21 relative to the main vehicle 100 intersects with the traveling direction of the main vehicle 100. Optionally, the first direction X may be the traveling direction of the main vehicle 100, and the second direction Y may be the sliding direction of the frame 21 along the main vehicle 100. It can be understood that, as other examples, the first direction X may also be the sliding direction of the frame 21 along the main vehicle 100, and the second direction Y may be the traveling direction of the main vehicle 100.

[0050] Optionally, the micro-motion device 300 can drive the sling 900 to move relative to the frame 21 along the first direction X to adjust the position of the sling 900 in the first direction X. Optionally, the micro-motion device 300 can drive the sling 900 to move relative to the frame 21 along the second direction Y to adjust the position of the sling 900 in the second direction Y. Optionally, the micro-motion device 300 can also drive the sling 900 to move relative to the frame 21 along the first direction X and the second direction Y to adjust the position of the sling 900 in the first direction X and the second direction Y.

[0051] The main vehicle 100 of the photovoltaic array semi-finished product installation equipment 1000 provided in the embodiment of the present application is enclosed by the vertical support assembly 11 and the horizontal support assembly 12 to form a working space, and the support effect of the main vehicle 100 structure is more stable. The frame 21 of the trolley 200 can be connected to the sling 900, and the sling 900 can hoist the photovoltaic array semi-finished product formed by splicing multiple photovoltaic panels in the working space. The micro-motion device 300 can drive the sling 900 to move along the travel direction of the main vehicle 100 and / or the frame 21 along the sliding direction of the main vehicle 100 to adjust the position of the sling 900 in these two directions, thereby realizing the fine adjustment of the hoisting position of the sling 900. Therefore, the photovoltaic array semi-finished product installation equipment 1000 in the embodiment of the present application can directly hoist the photovoltaic array semi-finished product to the position to be installed, and accurately dock and install the photovoltaic array semi-finished product, thereby improving the installation operation efficiency and installation accuracy.

[0052] 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.

[0053] In some optional embodiments, such as Figure 2 , Figure 3 and Figure 4As shown, the photovoltaic array semi-finished product installation device 1000 also includes a connecting device 400, which is configured to connect the hanger 900. The micro-motion device 300 is arranged on the frame 21, at least a part of the connecting device 400 is fixed on the micro-motion device 300, and the micro-motion device 300 is slidably connected to the frame 21 along the first direction X and / or the second direction Y to drive at least a part of the connecting device 400 to move, thereby driving the hanger 900 to move.

[0054] In these optional embodiments, the micro-motion device 300 is disposed on the frame 21, and the frame 21 carries the micro-motion device 300. The weight of the micro-motion device 300 is fully applied to the frame 21, and the support strength and support stability are good. In addition, the structure of the micro-motion device 300 is more compact, and the installation of the sling 900 and the adjustment of the hoisting position are more convenient.

[0055] Optionally, the number of connecting devices 400 can be multiple, and multiple connecting devices 400 can be connected to different positions of the hanger 900. The connection positions between the multiple connecting devices 400 and the hanger 900 can be relatively evenly distributed. The vertical length of the connecting device 400 can be adjusted to adjust the vertical height position of the hanger 900. The vertical length of each connecting device 400 can be adjusted independently to adjust the spatial orientation posture and orientation angle of the hanger 900, so as to facilitate the flexible realization of the installation angle of the semi-finished photovoltaic array. For example, the vertical length of the connecting device 400 connected to one side of the hanger 900 is adjusted to be less than the vertical length of the connecting device 400 connected to the other side of the hanger 900, so that the hanger 900 can be tilted.

[0056] Optionally, the connecting device 400 can be arranged on one side of the micro-motion device 300 along the vertical direction facing the walking surface of the main vehicle 100, which is beneficial to lowering the center of gravity of the trolley 200 and the photovoltaic array semi-finished product installation equipment 1000 and enhancing the structural stability.

[0057] Exemplarily, the connecting device 400 may include a winding mechanism 41 and a connecting rope 42, the winding mechanism 41 is fixed to the micro-motion device 300, at least a portion of the connecting rope 42 is wound around the winding mechanism 41, the winding mechanism 41 is connected to the sling 900 through the connecting rope 42, and the winding mechanism 41 is configured to achieve adjustable length of the connecting device 400 by winding the connecting rope 42.

[0058] It is understandable that, as another example, the winding mechanism 41 may also be fixedly connected to the frame 21 , and the connecting rope 42 is connected to the micro-motion device 300 after passing around the connection point of the sling 900 .

[0059] Optionally, the winding mechanism 41 may include a drum and a driving structure, and at least part of the connecting rope 42 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.

[0060] In some optional embodiments, such as Figure 4 and Figure 5 As shown, the micro-motion device 300 includes a first micro-motion mechanism 31 and a second micro-motion mechanism 32. The first micro-motion mechanism 31 is slidably connected to the frame 21 along a first direction X, and the second micro-motion mechanism 32 is slidably connected to the first micro-motion mechanism 31 along a second direction Y. At least a portion of the connecting device 400 is fixed to the second micro-motion mechanism 32.

[0061] In these optional embodiments, at least a portion of the connecting device 400 is fixed on the second micro-motion mechanism 32, and the second micro-motion mechanism 32 can drive the connecting device 400 to slide along the second direction Y. After the connecting device 400 is connected to the sling 900, the micro-motion device 300 can adjust the position of the sling 900 in the second direction Y through the second micro-motion mechanism 32, and adjust the position of the second micro-motion mechanism 32 along the first direction X through the first micro-motion mechanism 31, thereby adjusting the positions of the connecting device 400 and the sling 900 in the first direction X. The combination of the first micro-motion mechanism 31 and the second micro-motion mechanism 32 can realize accurate determination and fine adjustment of the hoisting position.

[0062] The first micro-motion mechanism 31 of the micro-motion device 300 is directly supported by the frame 21, and the second micro-motion mechanism 32 is supported by the first micro-motion mechanism 31. The weight of the second micro-motion mechanism 32 can indirectly act on the frame 21 through the first micro-motion mechanism 31, and the supporting strength and supporting stability are good. In addition, by setting two micro-motion mechanisms, the design of the micro-motion mechanism can be simplified while realizing adjustment in the first direction and the second direction.

[0063] In some optional embodiments, the first micro-motion mechanism 31 includes at least one support frame, at least one support frame supports the second micro-motion mechanism 32 and is slidably connected to the frame 21, and at least one support frame can slide in the same direction along the first direction X to drive the second micro-motion mechanism 32 and the sling 900 to move along the first direction X. The second micro-motion mechanism 32 includes a first carrier 321 and a second carrier 322 for carrying the connecting device 400, the first carrier 321 and the second carrier 322 are arranged relatively in the first direction X, and are slidably connected to the first micro-motion mechanism 31, and the first carrier 321 and the second carrier 322 are configured to slide in the same direction along the second direction Y to drive the sling 900 to move along the second direction Y, and can slide in the opposite direction along the second direction Y to drive the sling 900 to rotate in a horizontal plane.

[0064] Alternatively, if Figure 4As shown, the first micro-motion mechanism 31 may include a single support frame 311, which is stacked vertically with the frame 21 or is in the same horizontal plane as the frame 1. The single frame structure design of the first micro-motion mechanism 31 can make the driving of the first micro-motion mechanism 31 simpler. At this time, the first carrier frame 321 and the second carrier frame 322 are both slidably connected to the support frame 311.

[0065] Alternatively, if Figure 5 As shown, the first micro-motion mechanism 31 may also include a first support frame 312 and a second support frame 313, which jointly support the second micro-motion mechanism 32 and are slidably connected to the frame 21. The first support frame 312 and the second support frame 313 are configured to slide in the same direction along the first direction X. At this time, the first support frame 321 and the second support frame 322 can be slidably connected to the first support frame 312 and the second support frame 313, respectively. The first micro-motion mechanism 31 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 and the installation equipment, and enhance the structural stability.

[0066] The first carrier 321 and the second carrier 322 can slide in the same direction along the second direction Y, thereby driving the sling 900 to move along the second direction Y and adjusting the position of the sling 900 in the second direction Y. The first carrier 321 and the second carrier 322 can also slide in the opposite direction along the second direction Y, thereby driving the two opposite ends of the sling 900 along the first direction X to move in the opposite direction along the second direction Y, thereby achieving the purpose of rotating the sling 900 in a horizontal plane.

[0067] In some optional embodiments, the photovoltaic array semi-finished product installation device 1000 also includes a first driving mechanism and a second driving mechanism. The first driving mechanism includes at least one driving unit. In one example, the driving unit includes a first power module and a first transmission assembly, the first power module is arranged on the frame 21, and the first transmission assembly is configured to transmit the power output by the first power module to at least one support frame to drive at least one support frame to slide along the first direction X. In another example, the driving unit includes a first power module, the first power module is arranged on the frame 21, and is connected to at least one support frame to drive at least one support frame to slide along the first direction X. In the case where the first micro-motion mechanism adopts a single support frame, a single driving unit can be used for driving; in the case where the first micro-motion mechanism adopts a double support frame, a single driving unit can be used for driving, or two or more driving units can be used for driving.

[0068] The second driving mechanism includes two driving modules that respectively drive the first carrier 321 and the second carrier 322. In one example, each driving module includes a second power module and a second transmission assembly, the second power module is disposed on the first micro-motion mechanism 31, and the second transmission assembly is configured to transmit the power output by the second power module to the first carrier 321 or the second carrier 322 to drive the first carrier 321 or the second carrier 322 to slide along the second direction Y. In another example, each driving module includes a second power module, the second power module is disposed on the first micro-motion mechanism 31, and is connected to the first carrier 321 or the second carrier 322 to drive the first carrier 321 or the second carrier 322 to slide along the second direction Y.

[0069] 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 31 directly or through the first transmission assembly, thereby driving at least one support frame to slide along the first direction X, thereby realizing the position adjustment of the first micro-motion mechanism 31, the second micro-motion mechanism 32 and the sling 900 along the first direction X.

[0070] In these optional embodiments, the two driving modules of the second driving mechanism are independently provided to independently drive the first carrier 321 and the second carrier 322 to slide along the second direction Y, and the structure is simple. One of the driving modules is directly connected to the first carrier 321 or through the second transmission assembly to transmit the power output by the second power module of the driving module to the first carrier 321, thereby driving the first carrier 321 to slide along the second direction Y. The other driving module is directly connected to the second carrier 322 or through the second transmission assembly to transmit the power output by the second power module of the driving module to the second carrier 322, thereby driving the second carrier 322 to slide along the second direction Y.

[0071] Optionally, the first power module and the second power module may each include a motor. Further, at least one of the first power module and the second power module may also include a speed reduction mechanism to output power through the speed reduction mechanism. Alternatively, the first power module and the second power module may each include a single-port or dual-port telescopic cylinder, a single-port or dual-port hydraulic cylinder, etc.

[0072] Optionally, the first transmission assembly and the second transmission assembly may each 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 any other suitable transmission assembly.

[0073] In some optional embodiments, each of the plurality of connecting devices 400 is at least partially fixed to the second micro-motion mechanism 32, so that the second micro-motion mechanism 32 is connected to the sling 900 through the plurality of connecting devices 400. Specifically, the first carrier 321 and the second carrier 322 respectively carry the plurality of connecting devices 400, and the first carrier 321 and the second carrier 322 slide in the same direction along the second direction Y, and the sling 900 can be driven to move along the second direction Y through the connecting devices 400, and the first carrier 321 and the second carrier 322 slide in opposite directions along the second direction Y, and the sling 900 can be driven to rotate in a horizontal plane through the connecting devices 400.

[0074] In these optional embodiments, multiple connecting devices 400 are distributed along the second direction Y on the first carrier frame 321 or the second carrier frame 322, so that the multiple connecting devices 400 can be connected to the sling 900 at multiple different relative positions along the second direction Y, thereby improving the connection stability.

[0075] In these optional embodiments, the first carrier 321 and the second carrier 322 are arranged opposite to each other in the first direction X, and the first carrier 321 and the second carrier 322 respectively carry a plurality of connection devices 400. Therefore, the plurality of connection devices 400 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 400 and the sling 900.

[0076] Optionally, the first carrier frame 321 and the second carrier frame 322 may respectively carry two connecting devices 400 , and the two connecting devices 400 are spaced apart along the second direction Y.

[0077] Although the above embodiment describes that the micro-motion device includes a first micro-motion mechanism and a second micro-motion mechanism, it is understandable that the micro-motion device may only include a micro-motion mechanism in one direction according to specific needs. Its specific structure, driving method and connection method with the connecting device can refer to the above description and will not be repeated here.

[0078] In some optional embodiments, such as Figure 2 As shown, the hanger 900 includes a frame component 91 and an adsorption component. The adsorption component includes a plurality of suction cups 92 spaced apart on the frame component 91 to adsorb a plurality of photovoltaic panels of a semi-finished photovoltaic array.

[0079] In these optional embodiments, the hanger 900 is installed with multiple integrated suction cups 92 through the frame assembly 91, and can absorb multiple photovoltaic panels at the same time. The hanger 900 can grab and lift the semi-finished photovoltaic panel array formed by assembling single photovoltaic panels at one time for assembly operations, thereby improving the installation efficiency of the photovoltaic panels while ensuring the reliability of the photovoltaic panel lifting process.

[0080] Optionally, multiple suction cups 92 can be arranged in an array to form multiple adsorption elements, each of which includes multiple suction cups 92 and can independently adsorb a photovoltaic panel. The adsorption element and the photovoltaic panel form multiple adsorption positions, and the adsorption stability and reliability are good.

[0081] In some optional embodiments, the sling 900 also includes at least two vacuum assemblies for multiple suction cups 92, the suction cups 92 connected to the same vacuum assembly are in the same passage, and each vacuum assembly operates independently to independently provide negative pressure to its corresponding passage.

[0082] In these optional embodiments, each vacuum assembly operates independently to independently provide negative pressure to its corresponding passage. Multiple suction cups 92 in the same passage have a rated load capacity. Even if individual suction cups are disturbed by factors such as dust and damaged sealing rings and leak and lose the ability to absorb negative pressure, the entire adsorption assembly and multi-channel vacuum assembly can still ensure the reliability of the photovoltaic panel lifting process.

[0083] Optionally, each vacuum assembly includes a vacuum pump, at least one gas collecting pipe and a plurality of connecting pipes, the vacuum pump can provide negative pressure, the connecting pipe is connected to the suction cup, the gas collecting pipe connects the vacuum pump and the connecting pipe and can correspond to a plurality of connecting pipes.

[0084] In some optional embodiments, the frame assembly 91 includes at least one main beam 911 and a plurality of auxiliary beams 912, the plurality of auxiliary beams 912 are spaced apart along the extension direction of the main beam 911 and intersecting with the main beam 911, and a plurality of suction cups 92 are spaced apart on the auxiliary beams 912. At least four suction cups 92 adsorb a single photovoltaic panel, and at least four suction cups 92 correspond to at least two vacuum assemblies.

[0085] Optionally, each photovoltaic panel corresponds to a first suction cup group and a second suction cup group, and the first suction cup group and the second suction cup group are respectively connected to different vacuum pumping components. In other words, the negative pressure sources inside the first suction cup group and the second suction cup group are independent of each other.

[0086] It can be understood that the vacuum pump is used to provide negative pressure for the suction cup 92, and air collecting pipes are symmetrically arranged on both sides of the main beam 911. The suction cups 92 in each first suction cup group and each second suction cup group are arranged diagonally, and the suction cups 92 in each first suction cup group and each second suction cup group in the same adsorption element are respectively connected to different air collecting pipes, so that the first suction cup group and the second suction cup group can be at the end of independent exhaust pipelines.

[0087] In some optional embodiments, such as Figure 3 As shown, the lifting device 900 further includes a distance measuring device 95 mounted on the frame assembly 91 , and the distance measuring device 95 is configured to output measurement information related to the compression degree of the suction cup 92 .

[0088] In these optional embodiments, when the adsorption element is operating, the suction cup 92 is constructed so that it is suitable for vertically fitting with the photovoltaic panel to produce an elastic compression amount d2, the sealing degree T of the connection between the suction cup 92 and the photovoltaic panel corresponds to and is proportional to the elastic compression amount d2, and the pressure P on the photovoltaic panel corresponds to and is proportional to the elastic compression amount d2. The distance measuring piece 95 is correspondingly installed on at least one of the main beam 911 and the auxiliary beam 912, and the distance measuring piece 95 is used to measure the monitoring signal reflecting the magnitude of the pressure P on the photovoltaic panel, the elastic compression amount d2 includes a preset deformation critical value H1, and the monitoring signal of the distance measuring piece 95 includes a signal critical value H2 corresponding to the deformation critical value H1.

[0089] It can be understood that the distance measuring piece 95 extends toward the photovoltaic panel and is consistent with the compression direction of the suction cup 92. As the hanger approaches the photovoltaic panel, the elastic compression d2 of the suction cup 92 gradually increases. When the elastic compression d2 reaches the deformation critical value H1, it means that the pressure applied by the hanger to the photovoltaic panel has reached the critical value. Correspondingly, the sealing degree T of the connection between the suction cup 92 and the photovoltaic panel gradually increases. But at the same time, as the elastic compression d2 increases, the pressure P on the photovoltaic panel gradually increases. If the pressure exceeds the maximum static load allowed by the photovoltaic panel, the adsorption process between the suction cup 92 and the photovoltaic panel will cause damage to the photovoltaic panel.

[0090] Therefore, by monitoring the compression degree of the suction cup 92 through the distance measuring piece 95, the corresponding value of the pressure P that the photovoltaic panel is borne can be obtained. When the monitoring signal of the distance measuring piece 95 reaches the signal critical value H2, the operator controls to stop the movement of the hanger toward the photovoltaic panel, thereby maintaining the current elastic compression d2, sealing degree T and pressure P at a constant value, ensuring that the load applied by the hanger to the photovoltaic panel is within a reasonable range, which can not only ensure the stability and reliability of the lifting process, but also prevent the photovoltaic panel from being damaged due to pressure during the lifting process.

[0091] Exemplarily, the distance measuring member may be a strain probe or a proximity switch. A sensing head is provided at one end of the strain probe facing the photovoltaic panel. During the adsorption operation, the sensing head is adapted to contact and fit with the photovoltaic panel. When the sensing head contacts and fits with the photovoltaic panel, the monitoring signal can measure the pressure between the suction cup and the photovoltaic panel. Under the premise of ensuring the sealing of the suction cup, the suction cup is prevented from being pressed too tightly against the photovoltaic panel, causing excessive pressure applied by the hanger to the photovoltaic panel, thereby preventing the pressure from exceeding the maximum static load allowed by the photovoltaic panel.

[0092] The bottom of the proximity switch has a sensing surface. During the adsorption operation, there is a distance d1 between the sensing surface and the photovoltaic panel, and the distance d1 corresponds to the elastic compression d2 generated by the suction cup. As the elastic compression d2 changes, the distance d1 will change synchronously. Therefore, the relative compression between the photovoltaic panel and the suction cup can be measured by the proximity switch, so as to reflect the pressure applied by the hoist to the photovoltaic panel. The pressure can be dynamically monitored to prevent the pressure from exceeding the maximum static load allowed by the photovoltaic panel, thus avoiding damage to the semi-finished photovoltaic array during the hoisting process.

[0093] In some optional embodiments, such as Figure 3 As shown, the photovoltaic array semi-finished product installation equipment 1000 also includes a detection device 510, which is arranged on the main vehicle 100 and / or the trolley 200, and is configured to detect the position information of the photovoltaic bracket used to install the photovoltaic array semi-finished product to determine the target stopping position of the trolley 200.

[0094] In these optional embodiments, the detection device 510 can scan the photovoltaic support to obtain a three-dimensional image of at least one angle of the photovoltaic support; determine the position information of the pre-set pillars in the photovoltaic support according to the three-dimensional image; and determine the target stop position of the trolley 200 according to the position information of the pre-set pillars. In other words, the pre-set pillars can be used as reference target objects for the target stop position of the trolley 200.

[0095] Optionally, the detection device 510 may be one or more, and the photovoltaic bracket is scanned from at least one angle by one or more detection devices 510 to obtain a corresponding three-dimensional image, and a connection is established with the detection device 510 to obtain the three-dimensional image information detected by the detection device 510. The detection device 510 includes but is not limited to three-dimensional image acquisition and imaging equipment such as a camera and a laser scanner.

[0096] Optionally, the detection device 510 can be disposed on the lateral support assembly 12, the vertical support assembly 11 or other support beams of the main vehicle 100. In this way, since the position of the detection device 510 and the vehicle 200 is in an absolute positional relationship, the target stop position of the vehicle 200 can be determined more accurately by scanning the photovoltaic support with the detection device 510.

[0097] In some optional embodiments, the detection device 510 is further configured to detect the position information of the semi-finished photovoltaic array product. The semi-finished photovoltaic array installation device 1000 further includes a control mechanism, which is connected to the micro-motion device 300 and is configured to drive the micro-motion device 300 to move along the first direction X and / or the second direction Y according to the position information of the semi-finished photovoltaic array product and the photovoltaic bracket after the trolley 200 stops at the target stop position and the semi-finished photovoltaic array product and the photovoltaic bracket are not horizontally aligned.

[0098] In these optional embodiments, after the trolley 200 stops at the target stop position, while the connecting device 400 drives the hanger 900 to descend vertically, the detection device 510 can detect the position information of the semi-finished photovoltaic array in real time, and the control mechanism can determine the position deviation between the semi-finished photovoltaic array and the photovoltaic support in real time. If they are not aligned in the horizontal plane, the position of the semi-finished photovoltaic array can be fine-tuned by the micro-motion device 300 to achieve precise alignment between the semi-finished photovoltaic array and the photovoltaic in the horizontal plane.

[0099] Optionally, the detection device 510 can scan the photovoltaic array semi-finished product to obtain a three-dimensional image of at least one angle of the photovoltaic array semi-finished product; determine the position information of the photovoltaic array semi-finished product based on the three-dimensional image; and determine whether the photovoltaic array semi-finished product and the photovoltaic bracket are horizontally aligned based on the position information of the photovoltaic array semi-finished product and the position information of the photovoltaic bracket.

[0100] It can be understood that whether the semi-finished photovoltaic array and the photovoltaic bracket are aligned can be determined by determining whether at least two pairs of points on the semi-finished photovoltaic array and the photovoltaic bracket are aligned. That is, the detection device 510 can obtain the position information of at least two points on the semi-finished photovoltaic array, and obtain the position information of at least two points on the photovoltaic bracket.

[0101] In some optional embodiments, such as Figure 6 As shown, the walking mechanism assembly 13 includes a plurality of walking mechanisms, and the plurality of walking mechanisms include at least one crawler-type walking mechanism 131 .

[0102] In these optional embodiments, the walking mechanism assembly 13 includes at least one crawler walking mechanism 131. The crawler walking mechanism 131 has a large contact area with the ground and good stability, which can improve the stability and reliability of the main vehicle 100. The photovoltaic array semi-finished product installation equipment 1000 can lift large and heavy photovoltaic array semi-finished products, and can also make the photovoltaic array semi-finished product installation equipment 1000 suitable for various ground environments such as deserts and uneven ground, thereby improving environmental adaptability.

[0103] It is understandable that, as other examples, the plurality of running mechanisms may further include any other suitable type of running mechanisms that are different from the tracked running mechanism 131. For example, the plurality of running mechanisms may further include a wheeled running mechanism, and the wheeled running unit at least includes a traveling wheel.

[0104] In some optional embodiments, the plurality of walking mechanisms include more than four crawler-type walking mechanisms 131, and the more than four crawler-type walking mechanisms 131 are spaced apart and distributed on one side of the vertical support assembly 11. Since the crawler-type walking mechanism 131 itself is large in size and has good stability, the installation equipment using more than four crawler-type walking mechanisms 131 can install a larger photovoltaic array semi-finished product at one time, such as but not limited to a 2-row 13-column photovoltaic array, which can greatly improve the installation efficiency and make the installation equipment more stable and better adaptable to the environment.

[0105] In these optional embodiments, the four or more crawler-type walking mechanisms 131 spaced apart and distributed along one vertical side of the vertical support assembly 11 can evenly support the vertical support assembly 11 and the lateral support assembly 12 , further improving the stability of the main vehicle 100 .

[0106] Optionally, more than four crawler-type walking mechanisms 131 may be distributed at four corners along one vertical side of the vertical support assembly 11. One or more crawler-type walking mechanisms 131 may be provided at each corner along one vertical side of the vertical support assembly 11.

[0107] In some optional embodiments, the crawler walking mechanism 131 is hinged to the vertical support assembly 11, and includes a one-to-one corresponding crawler walking unit 131a and a driving unit 131b, the crawler walking unit 131a includes a driving wheel 1311, a driven wheel 1312 and a track 1313, the driving unit 131b includes a power output module, and the power output module is configured to provide power to the driving wheel, and the driving wheel 1311 drives the driven wheel 1312 to rotate via the track 1313.

[0108] In these optional embodiments, the driving wheel 1311 rotates under the power output by the power output module, the driving wheel 1311 drives the track 1313 to rotate, and the track 1313 drives the driven wheel 1312 to rotate, thereby realizing the movement of the tracked walking unit 131a and further realizing the walking of the tracked walking mechanism 131.

[0109] The crawler walking mechanism 131 is hinged to the vertical support assembly 11. When the ground is uneven, or uphill or downhill, the crawler walking mechanism 131 can rotate relative to the vertical support assembly 11, thereby increasing the contact area between the crawler walking mechanism 131 and the ground, effectively avoiding the problem of the crawler walking mechanism 131 being suspended in the air or even unable to move due to bumpy road conditions, and enhancing the passability of the walking mechanism assembly 13.

[0110] The crawler walking unit 131a of the crawler walking mechanism 131 is driven to walk by a corresponding driving unit 131b, and the driving units 131b of each crawler walking mechanism 131 are independent of each other and do not affect each other. On the one hand, the power required by the entire walking mechanism assembly 13 can be distributed to each driving unit 131b, reducing the power requirements for a single driving unit 131b, which is conducive to reducing the volume of a single driving unit 131b, improving the layout flexibility of the driving unit 131b, and further improving the environmental adaptability of the walking mechanism assembly 13; on the other hand, each crawler walking unit 131a can also be independently controlled, which is conducive to the turning, uphill and downhill of the walking mechanism assembly 13, and improves the walking flexibility of the walking mechanism assembly 13.

[0111] Optionally, the power output module is perpendicular to the walking surface a (see Figure 3 ) is located above the crawler walking unit 131a in the vertical direction, which increases the vertical height of the power output module to a certain extent, making it higher than the walking surface a by a certain distance, thereby effectively avoiding collision or interference between the power output module and ground protrusions.

[0112] In some optional embodiments, such as Figure 2 As shown, a partial section of the vehicle frame 21 extends out of the lateral support assembly 12 along the traveling direction of the main vehicle 100 .

[0113] In these optional embodiments, the frame 21 has two oppositely disposed ends along the traveling direction of the main vehicle 100, and a section adjacent to at least one of the ends extends out of the lateral support assembly 12 along the traveling direction of the main vehicle 100, and is suspended on one side of the vertical support assembly 11 along the vertical direction.

[0114] Optionally, the trolley 200 further includes a plurality of sliding assemblies 22, and the frame 21 can be slidably connected to the main vehicle 100 through the plurality of sliding assemblies 22. At least part of the sliding assemblies 22 are arranged in the middle of the frame 21 along the traveling direction of the main vehicle 100, so that a part of the frame 21 extends out of the transverse support assembly 12.

[0115] Optionally, the second micro-motion mechanism 32 may be disposed on a section of the frame 21 extending from the lateral support assembly 12 .

[0116] In the embodiment of the present application, a partial section of the frame 21 is extended out of the lateral support assembly 12. On the basis of meeting the requirements of the installation operation, the size of the lateral support assembly 12 along the moving direction of the main vehicle 100 can be reduced, thereby making the structure of the top of the photovoltaic array semi-finished product installation device 1000 more compact, reducing the size of the device, and also concentrating the gravity on the middle part of the device along the moving direction of the main vehicle 100, thereby improving the force balance and stability of the equipment.

[0117] In some optional embodiments, the frame 21 includes a first section 211, a second section 212 and a third section 213 which are arranged side by side in sequence along the traveling direction of the main vehicle 100, and the first section 211 and the third section 213 extend the lateral support assembly 12 in opposite directions along the traveling direction of the main vehicle 100.

[0118] In these optional embodiments, the first section 211 and the third section 213 both extend from the lateral support assembly 12 in opposite directions. The first section 211 and the third section 213 may be two end sections of the frame 21 , and the second section 212 may be a middle section of the frame 21 .

[0119] Optionally, a plurality of sliding components 22 may be disposed at a connection position between the second section 212 and the first section 211 , and at a connection position between the second section 212 and the third section 213 .

[0120] Optionally, at least one connecting device 400 and an anti-sway mechanism are provided at positions corresponding to the first section 211 and the third section 213, and the anti-sway mechanism can be connected to the sling 900 via an anti-sway rope or rigidly connected to the sling 900. The two bearing frames of the second micro-motion mechanism 32 can be respectively provided in the first section 211 and the third section 213.

[0121] In the embodiment of the present application, the first section 211 and the third section 213 of the frame 21 extend the lateral support components 12 in opposite directions along the travel direction of the main vehicle 100, and the connecting devices 400 can be respectively provided in the first section 211 and the third section 213. After the connecting devices 400 are connected to the sling 900, the sling 900 can generate a more balanced pulling force on the frame 21, thereby improving the stability of the sling 900 and the supporting stability of the frame 21.

[0122] In some optional embodiments, the length of the first section 211 along the traveling direction of the main vehicle 100 is the same as the length of the third section 213 along the traveling direction of the main vehicle 100. In other words, the first section 211 and the third section 213 extend out of the transverse support assembly 12 by the same length. As a result, the supporting effect of the transverse support assembly 12 on the trolley 200 and the pressure effect of the trolley 200 on the main vehicle 100 are relatively balanced, thereby improving the supporting stability of the transverse support assembly 12 on the trolley 200.

[0123] In some optional embodiments, such as Figure 2 and Figure 7As shown, the vertical support assembly 11 includes more than two support units 11a arranged at intervals along the sliding direction of the vehicle frame 21; each support unit 11a includes two brackets 111 distributed at intervals along the traveling direction of the main vehicle 100, and each bracket 111 is connected to the transverse support assembly 12. The two brackets 111 of each support unit 11a extend obliquely toward each other from bottom to top along the traveling direction of the main vehicle 100.

[0124] In these optional embodiments, the two brackets 111 of each support unit 11a extend from bottom to top towards each other in an inclined manner, and each support unit 11a and the transverse support assembly 12 form a trapezoidal structure, which can further centralize the load-bearing center of the main vehicle 100 and provide more stable support. In addition, when the size of the transverse support assembly 12 along the travel direction of the main vehicle 100 is reduced, the trapezoidal structure can allow a larger-sized traveling mechanism, such as a crawler-type traveling mechanism, to be connected.

[0125] Optionally, the two brackets 111 have the same slope, so that the support unit 11a and the transverse support assembly 12 form a symmetrical isosceles trapezoidal structure, and the forces on the brackets 111 of the support unit 11a are more balanced and the stability is better.

[0126] Exemplarily, the number of the support units 11a may be two, and the two support units 11a may be respectively connected to the two opposite ends of the lateral support assembly 12 along the sliding direction of the trolley 200. It is understood that, as another example, the two support units 11a may also be connected to the middle of the lateral support assembly 12 along the sliding direction of the trolley 200. As another example, one of the support units 11a is connected to one of the ends of the lateral support assembly 12 along the sliding direction of the trolley 200, and the other support unit 11a is connected to the middle of the lateral support assembly 12 along the sliding direction of the trolley 200.

[0127] In some optional embodiments, such as Figure 2 and Figure 7 As shown, the vertical support assembly 11 includes more than two support units 11a arranged at intervals along the sliding direction of the trolley 200. Each support unit 11a includes more than two brackets 111 and at least one bottom beam 112. The more than two brackets 111 are spaced apart along the traveling direction of the main vehicle 100, and each bracket 111 is connected to the transverse support assembly 12. The bottom beam 112 is connected between the ends of the adjacent brackets 111 adjacent to the walking mechanism assembly 13 in the vertical direction.

[0128] In these optional embodiments, the bottom beam 112 is connected between the ends of adjacent brackets 111 along the vertically adjacent walking mechanism assembly 13. The adjacent brackets 111 are connected by the bottom beam 112, which can improve the structural strength and support stability of the support unit 11a.

[0129] In some optional embodiments, the bottom beam 112 is provided with a recess 1121 in the middle of the main vehicle 100 in the direction of travel, and the recess 1121 is recessed toward the walking surface a of the walking mechanism assembly 13 to provide an accommodation space. The outer bottom wall of the recess 1121 is higher than the bottom of the walking mechanism assembly 13 in the vertical direction.

[0130] Optionally, the vertical support assembly 11 includes two support units 11a, and the bottom beam 112 of each support unit 11a is provided with a recess 1121, so that the power device, control device, etc. of the photovoltaic array semi-finished product installation device 1000 can be respectively arranged in the corresponding recess 1121.

[0131] The embodiment of the present application forms a recess 1121 in the middle 1121 of the bottom beam 112, and the recess 1121 can provide a certain amount of accommodation space for accommodating the power device, control device or other devices of the photovoltaic array semi-finished product installation device 1000, and the structural design is ingenious. The power device, control device, etc. are arranged in the recess 1121 of the bottom beam 112, which can further lower the center of gravity of the photovoltaic array semi-finished product installation device 1000 and improve the stability of the photovoltaic array semi-finished product installation device 1000.

[0132] The outer bottom wall of the recess 1121 is higher than the vertical bottom of the walking mechanism assembly 13. In other words, the lowest position of the recess 1121 is higher than the lowest position of the walking mechanism assembly 13, so as to avoid the recess 1121 from colliding with ground protrusions or obstacles as much as possible during the movement of the photovoltaic array semi-finished product installation equipment 1000, thereby improving the safety of the photovoltaic array semi-finished product installation equipment 1000.

[0133] In some optional embodiments, such as Figure 2 As shown, the photovoltaic array semi-finished product installation device 1000 further includes a control device 610 and an anti-collision mechanism 620. The control device 610 is disposed in the recess 1121 of one of the support units 11a. The anti-collision mechanism 620 of the control device 610 is disposed in the support unit 11a and includes a plurality of guardrails.

[0134] In these optional embodiments, the anti-collision mechanism 620 may be disposed on the side of the recess 1121 facing the working space to prevent the sling 900 or the photovoltaic array semi-finished product in the working space from colliding with the control device 610, thereby improving the safety of the control device 610.

[0135] Optionally, the anti-collision mechanism 620 may also be disposed on a side of the recess 1121 away from the working space to prevent the control device 610 from colliding with structures in the external environment.

[0136] In some optional embodiments, the traveling mechanism assembly 13 includes a plurality of traveling mechanisms, and opposite ends of the bottom beam 112 along the traveling direction of the main vehicle 100 are respectively hinged to at least one traveling mechanism.

[0137] Optionally, the plurality of traveling mechanisms may include a plurality of crawler-type traveling mechanisms 131 , and opposite ends of the bottom beam 112 along the traveling direction of the main vehicle 100 are respectively hinged to at least one crawler-type traveling mechanism 131 .

[0138] When the ground is uneven, or uphill or downhill, at least one walking mechanism can rotate relative to the bottom beam 112, thereby increasing the contact area between at least one walking mechanism and the ground, effectively avoiding the problem of the walking mechanism being suspended in the air or even unable to move due to bumpy road conditions, and enhancing the passability of the walking mechanism assembly 13.

[0139] In some optional embodiments, such as Figure 2 , Figure 7 and Figure 8 As shown, the vertical support assembly 11 includes two or more support units 11a arranged at intervals along the sliding direction of the trolley 200. The transverse support assembly 12 is detachably connected to each support unit 11a in the form of an integral piece. The transverse support assembly 12 and at least one support unit 11a are provided with an electronic circuit, and the electronic circuit of the transverse support assembly 12 is detachably connected to the electronic circuit 114 of the support unit 11a through a plug-in connector 14.

[0140] In these optional embodiments, the transverse support assembly 12 and each support unit 11a are independent integrated parts. Before arriving at the working environment of the photovoltaic array semi-finished product installation equipment 1000, the transverse support assembly 12 and each support unit 11a can be separately packaged and transported, and the transverse support assembly 12 and the support unit 11a can be provided with electronic circuits at the same time. In other words, the electronic circuits on the transverse support assembly 12 and the support unit 11a can be packaged and transported together with the transverse support assembly 12 or the support unit 11a, which saves wiring operations, reduces packaging difficulty, and improves transportation efficiency. After arriving at the working environment, the transverse support assembly 12 is connected to each support unit 11a, and the electronic circuits on the transverse support assembly 12 and the support unit 11a are connected through the connector 14. Since the transverse support assembly 12 and the support unit 11a are both used as independent modules, it is not necessary to assemble the beams of the transverse support assembly 12 and the brackets of the support unit 11a, so the assembly efficiency is high. Furthermore, there is no need to arrange electronic circuits on the lateral support assembly 12 and the support unit 11a. It is only necessary to plug the electronic circuits of each module, which has a fast connection speed and further improves the assembly efficiency.

[0141] Optionally, the support unit 11a may include two brackets 111 and a bottom beam 112, and the bottom beam 112 and each bracket 111 are hollow structures. The bottom beam 112 may be provided with a control device 610 or a power device, and the control device 610 or the power device leads to an electronic circuit 114, which is arranged inside the bracket 111 and the bottom beam 112 and extends to the connector 14 to avoid a series of problems such as messy external wiring and easy to generate twisted wires with other structures. Similarly, the lateral support assembly 12 may include a crossbeam 121 and a connecting beam 122, at least part of the crossbeam 121 or at least part of the connecting beam 122 is a hollow structure, and the connector 14 and the micro-motion device carried by the lateral support assembly 12 can be connected through another electronic circuit, and the other electronic circuit can be arranged inside the crossbeam 121 and / or the connecting beam 122.

[0142] It can be understood that, as another example, the electronic circuit of the lateral support assembly 12 can be attached to at least part of the outer wall of the lateral support assembly 12, and the electronic circuit 114 of the support unit 11a can be attached to at least part of the outer wall of the support unit 11a.

[0143] Optionally, the lateral support assembly 12 and each support unit 11a may be detachably connected by screw connection or any other suitable means.

[0144] In some optional embodiments, such as Figure 2 and Figure 7 As shown, the vertical support assembly 11 includes two or more support units 11a arranged at intervals along the sliding direction of the trolley 20. Each support unit 11a includes two or more brackets 111 and at least one auxiliary mounting beam 113. The two or more brackets 111 are spaced apart along the traveling direction of the main vehicle 100, and each bracket 111 is connected to the transverse support assembly 12. The auxiliary mounting beam 113 is connected between adjacent brackets 111, and the length of the auxiliary mounting beam 113 along the traveling direction of the main vehicle 100 is adjustable.

[0145] In these optional embodiments, the distance between the two brackets 111 along the direction of travel of the main vehicle 100 can be adjusted by adjusting the length of the auxiliary mounting beam 113 along the direction of travel of the main vehicle 100, thereby adjusting the inclination angle of each bracket 111, and further adjusting the distance between the ends of the two brackets 111 adjacent to the transverse support assembly 12 in the vertical direction, so as to facilitate the connection between the support unit 11a and the transverse support assembly 12. After the support unit 11a is connected to the transverse support assembly 12, the auxiliary mounting beam 113 can also play a reinforcing role to improve the structural stability and support strength of the two brackets 111.

[0146] Optionally, the two ends of the auxiliary mounting beam 113 along the traveling direction of the main vehicle 100 can be connected to the middle of the two brackets 111 in the vertical direction, so as to adjust the inclination angle of each bracket 111. In addition, the two brackets 111 can be connected in the vertical direction in sequence through the bottom beam 112, the auxiliary mounting beam 113 and the transverse support assembly 12, so that the connection position distribution is more balanced and the connection stability is higher.

[0147] Optionally, the auxiliary mounting beam 113 may include two sections arranged along the traveling direction of the main vehicle 100, one of the sections is provided with a plurality of connecting parts spaced apart along the traveling direction of the main vehicle 100, and the connecting parts may be, for example, connecting holes; the other section is connected to any one or more connecting parts of one of the sections, and the length of the auxiliary mounting beam 113 along the traveling direction of the main vehicle 100 can be adjusted by selecting the position of the connecting part connecting the two sections.

[0148] For example, the number of the auxiliary mounting beam 113 may be one. As another example, the number of the auxiliary mounting beam 113 may be multiple, and the multiple auxiliary mounting beams 113 are distributed at intervals in the vertical direction.

[0149] In some optional embodiments, such as Figure 7 As shown, the transverse support assembly 12 includes more than two cross beams 121 arranged at intervals along the travel direction of the main vehicle 100, and each cross beam 121 extends along the sliding direction of the trolley 200 and crosses the vertical support assembly 11. The transverse support assembly 12 also includes more than two connecting beams 122 distributed at intervals along the sliding direction of the trolley 200, each connecting beam 122 is connected between adjacent cross beams 121, and each connecting beam 122 includes at least three connecting sections 1221 arranged along the travel direction of the main vehicle 100, and adjacent connecting sections 1221 are detachably connected.

[0150] In these optional embodiments, the trolley 200 can be slidably connected to more than two cross beams 121. The spacing between adjacent cross beams 121 depends on the length of the connecting beam 122 along the direction of travel of the main vehicle 100. In other words, the spacing between adjacent cross beams 121 can be adjusted by adjusting the length of the connecting beam 122, thereby adjusting the distance between the slide rails of the trolley 200 to adapt to various trolleys 200 of different sizes and models. The two adjacent connecting sections 1221 of the connecting beam 122 are detachably connected, and the length of the connecting beam 122 can be adjusted by replacing at least one connecting section 1221 in the middle, thereby improving the adaptability of the main vehicle 100.

[0151] Optionally, adjacent connecting sections 1221 may be detachably connected by screw connection or any other suitable means.

[0152] For example, the number of the cross beams 121 may be two, and the trolley 200 is slidably connected to the two cross beams 121, which can reduce the interference problem between the trolley 200 and the cross beams 121. The number of the connecting beams 122 may be three or more, wherein two connecting beams 122 are connected between the ends of the two cross beams 121, and at least one connecting beam 122 is connected between the middle parts of the two cross beams 121, so as to improve the connection strength and support strength of the two cross beams 121.

[0153] 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.

[0154] In the description of the embodiments of the present application, the term "plurality" refers to more than two (including two).

[0155] 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.

[0156] 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 photovoltaic array semi-finished product installation device, It is characterized in that include: The main vehicle comprises a vertical support assembly, a lateral support assembly and a traveling mechanism assembly, wherein the lateral support assembly is carried on one side of the vertical support assembly in the vertical direction, and the traveling mechanism assembly is arranged on the other side of the vertical support assembly in the vertical direction, and the lateral support assembly and the vertical support assembly enclose and form a working space; The trolley comprises a frame, the frame is slidably connected to the lateral support assembly of the main vehicle, and can be connected to a hoist, the hoist is configured to hoist a semi-finished photovoltaic array in the working space, the semi-finished photovoltaic array comprising a plurality of photovoltaic panels; The micro-motion device is configured to drive the sling to move relative to the frame along the first direction and / or the second direction to adjust the position of the sling in the first direction and / or the second direction, wherein 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 vehicle, and the other is the sliding direction of the frame along the main vehicle.

2. The photovoltaic array semi-finished product installation device according to claim 1, It is characterized in that Also included is a connection device configured to connect the spreader; The micro-motion device is arranged on the frame, at least a part of the connecting device is fixed on the micro-motion device, and the micro-motion device is slidably connected to the frame along the first direction and / or the second direction to drive at least a part of the connecting device to move, thereby driving the sling to move.

3. The photovoltaic array semi-finished product installation device according to claim 2, It is characterized in that The micro-motion device includes 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. At least a part of the connecting device is fixed to the second micro-motion mechanism.

4. The photovoltaic array semi-finished product installation device according to claim 3, It is characterized in that The first micro-motion mechanism comprises at least one support frame, the at least one support frame supports the second micro-motion mechanism and is slidably connected to the frame, and the at least one support frame can 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; 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 relatively to each other in the 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, and to slide in the opposite direction along the second direction to drive the sling to rotate in a horizontal plane.

5. The photovoltaic array semi-finished product installation device according to claim 4, It is characterized in that Also includes a first drive mechanism and a second drive mechanism: The first driving mechanism includes at least one driving unit, the driving unit includes a first power module, the first power module is provided on the frame, and is connected to the at least one support frame to drive the at least one support 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 provided on the frame, and the first transmission assembly is configured to transmit power output by the first power module to the at least one support frame to drive the at least one support frame to slide along the first direction; The second driving mechanism includes two driving modules for driving the first carrier and the second carrier respectively, each of the driving modules 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 of the driving modules 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.

6. The photovoltaic array semi-finished product installation device according to any one of claims 1 to 5, It is characterized in that The hanger comprises a frame component and an adsorption component, wherein the adsorption component comprises a plurality of suction cups spaced apart and distributed on the frame component to adsorb a plurality of photovoltaic panels of the semi-finished photovoltaic array.

7. The photovoltaic array semi-finished product installation device according to claim 6, It is characterized in that The lifting device also includes at least two vacuum pumping components for the plurality of suction cups. The suction cups connected to the same vacuum pumping component are in the same passage. Each vacuum pumping component operates independently to independently provide negative pressure to the passage corresponding to itself.

8. The photovoltaic array semi-finished product installation device according to claim 7, It is characterized in that The frame assembly comprises at least one main beam and a plurality of auxiliary beams, wherein the plurality of auxiliary beams are spaced apart along the extension direction of the main beam and intersected with the main beam, and the plurality of suction cups are spaced apart on the auxiliary beams; At least four of the suction cups adsorb a single photovoltaic panel, and the at least four suction cups correspond to at least two of the vacuum pumping components.

9. The photovoltaic array semi-finished product installation device according to claim 6, It is characterized in that The spreader also includes a distance measuring device mounted on the frame assembly, and the distance measuring device is configured to output measurement information related to the degree of compression of the suction cup.

10. The photovoltaic array semi-finished product installation device according to any one of claims 1-5 and 7-9, It is characterized in that Also includes: The detection device is arranged on the main vehicle and / or the trolley and is configured to detect the position information of the photovoltaic bracket used to install the photovoltaic array semi-finished product to determine the target stopping position of the trolley.

11. The photovoltaic array semi-finished product installation device according to claim 10, It is characterized in that The detection device is also configured to detect position information of the photovoltaic array semi-finished product; The photovoltaic array semi-finished product installation equipment also includes a control mechanism, which is connected to the micro-motion device and is configured to drive the micro-motion device to move along the first direction and / or the second direction according to position information of the photovoltaic array semi-finished product and the photovoltaic bracket after the trolley stops at the target stop position and when the photovoltaic array semi-finished product and the photovoltaic bracket are not horizontally aligned.

12. The photovoltaic array semi-finished product installation device according to any one of claims 1-5, 7-9, and 11, It is characterized in that The walking mechanism assembly includes a plurality of walking mechanisms, and the plurality of walking mechanisms include at least one crawler-type walking mechanism.

13. The photovoltaic array semi-finished product installation device according to claim 12, It is characterized in that The multiple walking mechanisms include more than four crawler-type walking mechanisms, and the more than four crawler-type walking mechanisms are distributed at intervals on one side of the vertical support assembly along the vertical direction.

14. The photovoltaic array semi-finished product installation device according to claim 12, It is characterized in that The crawler-type walking mechanism is hinged to the vertical support assembly and includes a one-to-one corresponding crawler walking unit and a driving unit. The crawler walking unit includes a driving wheel, a driven wheel and a crawler. The driving unit includes a power output module configured to provide power to the driving wheel, and the driving wheel drives the driven wheel to rotate via the crawler.

15. The photovoltaic array semi-finished product installation device according to any one of claims 1-5, 7-9, 11, 13, and 14, It is characterized in that A partial section of the vehicle frame extends out of the lateral support assembly along the traveling direction of the main vehicle.

16. The photovoltaic array semi-finished product installation device according to claim 15, It is characterized in that The frame includes a first section, a second section and a third section which are sequentially arranged side by side along the traveling direction, and the first section and the third section respectively extend out of the lateral support assembly in opposite directions along the traveling direction.

17. The photovoltaic array semi-finished product installation device according to claim 16, It is characterized in that The length of the first section along the traveling direction is the same as the length of the third section along the traveling direction.

18. The photovoltaic array semi-finished product installation device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, and 17, It is characterized in that The vertical support assembly includes two or more support units spaced apart along the sliding direction of the frame; each of the support units includes two brackets spaced apart along the traveling direction, and each of the brackets is connected to the lateral support assembly; The two brackets of each supporting unit extend obliquely toward each other from bottom to top along the traveling direction.

19. The photovoltaic array semi-finished product installation device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, and 17, It is characterized in that The vertical support assembly includes two or more support units arranged at intervals along the sliding direction; Each of the support units includes more than two brackets and at least one bottom beam. The more than two brackets are spaced apart along the travel direction, and each of the brackets is connected to the transverse support assembly; the bottom beam is connected between the ends of adjacent brackets vertically adjacent to the walking mechanism assembly.

20. The photovoltaic array semi-finished product installation device according to claim 19, It is characterized in that The bottom beam is provided with a concave portion in the middle portion along the traveling direction, and the concave portion is sunken toward the walking surface of the walking mechanism assembly to provide an accommodating space; The outer bottom wall of the recess is higher than the bottom of the walking mechanism assembly in the vertical direction.

21. The photovoltaic array semi-finished product installation device according to claim 20, It is characterized in that Also includes: a control device, disposed in the recessed portion of one of the support units; The anti-collision mechanism of the control device is arranged on the support unit and includes a plurality of guardrails.

22. The photovoltaic array semi-finished product installation device according to claim 19, It is characterized in that The walking mechanism assembly includes a plurality of walking mechanisms, and two opposite ends of the bottom beam along the traveling direction are respectively hinged to at least one of the walking mechanisms.

23. The photovoltaic array semi-finished product installation device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, 20-22, It is characterized in that The vertical support assembly includes two or more support units arranged at intervals along the sliding direction; The transverse support assembly is detachably connected to each of the support units in the form of an integral piece; the transverse support assembly and at least one of the support units are provided with electronic circuits, and the electronic circuits of the transverse support assembly are detachably connected to the electronic circuits of the support units via connectors.

24. The photovoltaic array semi-finished product installation device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, 20-22, It is characterized in that The vertical support assembly includes two or more support units arranged at intervals along the sliding direction; Each of the support units includes more than two brackets and at least one auxiliary mounting beam, the more than two brackets are spaced apart along the traveling direction, and each of the brackets is connected to the lateral support assembly; the auxiliary mounting beam is connected between adjacent brackets, and the length of the auxiliary mounting beam along the traveling direction is adjustable.

25. The photovoltaic array semi-finished product installation device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, 20-22, It is characterized in that The lateral support assembly includes two or more cross beams arranged at intervals along the travel direction, and each of the cross beams extends along the sliding direction and spans the vertical support assembly; The lateral support assembly also includes more than two connecting beams spaced apart along the sliding direction, each connecting beam is connected between adjacent cross beams, each connecting beam includes at least three connecting sections arranged along the traveling direction, and adjacent connecting sections are detachably connected.

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