Driving mechanism

Abstract

The present application discloses a driving mechanism, which includes: a vehicle body; a walking mechanism assembly, including a first walking mechanism and a second walking mechanism respectively arranged on both sides of the vehicle body, the first walking mechanism including a first driving wheel, a first driven wheel, a first crawler sleeved outside the first driving wheel and the first driven wheel, and a first driving mechanism for driving the first driving wheel, the second walking mechanism including a second driving wheel, a second driven wheel, a second crawler sleeved outside the second driving wheel and the second driven wheel, and a second driving mechanism for driving the second driving wheel; a first encoder installed on the first walking mechanism; a second encoder installed on the second walking mechanism; and an electrical control box, which is provided with a control mechanism, electrically connected to the first encoder and the second encoder, and is used to control the first driving mechanism and / or the second driving mechanism according to the first information and the second information. The embodiment of the present application improves the synchronization of the walking mechanism assemblies on both sides of the driving mechanism.

Description

Technical Field

[0001] The present application belongs to the technical field of driving mechanisms, and in particular, relates to a driving mechanism. Background Art

[0002] During the operation of the crane mechanism, if the traveling mechanism components on both sides of the crane mechanism are not synchronized, it will affect the structural stability of the crane mechanism and the positioning accuracy of the operating point.

[0003] In order to make the traveling mechanism reach the predetermined working position, the prior art usually uses GPS positioning to achieve the approximate positioning of the traveling mechanisms on both sides. However, this large-scale positioning method is not accurate enough and cannot correct the position deviation of the traveling mechanisms on both sides. Utility Model Content

[0004] The embodiment of the present application provides a traveling mechanism, which can improve the synchronization of the traveling mechanism components on both sides of the traveling mechanism, and help to improve the structural stability of the traveling mechanism and the positioning accuracy of the operating point.

[0005] The present application provides a driving mechanism, including:

[0006] Vehicle body;

[0007] A walking mechanism assembly includes a first walking mechanism and a second walking mechanism respectively arranged on both sides of the vehicle body, the first walking mechanism includes a first driving wheel, a first driven wheel, a first crawler track sleeved outside the first driving wheel and the first driven wheel, and a first driving mechanism for driving the first driving wheel, and the second walking mechanism includes a second driving wheel, a second driven wheel, a second crawler track sleeved outside the second driving wheel and the second driven wheel, and a second driving mechanism for driving the second driving wheel;

[0008] A first encoder installed on the first walking mechanism, used to detect first information corresponding to the position of the first walking mechanism;

[0009] A second encoder installed on the second walking mechanism, used to detect second information corresponding to the position of the second walking mechanism; and

[0010] The electrical control box is provided with a control mechanism, which is electrically connected to the first encoder and the second encoder and is used to control the first driving mechanism and / or the second driving mechanism according to the first information and the second information.

[0011] Optionally, the first encoder and the second encoder are incremental encoders for outputting pulse signals.

[0012] Optionally, the control mechanism includes:

[0013] a first positioner, electrically connected to the first encoder, for determining a first pulse number of a pulse signal from the first encoder;

[0014] a second positioner, electrically connected to the second encoder, for determining a second pulse number of the pulse signal from the second encoder;

[0015] The controller is electrically connected to the first positioner, the second positioner, the first drive mechanism and the second drive mechanism, and is used to control the first drive mechanism and / or the second drive mechanism according to information corresponding to the first pulse number and the second pulse number.

[0016] Optionally, the first positioner and the second positioner have a count clearing function and / or a delay counting function.

[0017] Optionally, the first positioner and the second positioner include PLC positioners, and the controller includes a PLC controller.

[0018] Optionally, the first encoder is connected to the first positioner via a first twisted pair shielded encoder cable;

[0019] The second encoder is connected to the second positioner via a second twisted pair shielded encoder cable.

[0020] Optionally, the first driving mechanism includes a first motor directly or indirectly connected to the first driving wheel and a first frequency converter electrically connected to the first motor;

[0021] The second driving mechanism includes a second motor directly or indirectly connected to the second driving wheel and a second frequency converter electrically connected to the second motor;

[0022] The first frequency converter is electrically connected to the controller;

[0023] The second frequency converter is electrically connected to the controller.

[0024] Optionally, the first motor includes a first drive shaft for driving the first drive wheel, the second motor includes a second drive shaft for driving the second drive wheel, the first encoder is connected to the first drive shaft, and the second encoder is connected to the second drive shaft.

[0025] Optionally, the first motor includes a first housing, a first motor body installed in the first housing, and a first fan installed in the first housing;

[0026] The second motor includes a second housing, a second motor body installed in the second housing, and a second fan installed in the second housing;

[0027] The first encoder is installed on a side of the first housing close to the first fan, and / or the second encoder is installed on a side of the second housing close to the second fan.

[0028] Optionally, the first motor body includes a first drive shaft for driving the first drive wheel, and the second motor body includes a second drive shaft for driving the second drive wheel;

[0029] The driving mechanism also includes:

[0030] A first coupling is connected between the first drive shaft and the first encoder to drive the first encoder and the first drive shaft to rotate synchronously;

[0031] The second coupling is connected between the second drive shaft and the second encoder to drive the second encoder and the second drive shaft to rotate synchronously.

[0032] Optionally, the first driving mechanism further includes a first transmission assembly, wherein the first transmission assembly is configured to transmit power output by the first motor to the first driving wheel;

[0033] The second driving mechanism includes a second transmission assembly, wherein the second transmission assembly is configured to transmit the power output by the second motor to the second driving wheel;

[0034] Wherein, the first motor and the second motor are respectively located above the first crawler belt and the second crawler belt in a vertical direction perpendicular to the walking surface of the driving mechanism.

[0035] Optionally, the walking mechanism is a semi-finished product installation device for a photovoltaic panel array, and the vehicle body includes a main vehicle and a trolley. The main vehicle includes a vertical support assembly and a transverse support assembly. The transverse support assembly is supported on one side of the vertical support assembly along the vertical direction, and the walking mechanism assembly is arranged on the other side of the vertical support assembly along the vertical direction. The transverse support assembly and the vertical support assembly enclose and constitute a working space; the trolley is slidably connected to the transverse support assembly and can be connected to a hoist. The hoist is configured to hoist the semi-finished product of the photovoltaic panel array in the working space.

[0036] The driving mechanism provided in the embodiment of the present application utilizes a first encoder and a second encoder to respectively monitor the first information and the second information corresponding to the positions of the first walking mechanism and the second walking mechanism on both sides of the vehicle body. Subsequently, based on the first information and the second information, the control mechanism can calculate the displacement deviation between the first walking mechanism and the second walking mechanism, thereby realizing the evaluation of the synchronization between the first walking mechanism and the second walking mechanism. Once it is found that the displacement deviation exceeds the preset threshold, the control mechanism of the electrical control box can adjust the first crawler and / or the second crawler by adjusting the running speed of the first drive mechanism and / or the second drive mechanism to ensure that the first crawler and the second crawler on both sides of the driving mechanism can maintain a high degree of synchronization, thereby helping to improve the structural stability of the driving mechanism and the positioning accuracy of the operating point. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] Figure 1 It is a structural schematic diagram of a driving mechanism of an embodiment of the present application;

[0039] Figure 2 This is one of the structural block diagrams of the traveling mechanism of one embodiment of the present application;

[0040] Figure 3 This is the second structural block diagram of the driving mechanism of an embodiment of the present application.

[0041] Explanation of the reference numerals: 100, vehicle body; 110, main vehicle; 111, vertical support assembly; 112, lateral support assembly; 120, trolley; 200, traveling mechanism assembly; 210, first traveling mechanism; 211, first driving wheel; 212, first driven wheel; 213, first crawler track; 214, first driving mechanism; 220, second traveling mechanism; 221, second driving wheel; 222, second driven wheel; 223, second crawler track; 224, second driving mechanism; 300, first encoder; 400, second encoder; 500, electrical control box; 510, control mechanism; 511, first positioner; 512, second positioner; 513, controller. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] 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.

[0045] In order to better understand the present application, the application scenario of the traveling mechanism of the embodiment of the present application in the installation of semi-finished photovoltaic displays will be described below.

[0046] The embodiment of the present application proposes a driving mechanism, which, as a non-limiting example, can be used, for example, to install a semi-finished photovoltaic array. The semi-finished photovoltaic array includes a plurality of photovoltaic panels that are combined in a specific arrangement and are closely connected by a series of fixing means. These fixing means include, but are not limited to, at least one connecting beam provided on the back of the photovoltaic panel to ensure a stable connection between the plurality of photovoltaic panels.

[0047] The assembly of semi-finished photovoltaic arrays is usually carried out in professional factories. The use of standardized production methods not only improves the installation accuracy, but also effectively improves the overall installation efficiency. Once the assembly is completed, the semi-finished photovoltaic arrays are transferred to the actual installation site and installed on the pile foundation using the driving mechanism provided in this application.

[0048] The synchronization of the traveling mechanisms on both sides of the traveling mechanism will affect the structural stability of the traveling mechanism and the positioning accuracy of the installation position. In particular, when the installation of the semi-finished photovoltaic array is carried out under changeable and complex terrain conditions in the field, its traveling mechanism faces severe tests. The terrain in the field is usually undulating, full of slopes, potholes and obstacles. These factors will cause the traveling mechanisms on both sides of the traveling mechanism to bear uneven resistance and load during driving. This unbalanced force state will destroy the synchronous motion state that should be maintained, making it impossible for the traveling mechanisms on both sides of the vehicle body 100 to work in a coordinated manner. In addition, the asynchrony of the driving mechanisms of the traveling mechanisms on both sides will also cause the traveling mechanisms to lose step. The loss of synchronization of the traveling mechanisms on both sides of the vehicle body 100 will directly have a negative impact on the positioning accuracy of the installation position of the semi-finished photovoltaic array.

[0049] In order to effectively solve the above problems, the embodiment of the present application provides a driving mechanism, which uses a first encoder 300 and a second encoder 400 to respectively monitor the first information and the second information related to the position of the first walking mechanism 210 and the second walking mechanism 220 used to drive the two sides of the vehicle body 100. Subsequently, the control mechanism 510 can calculate the displacement deviation between the first walking mechanism 210 and the second walking mechanism 220 by comparing the first information and the second information, so as to evaluate the synchronization between the first walking mechanism 210 and the second walking mechanism 220. When the displacement deviation exceeds the preset threshold, the control mechanism 510 in the electrical control box 500 adjusts the operating speed of the first driving mechanism 214 and / or the second driving mechanism 224 to effectively ensure the synchronization of the crawlers on both sides of the driving mechanism, thereby helping to improve the structural stability of the driving mechanism and the positioning accuracy of the operating point.

[0050] like Figure 1 and Figure 2As shown, the driving mechanism provided in the embodiment of the present application includes: a vehicle body 100, a driving mechanism assembly 200, a first encoder 300, a second encoder 400 and an electrical control box 500. Among them, the driving mechanism assembly 200 includes a first walking mechanism 210 and a second walking mechanism 220 respectively arranged on both sides of the vehicle body 100. The first walking mechanism 210 includes a first driving wheel 211, a first driven wheel 212, a first crawler 213 and a first driving mechanism 214. The second walking mechanism 220 includes a second driving wheel 221, a second driven wheel 222, a second crawler 223 and a second driving mechanism 224. The first driving wheel 211 and the second driving wheel 221 are respectively arranged on both sides of the vehicle body 100. The first driven wheel 212 and the second driven wheel 222 are also respectively arranged on both sides of the vehicle body 100. The first crawler 213 is sleeved outside the first driving wheel 211 and the first driven wheel 212. The second crawler 223 is sleeved outside the second driving wheel 221 and the second driven wheel 222. The first driving mechanism 214 is connected to the first driving wheel 211 , and the second driving mechanism 224 is connected to the second driving wheel 221 .

[0051] The embodiment of the present application adopts a crawler-type traveling mechanism assembly 200, so that the traveling mechanism can contact the ground through the wide area of ​​the first crawler 213 and the second crawler 223. Compared with the wheeled traveling mechanism, the crawler-type traveling mechanism assembly 200 has a larger bearing area and can effectively disperse the load, thereby significantly increasing the stability of the traveling mechanism on uneven terrain, enabling the traveling mechanism to adapt to various complex working conditions and improving the environmental adaptability of the traveling mechanism.

[0052] like Figure 1 and Figure 2 As shown, the first driving mechanism 214 is used to drive the first driving wheel 211, and the first driving wheel 211 drives the first driven wheel 212 to rotate via the first crawler 213; the second driving mechanism 224 is used to drive the second driving wheel 221, and the second driving wheel 221 drives the second driven wheel 222 to rotate via the second crawler 223, thereby realizing the walking control of the traveling mechanism. The first encoder 300 is installed on the first traveling mechanism 210, and is used to provide information about the current state of the first traveling mechanism 210, specifically for detecting the first information corresponding to the position of the first traveling mechanism 210, and converting it into a digital signal. The second encoder 400 is installed on the second traveling mechanism 220, and is used to provide information about the current state of the second traveling mechanism 220, and is specifically used to detect the second information corresponding to the position of the second traveling mechanism 220, and converting it into a digital signal.

[0053] like Figure 1 and Figure 2As shown, a control mechanism 510 is provided in the electrical control box 500. The control mechanism 510 is electrically connected to the first encoder 300 and the second encoder 400 to achieve information transmission and interaction. It is understandable that a specific control algorithm and control logic are usually integrated inside the control mechanism 510 to process the received first information and second information, and then generate a control instruction for adjusting the motion state of the first drive mechanism 214 and / or the second drive mechanism 224.

[0054] The first driving mechanism 214 includes a first motor and a first frequency converter. The first motor is directly connected to the first driving wheel 211 or indirectly connected to the first driving wheel 211 through a reducer and / or a transmission mechanism, and the first frequency converter is electrically connected to the first motor and the controller 513; the second driving mechanism 224 includes a second motor and a second frequency converter. The second motor is directly connected to the second driving wheel 221 or indirectly connected to the second driving wheel 221 through a reducer and / or a transmission mechanism, and the second frequency converter is electrically connected to the second motor and the controller 513. In specific implementation, the control mechanism 510 sends a control instruction to the first frequency converter and the second frequency converter, and the first frequency converter and the second frequency converter adjust the operating state of each motor according to the control instruction of the control mechanism 510, such as the speed, torque and direction of the motor. Driven by the first motor and the second motor, the first driving wheel 211 and the second driving wheel 221 start to rotate, thereby driving the first crawler 213 and the second crawler 223 to move. In the embodiment of the utility model, the use of a motor as a driving mechanism of the crawler can effectively improve the control accuracy of the crawler, thereby improving the positioning accuracy of the operating point of the driving mechanism.

[0055] In some embodiments, the first driving mechanism 214 and / or the second driving mechanism 224 may further include a speed reducer to transmit torque and match the rotational speed between the motor and the driving wheel.

[0056] like Figure 2 and Figure 3 As shown, the control mechanism 510 includes a first positioner 511, a second positioner 512 and a controller 513. The first positioner 511 is electrically connected to the first encoder 300, and is used to receive the first pulse signal of the first encoder 300, and calculate the first pulse signal to determine the first pulse number. The first pulse number represents the current position of the first drive mechanism 214. The second positioner 512 is electrically connected to the second encoder 400, and is used to receive the second pulse signal of the second encoder 400, and calculate the second pulse signal to determine the second pulse number. The second pulse number represents the current position of the second drive mechanism 224.

[0057] like Figure 3As shown, the controller 513 is electrically connected to the first positioner 511, the second positioner 512, the first drive mechanism 214 and the second drive mechanism 224, and is used to receive information corresponding to the first pulse number and the second pulse number, and send a control signal to the first drive mechanism 214 and / or the second drive mechanism 224 based on the information corresponding to the first pulse number and the second pulse number, so as to achieve precise position control and motion adjustment.

[0058] The controller 513 can calculate the displacement deviation between the first walking mechanism 210 and the second walking mechanism 220 according to the first pulse number and the second pulse number, and calculate the frequency or speed value that needs to be adjusted, so as to adjust the output frequency of the first frequency converter and the second frequency converter. The controller 513 sends the calculated frequency adjustment value to the first frequency converter and the second frequency converter. Subsequently, the first frequency converter and the second frequency converter can adjust their output frequencies according to the received frequency adjustment value, thereby controlling the speed and direction of the first motor and the second motor. After that, the first motor and the second motor can adjust the speed and direction of the first drive wheel 211 and the second drive wheel 221 according to the output frequency of the first frequency converter and the second frequency converter, thereby realizing the correction adjustment of the first drive wheel 211 and the second drive wheel 221.

[0059] When implementing it, Figure 1 As shown, the number of the electrical control boxes 500 can be set to one or more, for example but not limited to, two electrical control boxes 500 are respectively installed on both sides of the vehicle body 100, the first electrical control box 500 is located on the side close to the first walking mechanism 210, and the other electrical control box 500 is located on the side close to the second walking mechanism 220; correspondingly, the first locator 511 is arranged in the electrical control box 500 close to the first walking mechanism 210, the second locator 512 is arranged in the electrical control box 500 close to the second walking mechanism 220, and the controller 513 can be selectively installed in any electrical control box 500. By installing the first locator 511 and the second locator 512 in the corresponding electrical control boxes 500, the use of long-distance signal lines and power lines can be reduced, and the wiring complexity and cost can be reduced.

[0060] The first encoder 300 can be connected to any one of the first motor, the first driving wheel 211 or the first driven wheel 212 in the first walking mechanism 210. Similarly, the second encoder 400 can also be connected to any one of the second motor, the second driving wheel 221 or the second driven wheel 222 in the second walking mechanism 220. In order to provide more accurate position feedback information, as a preferred example, the first encoder 300 is connected to the first motor. Whenever the first motor completes one rotation, the first encoder 300 will record, for example, 1024 pulses, and transmit the recorded first pulse signal to the first positioner 511, so that the first positioner 511 determines the first pulse number according to the first pulse signal, and then the first positioner 511 determines the first displacement of the first driving wheel 211 according to the first pulse number, the rotation characteristics of the motor (the number of pulses corresponding to each rotation), the transmission ratio of the reducer and the circumference of the first driving wheel 211. The second encoder 400 is connected to the second motor. Whenever the second motor completes one rotation, the second encoder 400 will record, for example, 1024 pulse numbers, and transmit the recorded second pulse signal to the second positioner 512, so that the second positioner 512 determines the second pulse number based on the second pulse signal. The second positioner 512 then determines the second displacement of the second drive wheel 221 based on the second pulse number, the rotation characteristics of the motor (the number of pulses per revolution), the transmission ratio of the reducer and the circumference of the second drive wheel 221.

[0061] Specifically, the first positioner 511 and the second positioner 512 can calculate the first displacement and the second displacement by the following formula: displacement = (number of count pulses / 1024 / reducer transmission ratio*3.14*wheel diameter), where 1024 is a non-limiting example of the number of pulses recorded by the encoder per rotation of the motor.

[0062] In addition, the determination process of the first displacement and the second displacement can not only be completed independently by the first locator 511 and the second locator 512, but also be centrally processed by the controller 513. Specifically, the controller 513 can be configured to receive data from the first locator 511 and the second locator 512, and determine the first displacement and the second displacement based on the data. In specific implementation, the user can select a suitable configuration scheme according to actual needs.

[0063] As a preferred example, both the first encoder 300 and the second encoder 400 can select an incremental encoder. An incremental encoder is, for example, a rotary encoder that can measure and report the relative position change of a rotating shaft, convert the displacement into a periodic electrical signal, and then convert the electrical signal into a counting pulse, and use the number of pulses to represent the size of the displacement. The incremental encoder provides an unlimited rotation angle and displacement measurement method with its continuous pulse signal output. Compared with the absolute encoder, the incremental encoder is not limited to a fixed range, thereby effectively avoiding the problem of data loss and range overflow due to range limitation, ensuring the integrity and continuity of the measurement data, and making the incremental encoder more suitable for long-distance measurement tasks. For example, in the installation scenario of a photovoltaic array semi-finished product, the photovoltaic array semi-finished product is installed in several rows and columns at the installation site. In this case, the driving mechanism needs to be installed in each station. After the photovoltaic array semi-finished product is installed to the pile foundation at the first station, it needs to move to the next second station to stop and install a new photovoltaic array semi-finished product. Therefore, the driving mechanism needs to travel long distances at multiple stations, and the use of an incremental encoder can effectively avoid the range overflow problem.

[0064] As a preferred example, the first locator 511 and the second locator 512 are PLC locators, and the controller 513 is a PLC controller. Preferably, the first locator 511 and the second locator 512 can perform a count reset operation, that is, the first locator and the second locator have segmented counting and segmented reset functions. When the driving mechanism is performing long-distance operations, if there is a lack of a reset function, there may be problems such as error accumulation, limited length of counting data, data overflow error, and data reset. In order to solve these problems, the first locator 511 and the second locator 512 need to perform a reset operation at a specific operating point. Specifically, after the driving mechanism stops at a station to complete the operation, the reset operation is performed when it needs to move to the next station. For example, before moving from the first station to the second station, the first locator 511 and the second locator 512 perform a count reset operation to eliminate the previously accumulated count data, thereby providing an accurate starting point for a new operation cycle. As an alternative, the reset operation can also be performed after the driving mechanism completes the operation at multiple stations and before it needs to move to the next station.

[0065] As a preferred embodiment, the first locator 511 and the second locator 512 have a delayed counting function, that is, they can delay counting for a predetermined time after the driving mechanism is started. This is because the crawler mechanism will slip on the spot when it is just started. If counting is performed at the beginning of the start, the accurate displacement of the first driving wheel and the second driving wheel cannot be obtained. Therefore, the first locator 511 and the second locator 512 start counting after the slipping phenomenon, which can ensure the accuracy of the data.

[0066] Preferably, the PLC controller is configured with a power-off retention register area function, allowing the user to customize the number of power-off retention data areas, so that even in the case of a power outage, key data can be saved, thereby solving the problem of data loss after a power outage. In addition, the control strategy of single-station task segmented counting can effectively avoid the problem of data length overflow and effectively ensure the continuity and accuracy of counting.

[0067] During the travel of the driving mechanism, the first locator 511 and the second locator 512 will continue to receive pulse signals from the first encoder 300 and the second encoder 400, monitor the positions of the first drive wheel 211 and the second drive wheel 221 in real time, and then convert them into the first pulse number and the second pulse number. The position deviation between the two drive wheels can be obtained through the first pulse number and the second pulse number. The controller 513 sends a control signal to the first drive mechanism 214 and / or the second drive mechanism 224 accordingly, so that the corresponding drive mechanism can be fine-tuned according to the control signal to correct the position deviation. The embodiment of the present application enables the controller 513 to accurately obtain the position information of the first drive wheel 211 and the second drive wheel 221 through the combination of the first encoder 300 and the first locator 511 and the combination of the second encoder 400 and the second locator 512.

[0068] In an exemplary scenario, when the control mechanism 510 detects that the position of the first driving wheel 211 is ahead of the position of the second driving wheel 221, the following three adjustment strategies can be used to correct the deviation:

[0069] Adjustment strategy 1: Control the first driving mechanism 214 to decelerate the first driving wheel 211, and control the second driving mechanism 224 to accelerate the second driving wheel 221, so as to reduce the relative speed difference between the first driving wheel 211 and the second driving wheel 221, so that the second driving wheel 221 can quickly catch up with the first driving wheel 211, thereby correcting the deviation.

[0070] Adjustment strategy 2: Control the first drive mechanism 214 to decelerate the first drive wheel 211, and control the second drive mechanism 224 to keep the speed of the second drive wheel 221 unchanged, so as to reduce the distance between the first drive wheel 211 and the second drive wheel 221 until a synchronous driving state is achieved.

[0071] Adjustment strategy three: control the second drive mechanism 224 to accelerate the second drive wheel 221, and control the first drive mechanism 214 to keep the speed of the first drive wheel 211 unchanged, so as to shorten the distance with the first drive wheel 211 by increasing the speed of the second drive wheel 221, thereby achieving synchronization between the first drive wheel 211 and the second drive wheel 221.

[0072] In a specific implementation, the first encoder 300 can be connected to the first positioner 511 through a first twisted shielded encoder cable; the second encoder 400 can be connected to the second positioner 512 through a second twisted shielded encoder cable. The twisted shielded encoder cable adopts a twisted pair structure design, which uses the differential signal principle so that the differential mode signals generated by the two paired core wires can cancel each other, effectively eliminating external electromagnetic interference, and ensuring the accuracy and reliability of the first encoder 300 and the second encoder 400 when transmitting signals.

[0073] The first motor includes a first housing, a first motor body installed in the first housing, and a first fan; the second motor includes a second housing, a second motor body installed in the second housing, and a second fan. In the embodiment of the present application, by installing the first encoder 300 and the second encoder 400 in the first housing and the second housing, respectively, the first housing and the second housing provide physical protection for the first encoder 300 and the second encoder 400, respectively, reducing damage to the encoder caused by external factors such as dust, moisture, impact, etc., thereby improving the reliability and durability of the encoder.

[0074] Preferably, the first encoder 300 is installed on a side of the first housing close to the first fan, and / or the second encoder 400 is installed on a side of the second housing close to the second fan. As a preferred example, the first encoder 300 is installed on a side of the first housing close to the first fan, and the second encoder 400 is installed on a side of the second housing close to the second fan. With such a layout, the airflow generated by the first fan and the second fan can flow through the first encoder 300 and the second encoder 400, which can not only effectively promote the heat dissipation of the first encoder 300 and the second encoder 400, but also reduce the accumulation of dust or other contaminants in the housing on the encoder, thereby reducing the influence of these factors on the measurement accuracy of the encoder.

[0075] As a specific example, the first motor body includes a first drive shaft for driving the first drive wheel 211, the first encoder is connected to the first drive shaft, the second motor body includes a second drive shaft for driving the second drive wheel 221, and the second encoder is connected to the second drive shaft. Preferably, a first coupling is connected between the first drive shaft and the first encoder 300 to drive the first encoder 300 and the first drive shaft to rotate synchronously to achieve the collection of the first information. A second coupling is connected between the second drive shaft and the second encoder 400 to drive the second encoder 400 and the second drive shaft to rotate synchronously to achieve the collection of the second information. As a preferred example, the first drive shaft and the first encoder 300 and the second drive shaft and the second encoder 400 can be connected by a coupling and a stainless steel soft connection to achieve a vibration-free connection between the drive shaft and the encoder, reduce the error caused by vibration of the encoder, and ensure the accuracy and reliability of the encoder measurement.

[0076] In some embodiments, the first driving mechanism further includes a first transmission assembly 215, which is configured to transmit the power output by the first motor to the first driving wheel 211; the second driving mechanism includes a second transmission assembly 225, which is configured to transmit the power output by the second motor to the second driving wheel 221; wherein the first motor and the second motor are respectively located above the first crawler 213 and the second crawler 223 in a vertical direction perpendicular to the walking surface of the driving mechanism. If the first motor and the second motor are directly or indirectly connected to the first driving wheel and the second driving wheel through a reducer, the position of the motor will be close to the walking surface of the driving mechanism, and it is easy to collide with ground protrusions, affecting driving safety. By allowing the first motor and the second motor to transmit power to the first driving wheel and the second driving wheel through the first transmission assembly and the second transmission assembly respectively, the vertical height of the first motor and the second motor can be raised to a certain distance above the walking surface, thereby effectively avoiding collision or interference with ground protrusions, making the driving mechanism suitable for a variety of landform environments and improving the environmental adaptability of the driving mechanism.

[0077] One end of the first transmission assembly 215 can be transmission-connected to the first drive shaft of the first motor, or connected to the output shaft of the reducer, and the other end can be transmission-connected to the rotation shaft of the first drive wheel 211. As an example, the rotation shaft of the first drive wheel 211 can be parallel to the first drive shaft of the first motor or the output shaft of the reducer. One end of the second transmission assembly 225 can be transmission-connected to the second drive shaft of the second motor, or connected to the output shaft of the reducer, and the other end can be transmission-connected to the rotation shaft of the second drive wheel 221. As an example, the rotation shaft of the second drive wheel 221 can be parallel to the second drive shaft of the second motor or the output shaft of the reducer.

[0078] Exemplarily, the first transmission assembly and the second transmission assembly may respectively include two transmission wheels and a transmission belt, wherein one transmission wheel is connected to the first drive shaft or the second drive shaft or the output shaft of the reducer, and the other transmission wheel is coaxially connected to the first drive wheel or the second drive wheel, and the transmission belt is wound around the two transmission wheels and is configured to transmit the torque of one transmission wheel to the other transmission wheel. Optionally, the transmission belt 1222 may be a suitable belt structure such as a belt or a chain.

[0079] like Figure 1 As shown, any of the aforementioned walking mechanisms is a photovoltaic panel array semi-finished product installation device. Among them, the vehicle body 100 also includes a main vehicle 110 and a trolley 120. The main vehicle 110 includes a vertical support assembly 111 and a transverse support assembly 112. The transverse support assembly 112 is carried on one side of the vertical support assembly 111 in the vertical direction, and the walking mechanism assembly is arranged on the other side of the vertical support assembly 111 in the vertical direction. The transverse support assembly 112 and the vertical support assembly 111 enclose and form a working space; the trolley 120 is slidably connected to the transverse support assembly 112, and can be connected to a hoist, and the hoist is configured to hoist the photovoltaic panel array semi-finished product in the working space.

[0080] The main vehicle 110 provided in the embodiment of the present application is enclosed by a vertical support assembly 111 and a horizontal support assembly 112 to form a working space, and the supporting effect of this main vehicle 110 structure is more stable. The hoist can hoist the semi-finished photovoltaic array formed by splicing multiple photovoltaic panels in the working space. Therefore, the photovoltaic array semi-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.

[0081] In an implementation scenario, such as Figure 1 As shown, the number of the driving mechanism components 200 can be adjusted according to actual needs, and can be one or more. Specifically, it can be configured according to the length of the vehicle body 100. When the number of the driving mechanism components 200 is multiple, the multiple driving mechanism components 200 can be arranged along the length direction of the vehicle body 100. Figure 1 The traveling mechanism shown includes two traveling mechanism components 200 arranged along the length direction of the vehicle body 100 .

[0082] The above are only specific implementations 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 driving mechanism, characterized in that: include: Vehicle body; A walking mechanism assembly, comprising a first walking mechanism and a second walking mechanism respectively arranged on both sides of the vehicle body, wherein the first walking mechanism comprises a first driving wheel, a first driven wheel, a first crawler belt sleeved outside the first driving wheel and the first driven wheel, and a first driving mechanism for driving the first driving wheel, and the second walking mechanism comprises a second driving wheel, a second driven wheel, a second crawler belt sleeved outside the second driving wheel and the second driven wheel, and a second driving mechanism for driving the second driving wheel; A first encoder installed on the first walking mechanism, used to detect first information corresponding to the position of the first walking mechanism; A second encoder installed on the second walking mechanism, used to detect second information corresponding to the position of the second walking mechanism; as well as The electrical control box is provided with a control mechanism, which is electrically connected to the first encoder and the second encoder and is used to control the first drive mechanism and / or the second drive mechanism according to the first information and the second information.

2. The driving mechanism according to claim 1, characterized in that: The first encoder and the second encoder are incremental encoders for outputting pulse signals.

3. The driving mechanism according to claim 2, characterized in that: The control mechanism comprises: a first positioner, electrically connected to the first encoder, for determining a first pulse number of a pulse signal from the first encoder; a second positioner, electrically connected to the second encoder, for determining a second pulse number of the pulse signal from the second encoder; A controller is electrically connected to the first positioner, the second positioner, the first drive mechanism and the second drive mechanism, and is used to control the first drive mechanism and / or the second drive mechanism according to information corresponding to the first pulse number and the second pulse number.

4. The driving mechanism according to claim 3, characterized in that: The first positioner and the second positioner have a count clearing function and / or a delay counting function.

5. The driving mechanism according to claim 3, characterized in that: The first positioner and the second positioner include PLC positioners, and the controller includes a PLC controller.

6. The driving mechanism according to any one of claims 3 to 5, characterized in that: The first driving mechanism includes a first motor directly or indirectly connected to the first driving wheel and a first frequency converter electrically connected to the first motor; The second driving mechanism includes a second motor directly or indirectly connected to the second driving wheel and a second frequency converter electrically connected to the second motor; The first frequency converter is electrically connected to the controller; The second frequency converter is electrically connected to the controller.

7. The driving mechanism according to claim 6, characterized in that: The first motor includes a first drive shaft for driving the first drive wheel, the second motor includes a second drive shaft for driving the second drive wheel, the first encoder is connected to the first drive shaft, and the second encoder is connected to the second drive shaft.

8. The driving mechanism according to claim 7, characterized in that: The first motor includes a first housing, a first motor body installed in the first housing, and a first fan installed in the first housing; The second motor includes a second housing, a second motor body installed in the second housing, and a second fan installed in the second housing; The first encoder is installed on a side of the first housing close to the first fan, and / or the second encoder is installed on a side of the second housing close to the second fan.

9. The driving mechanism according to claim 6, characterized in that: The first driving mechanism further includes a first transmission assembly, wherein the first transmission assembly is configured to transmit the power output by the first motor to the first driving wheel; The second driving mechanism includes a second transmission assembly, wherein the second transmission assembly is configured to transmit the power output by the second motor to the second driving wheel; Wherein, the first motor and the second motor are respectively located above the first crawler belt and the second crawler belt in a vertical direction perpendicular to the walking surface of the driving mechanism.

10. The driving mechanism according to any one of claims 1 to 5 and 7 to 9, characterized in that: The walking mechanism is a semi-finished product installation device for a photovoltaic panel array. The vehicle body includes a main vehicle and a trolley. The main vehicle includes a vertical support assembly and a transverse support assembly. The transverse support assembly is supported on one side of the vertical support assembly. The walking mechanism assembly is arranged on the other side of the vertical support assembly. The transverse support assembly and the vertical support assembly enclose and constitute a working space. The trolley is slidably connected to the transverse support assembly and can be connected to a hoist. The hoist is configured to hoist the semi-finished product of the photovoltaic panel array in the working space.

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