Crawler walking device and photovoltaic module transfer trolley

Abstract

The utility model discloses a crawler walking device and a photovoltaic module transfer trolley, and is applied to the technical field of walking devices. The crawler belt walking device comprises a crawler belt walking mechanism installed on a vehicle body; the first control end is connected with the crawler walking mechanism and used for locally controlling the crawler walking mechanism to move; the controller is mounted on the vehicle body and is electrically connected with the crawler walking mechanism; and the second control end is in wireless communication connection with the controller, and the second control end remotely controls the crawler walking mechanism to move through the controller. The crawler walking device can solve the problems that the automation process of photovoltaic module transfer is limited due to manual field operation of the walking device, and the control precision is low.

Description

Technical Field

[0001] This application belongs to the field of walking device technology, and particularly relates to a tracked walking device and a photovoltaic module transport vehicle. Background Technology

[0002] Transfer vehicles are primarily used for transporting materials in specific production and operational processes. A transfer vehicle includes a traveling mechanism, which supports and drives the vehicle. For example, in the photovoltaic industry, after photovoltaic modules are assembled into photovoltaic modules, they need to be transported to the designated installation location using a transfer vehicle.

[0003] In related technologies, the transfer of photovoltaic modules relies on on-site manual operation of the walking device, requiring operators to manually operate the device throughout the process. However, this manual on-site operation of the walking device significantly limits the automation process of photovoltaic module transfer and results in low control precision. Utility Model Content

[0004] This application provides a tracked walking device and a photovoltaic module transport vehicle to solve the problems of limited automation of photovoltaic module transport and low control precision caused by manual on-site operation of the walking device.

[0005] In a first aspect, embodiments of this application provide a tracked walking device, the tracked walking device comprising:

[0006] Tracked walking mechanism, mounted on a vehicle body;

[0007] The first control terminal is connected to the tracked walking mechanism and is used for local control of the movement of the tracked walking mechanism.

[0008] The controller is mounted on the vehicle body and electrically connected to the tracked walking mechanism;

[0009] The second control terminal is wirelessly connected to the controller, and remotely controls the movement of the tracked walking mechanism through the controller.

[0010] In some possible implementations of the embodiments of this application, the tracked walking mechanism includes a track assembly that drives the vehicle body to move and a drive assembly connected to the track assembly.

[0011] The driver components include:

[0012] The hydraulic oil tank is located in the vehicle body and is electrically connected to the controller;

[0013] The hydraulic pump is connected to the hydraulic oil tank via a pipeline and is electrically connected to the controller;

[0014] A hydraulic motor, connected to a hydraulic pump via pipeline, and connected to the track assembly, drives the track assembly to move.

[0015] In some possible implementations of the embodiments of this application, the driving component further includes:

[0016] The proportional valve assembly is electrically connected to the controller and is connected between the hydraulic oil tank and the hydraulic pump;

[0017] The controller is used to control the opening degree of the proportional valve group in order to regulate the flow rate of hydraulic oil from the hydraulic oil tank to the hydraulic pump.

[0018] In some possible implementations of the embodiments of this application, the hydraulic motor described above is a variable displacement motor.

[0019] In some possible implementations of the embodiments of this application, the drive component further includes an encoder connected to the hydraulic motor and electrically connected to the controller.

[0020] In some possible implementations of the embodiments of this application, the driving component further includes:

[0021] The brake is connected to the hydraulic motor and electrically connected to the controller;

[0022] The first pressure sensor is installed in the oil inlet line of the hydraulic pump and is electrically connected to the controller to detect the oil inlet pressure of the hydraulic pump.

[0023] The second pressure sensor is installed in the oil outlet line of the hydraulic pump and is electrically connected to the controller to detect the oil outlet pressure of the hydraulic pump.

[0024] In some possible implementations of the embodiments of this application, the controller is a programmable logic controller.

[0025] In some possible implementations of the embodiments of this application, the first control terminal includes a remote controller, which is wirelessly connected to the controller and is used to locally control the movement of the tracked walking mechanism through the controller.

[0026] In some possible implementations of this application's embodiments, the first control terminal includes an operating platform mounted on the vehicle body, the operating platform being connected to the tracked walking mechanism, and the operating platform being used to locally control the movement of the tracked walking mechanism. In some possible implementations of this application's embodiments, the second control terminal is a programmable logic controller (PLC).

[0027] In some possible implementations of the embodiments of this application, the above-mentioned tracked walking device further includes:

[0028] An electrical control box, connected to the vehicle body, is used to install controllers;

[0029] The generator set is connected to the vehicle body and electrically connected to the electrical control box to supply power to the electrical control box.

[0030] Secondly, embodiments of this application provide a photovoltaic module transport vehicle, which includes a vehicle body and a tracked walking device as described in any of the first aspects.

[0031] The tracked walking device and photovoltaic module transport vehicle of this application embodiment provide users with two ways to control the tracked walking mechanism through a first control terminal and a second control terminal: local control and remote control. This allows users to flexibly choose to operate the tracked walking mechanism locally or remotely, based on their needs and actual conditions. This greatly improves the convenience and applicability of operating the tracked walking mechanism and provides convenience for users to use the tracked walking device in different scenarios. Specifically, when a user operates the tracked walking mechanism remotely and the second control terminal receives the operation command issued by the user, it transmits the control signal corresponding to the operation command to the controller. The controller then controls the tracked walking mechanism according to the control signal, thereby driving the tracked walking mechanism to complete the operation task corresponding to the operation command. In this way, by coordinating the operation of the second control terminal and the controller, and relying on the preset program and signal transmission to control the tracked walking mechanism, the automated control of the tracked walking mechanism can be realized. This effectively solves the problem that manual on-site operation of the walking device limits the automation process of photovoltaic module transfer. At the same time, it avoids the problem of individual experience differences caused by direct manual operation, and significantly improves the control accuracy of the tracked walking device's operating status. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 The structural block diagram of a tracked walking device provided in some embodiments of this application is shown. Figure 1 ;

[0034] Figure 2 The structural block diagram of a tracked walking device provided in some embodiments of this application is shown. Figure 2 ;

[0035] Figure 3 Structural block diagrams of tracked walking mechanisms provided in some embodiments of this application are shown.

[0036] Explanation of reference numerals in the attached drawings: 100, tracked travel device; 110, tracked travel mechanism; 111, track assembly; 1111, drive wheel; 1112, track; 1113, driven wheel; 112, drive assembly; 1121, hydraulic oil tank; 1122, hydraulic pump; 1123, hydraulic motor; 1124, encoder; 1125, proportional valve group; 1126, brake; 1127, first pressure sensor; 1128, second pressure sensor; 120, first control terminal; 130, controller; 140, second control terminal. Detailed Implementation

[0037] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples. In the accompanying drawings and the following description, at least some well-known structures and techniques are not shown to avoid unnecessarily obscuring the application; and, for clarity, the dimensions of some structures may be exaggerated. Furthermore, the features, structures, or characteristics described below can be combined in any suitable manner in one or more embodiments.

[0038] In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] The directional terms appearing in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0040] In related technologies, the transfer of photovoltaic modules relies on manual on-site operation of the walking device. Specifically, operators need to manually adjust the control levers to control the device's operation. However, this method heavily depends on the operator's personal experience. Because each operator's experience level varies, even when faced with the same transfer scenario and task requirements, different operators will exhibit significant differences in adjusting the control levers. This inconsistency stemming from individual experience reduces the accuracy of controlling the walking device's operation. Furthermore, manually controlled walking devices cannot seamlessly integrate with other automated equipment and systems on the photovoltaic production line. For example, after the photovoltaic modules complete their assembly on the assembly line, the walking device cannot automatically receive instructions from the production line control system, hindering timely and accurate transfer operations. This results in a break in the connection between different stages of the photovoltaic production line, impeding the smooth automated operation of the entire photovoltaic module process from production to installation.

[0041] To better understand this application, the following will describe the application scenario of the tracked walking device 100 in the installation of photovoltaic display semi-finished products according to the embodiments of this application.

[0042] This application provides a tracked walking device 100 as a non-limiting example. This tracked walking device 100 can, for instance, be used to support and control the movement of a photovoltaic module transport vehicle, thereby enabling the transport of photovoltaic modules. A photovoltaic module includes a single photovoltaic panel, or multiple photovoltaic panels arranged in a specific configuration and tightly connected by a series of fixing means. These fixing means include, but are not limited to, at least one connecting beam disposed on the back of the photovoltaic panel to ensure a stable connection between the multiple photovoltaic panels.

[0043] The assembly of photovoltaic modules is usually carried out in specialized factories. The standardized production methods not only improve installation accuracy but also effectively enhance overall installation efficiency. Once assembly is complete, the tracked walking device 100 provided in this application drives the photovoltaic module transport vehicle to move the photovoltaic module to the actual installation site.

[0044] To address the aforementioned problems in the related technologies, this application provides a tracked walking device 100 and a photovoltaic module transport vehicle. The tracked walking device 100, through a first control terminal 120 and a second control terminal 140, provides users with two ways to control the tracked walking mechanism 110: local control and remote control. This allows users to flexibly choose to operate the tracked walking mechanism 110 locally or remotely, based on their needs and actual circumstances. This greatly improves the convenience and applicability of operating the tracked walking mechanism 110, providing convenience for users to use the tracked walking device in different scenarios. Specifically, when a user operates the tracked walking mechanism 110 remotely and the second control terminal 140 receives the operation command from the user, it transmits the control signal corresponding to the operation command to the controller 130. The controller 130 then controls the tracked walking mechanism 110 according to the control signal, thereby driving the tracked walking mechanism 110 to complete the operation task corresponding to the operation command. In this way, through the coordinated operation of the second control terminal 140 and the controller 130, and relying on signal transmission to remotely control the tracked walking mechanism 110, the automated control of the tracked walking mechanism can be realized. This effectively solves the problem that existing photovoltaic module transfer vehicles require manual on-site operation of the walking device, which limits the automation process of photovoltaic module transfer. At the same time, it avoids the problem of individual experience differences caused by direct manual operation, and significantly improves the control accuracy of the operating status of the tracked walking device 100.

[0045] The following is in conjunction with the appendix Figure 1 To be continued Figure 3 The tracked walking device 100 provided in this application will be described in detail through specific embodiments and application scenarios.

[0046] Figure 1 The structural block diagram of a tracked walking device 100 provided in some embodiments of this application is shown. Figure 1 ; Figure 2 The structural block diagram of a tracked walking device 100 provided in some embodiments of this application is shown. Figure 2 .like Figure 1 and Figure 2 As shown, the tracked walking device 100 may include a tracked walking mechanism 110, a first control terminal 120, a controller 130, and a second control terminal 140. The tracked walking mechanism 110 is mounted on a vehicle body and is used to move the entire vehicle body. The first control terminal 120 is connected to the tracked walking mechanism 110 and is used for local control of the movement of the tracked walking mechanism 110. The controller 130 is mounted on the vehicle body and is electrically connected to the tracked walking mechanism 110. The second control terminal 140 is wirelessly connected to the controller 130, and the second control terminal 140 remotely controls the movement of the tracked walking mechanism 110 through the controller 130.

[0047] It is understood that the switching between the first control terminal 120 and the second control terminal 140 can be controlled by the controller 130. For example, the controller 130 may have a switching logic circuit or software module inside. When the user needs to switch from local control of the first control terminal 120 to remote control of the second control terminal 140, or needs to switch from remote control of the second control terminal 140 to local control of the first control terminal 120, the user can send a command to the controller 130 through the second control terminal 140. After receiving the switching command corresponding to the switching operation, the controller 130 will adjust the current control state according to the preset switching algorithm in the switching logic circuit or software module. For example, the controller 130 can pause the control connection between the current control terminal and the tracked walking mechanism 110 and establish a new control connection. Specifically, when switching from the first control terminal 120 to the second control terminal 140, the controller 130 will pause the control link between the first control terminal 120 and the tracked walking mechanism 110, and at the same time open the control link between the second control terminal 140 and the tracked walking mechanism 110, so that the second control terminal 140 can remotely control the tracked walking mechanism 110 through the controller 130; conversely, when switching from the second control terminal to the first control terminal, the controller 130 will adjust the control link accordingly and transfer the control authority to the first control terminal 120.

[0048] In one example, such as Figure 1 As shown, the first control terminal 120 includes a remote controller, which is wirelessly connected to the controller 130. The remote controller is used to locally control the movement of the tracked walking mechanism 110 through the controller 130. Thus, the remote controller can control the movement of the tracked walking mechanism 110 with the help of the controller 130. When the user issues an operation command through the remote controller, the operation command is first transmitted to the controller 130. The controller 130 analyzes and judges the operation command based on its signal processing function, and then transmits the processed operation command to the tracked walking mechanism 110 to achieve control over the movement state of the tracked walking mechanism 110. By using the remote controller as the first control terminal 120, wireless control of the tracked walking mechanism 110 is realized. Operators can control the tracked walking mechanism 110 from a safe location away from it, expanding the spatial range for operating the tracked walking mechanism 110. This eliminates the need for operators to be physically present beside the tracked walking mechanism 110, effectively improving the convenience of controlling the tracked walking mechanism 110.

[0049] In another example, the first control terminal 120 is an operating platform mounted on the vehicle body, used for local control of the tracked walking mechanism 110. This operating platform may include a joystick and control controls. The joystick is mechanically connected to the tracked walking mechanism 110, allowing the operator to manually adjust it for local control. The control controls are electrically connected to a controller 130 and are used to achieve local control of the tracked walking mechanism 110 via the controller 130. Specifically, the connection between the control controls and the controller 130 is a wired connection, such as using electrical cables, to ensure the stability and timeliness of signal transmission. This connection method enables the first control terminal 120 to locally control the tracked walking mechanism 110 via the control controls.

[0050] For example, the control controls may include control buttons and control knobs. The control buttons are used to issue control commands such as forward, backward, left turn, and right turn, while the control knobs are used to adjust parameters such as the running speed and steering angle of the tracked walking mechanism 110.

[0051] In another embodiment, the first control terminal 120 may include both the aforementioned remote controller and operating platform to improve operability.

[0052] In some embodiments of this application, there are two tracked walking mechanisms 110, which are respectively located on both sides of the vehicle body. The controller 130 controls the two tracked walking mechanisms 110 on both sides of the vehicle body simultaneously according to the operator's operating instructions or a preset program, ensuring that the two tracked walking mechanisms 110 can cooperate precisely to achieve stable movement of the vehicle body and various complex operating actions, such as straight-line driving, turning on the spot, and diagonal driving. Specifically, as shown in... Figure 3 As shown, each tracked walking mechanism 110 includes a track assembly 111 that drives the vehicle body and a drive assembly 112 connected to the track assembly 111. The drive assembly 112 includes a hydraulic oil tank 1121, a hydraulic pump 1122, and a hydraulic motor 1123. The hydraulic oil tank 1121 is located on the vehicle body and electrically connected to a controller 130. The hydraulic pump 1122 is connected to the hydraulic oil tank 1121 via a pipeline and is also electrically connected to the controller 130 to draw hydraulic oil from the hydraulic oil tank 1121 and adjust the output pressure and flow rate of the hydraulic pump 1122 according to the control signal from the controller 130. The hydraulic motor 1123 is connected to the hydraulic pump 1122 via a pipeline and is connected to the track assembly 111 to receive the hydraulic oil delivered by the hydraulic pump 1122 and drive the track assembly 111 to move.

[0053] It is worth noting that the hydraulic oil tank 1121 is used to store hydraulic oil. For the two drive components 112 of the two tracked walking mechanisms 110, they can either share a hydraulic oil tank 1121, or, as mentioned above, each drive component 112 can be equipped with its own hydraulic oil tank 1121. No specific limitation is made here.

[0054] The controller 130 adjusts the output pressure and flow rate of the hydraulic pump 1122 according to the movement requirements of the tracked walking mechanism 110, such as different operating commands like forward, backward, and turning. For example, when the track assembly 111 needs to move forward quickly, the controller 130 sends a control signal to the hydraulic pump 1122 to increase its output pressure and flow rate, thus providing sufficient power to the hydraulic motor 1123. After receiving hydraulic oil from the hydraulic pump 1122, the hydraulic motor 1123 rotates under the action of the hydraulic oil, thereby driving the track assembly 111 to move. Exemplarily, the hydraulic motor 1123 and the track assembly 111 are typically mechanically transmitted through gears, chains, or direct connections to ensure that the power of the hydraulic motor 1123 is effectively transmitted to the track assembly 111, enabling the track assembly 111 to operate in a predetermined direction and speed. By combining hydraulic drive with controller 130, which controls the working parameters of hydraulic pump 1122 and transmits power through the flow of hydraulic oil, a more stable power output can be provided compared to mechanical transmission, making the motion control of tracked walking mechanism 110 more precise.

[0055] For example, the track assembly 111 may include a drive wheel 1111, a driven wheel 1113, and a track 1112 sleeved on the drive wheel 1111 and the driven wheel 1113. A hydraulic motor 1123 is fixedly connected to the drive wheel 1111. The hydraulic motor 1123 drives the drive wheel 1111, and the drive wheel 1111 drives the driven wheel 1113 to rotate via the track 1112, thereby realizing the walking control of the tracked walking mechanism 110.

[0056] In some embodiments of this application, the controller 130 is a programmable logic controller (PLC). In one example, the hydraulic motor 1123 is a variable displacement motor. The variable displacement motor can precisely adjust its displacement according to the instructions of the controller 130, thereby achieving precise control of the output torque.

[0057] For example, the hydraulic oil tank 1121 is equipped with a level sensor and a temperature sensor electrically connected to the controller 130. The level sensor and temperature sensor transmit real-time status parameters of the hydraulic oil in the hydraulic oil tank 1121, such as the hydraulic oil level and temperature. By converting these real-time status parameters into electrical signals and transmitting them to the controller 130, the controller 130 can issue alarms or take corresponding control measures in a timely manner based on these real-time status parameters. For example, if the oil temperature in the hydraulic oil tank 1121 exceeds a preset oil temperature threshold, the controller can activate a cooling device to lower the oil temperature or prompt the operator to add hydraulic oil.

[0058] In some embodiments of this application, the drive assembly 112 further includes an encoder 1124 connected to the hydraulic motor 1123 and electrically connected to the controller 130. The encoder 1124 measures the rotational speed of the hydraulic motor 1123 and converts the rotational motion of the hydraulic motor 1123 into electrical pulse signals, which are then sent to the controller 130. By receiving these electrical pulse signals, the controller 130 can obtain the rotational speed information of the hydraulic motor 1123 in real time. For example, during the operation of the tracked walking device 100, when it is necessary to maintain a certain travel speed, the encoder 1124 feeds back the actual rotational speed of the hydraulic motor 1123 to the controller 130. The controller 130 can determine the actual speed of the hydraulic motor 1123 based on the feedback information and compare the actual speed with a preset speed. If the actual speed is lower than the preset speed, the controller 130 can adjust the flow rate of the hydraulic pump 1122 or the displacement of the hydraulic motor 1123 to increase the rotational speed of the hydraulic motor 1123, thereby enabling the tracked walking device 100 to reach and maintain the preset speed.

[0059] In some embodiments of this application, such as Figure 3 As shown, the drive assembly 112 may further include a proportional valve group 1125, which is electrically connected to the controller 130 and connected between the hydraulic oil tank 1121 and the hydraulic pump 1122. The inlet of the proportional valve group 1125 is connected to the hydraulic oil tank 1121, and the outlet is connected to the inlet of the hydraulic pump 1122. Hydraulic oil flows to the hydraulic pump 1122 through the proportional valve group 1125 under the action of pressure difference. The controller 130 controls the opening degree of the proportional valve group 1125 to regulate the flow rate of hydraulic oil from the hydraulic oil tank 1121 to the hydraulic pump 1122. The proportional valve group 1125, connected between the hydraulic oil tank 1121 and the hydraulic pump 1122, forms a control link for the flow of hydraulic oil from the hydraulic oil tank 1121 to the hydraulic pump 1122.

[0060] Specifically, the proportional valve assembly 1125 includes at least two proportional valves. One of the proportional valves controls the forward movement of the track assembly 111, and the other proportional valve controls the backward movement of the track assembly 111. Each proportional valve includes a valve core, a valve body, and a solenoid coil. The solenoid coil is electrically connected to the controller 130. When the controller 130 outputs current signals of different intensities, the solenoid coil generates magnetic fields of different intensities, thereby driving the valve core to move within the valve body, changing the opening of the valve orifice, and thus controlling the flow rate of the hydraulic oil. The controller 130 can precisely adjust the flow rate and pressure of the hydraulic oil in the at least two proportional valves according to different operating commands to achieve speed regulation of the track assembly 111. For example, when slow forward movement is required, the forward proportional valve is controlled to open to a smaller degree, allowing a small amount of hydraulic oil to pass through, thereby enabling the track assembly 111 to move at a lower speed; while when fast forward movement is required, the forward proportional valve is controlled to open to a larger degree, allowing more hydraulic oil to pass through, thereby enabling the track assembly 111 to move at a higher speed.

[0061] This application uses a tracked conveyor mechanism driven by the aforementioned hydraulic proportional valve, which can precisely control the flow and pressure of hydraulic oil, thereby adapting to different terrains and solving the problem of transport vehicles being obstructed by terrain.

[0062] In some embodiments of this application, such as Figure 3 As shown, the drive assembly 112 also includes a brake 1126, a first pressure sensor 1127, and a second pressure sensor 1128. The brake 1126 is connected to the hydraulic motor 1123 and electrically connected to the controller 130. Specifically, the brake 1126 can be connected to the output section of the hydraulic motor 1123, such as its rotating shaft, to limit the rotation of the hydraulic motor 1123. The brake 1126 can also perform braking operations via control signals from the controller 130. For example, when the tracked walking device 100 needs to stop or requires rapid braking in an emergency, the controller 130 will send an electrical signal to the brake 1126 according to a preset program or a received emergency braking command. This causes the braking component of the brake 1126 to make close contact with the rotating shaft of the hydraulic motor 1123, using friction to prevent the rotation of the rotating shaft, thereby stopping the hydraulic motor 1123 and ultimately braking the track 1112.

[0063] The first pressure sensor 1127 is installed in the inlet line of the hydraulic pump 1122 and electrically connected to the controller 130 to detect the inlet pressure of the hydraulic pump 1122 and send inlet pressure data to the controller 130. The second pressure sensor 1128 is installed in the outlet line of the hydraulic pump 1122 and electrically connected to the controller 130 to detect the outlet pressure of the hydraulic pump 1122 and send outlet pressure data to the controller 130. Specifically, the first pressure sensor 1127 and the second pressure sensor 1128 are relay pressure sensors. When the controller 130 sends a braking signal to the brake 1126, it simultaneously monitors the inlet pressure and outlet pressure of the hydraulic pump 1122. If the inlet pressure and outlet pressure reach the set values ​​corresponding to the normal operating state of the brake 1126, it is confirmed that the brake 1126 has been successfully opened and has begun to perform braking function. Conversely, if the inlet and outlet oil pressures are not detected to reach the set values ​​corresponding to the normal operating state of the brake 1126, it indicates that the brake 1126 may be faulty.

[0064] In some embodiments of this application, the tracked walking device 100 further includes an electrical control box and a generator set. The electrical control box is connected to the vehicle body for mounting the controller 130; the generator set is connected to the vehicle body and electrically connected to the electrical control box to supply power to the electrical control box. The electrical control box, mounted on the vehicle body, provides a physical mounting location for the controller 130 on the vehicle body and also serves to protect the controller 130. The generator set, connected to the vehicle body, has its output terminal electrically connected to the electrical control box, providing power support to the controller 130 and other related electrical equipment within the electrical control box.

[0065] Specifically, the electrical control box may include an electrical control box and an automation control box. The electrical control box is electrically connected to the generator set via a cable, receives electrical energy input, and its output is connected to the automation control box, providing power to the controller 130 and other related equipment within the automation control box. The controller 130 is installed in the automation control box and is connected to the hydraulic motor 1123 and the hydraulic oil tank 1121 via the electrical control box. The electrical control box distributes the electrical energy from the generator set to different electrical devices such as the hydraulic motor 1123, the automation control box, and the hydraulic oil tank 1121.

[0066] In some embodiments of this application, the second control terminal 140 is a programmable logic controller (PLC). By using the PLC as the second control terminal 140, it can wirelessly connect with other automated equipment, such as other photovoltaic module installation equipment related to the tracked walking mechanism 110 controlled by the PLC, to realize intelligent installation of the entire photovoltaic module installation task and improve the installation efficiency of the photovoltaic module installation.

[0067] The tracked walking device 100 provided in this application embodiment can control the activation of corresponding proportional valves according to forward or backward commands issued by the operator through the first control terminal 120 or the second control terminal 140. When the forward proportional valve is activated, the controller 130 distributes hydraulic oil to the hydraulic motor 1123 through the hydraulic pump 1122, causing the hydraulic motor 1123 to drive the track 1112 forward; similarly, activating the backward proportional valve causes the track 1112 to move backward. The proportional valve can precisely adjust its opening according to a preset control algorithm to accurately control the flow and pressure of the hydraulic oil, thereby achieving smooth and precise forward or backward movement of the tracked walking device 100. Encoders 1124, connected to the hydraulic motor 1123, are used to detect the actual rotational speed of the hydraulic motor 1123 and convert it into an electrical signal to be fed back to the controller 130. After receiving the rotational speed signal from the encoder 1124, the controller 130 compares it with the preset rotational speed and calculates the deviation between the two. If the deviation is within the allowable range, it indicates that the hydraulic motor 1123 is operating at the expected speed, and the equipment is working normally. If the deviation exceeds the allowable range, the opening of the proportional valve is adjusted. For example, if the actual speed is lower than the given speed and the deviation is large, the automation control cabinet may increase the opening of the proportional valve to increase the hydraulic oil flow, thereby increasing the speed of the hydraulic variable motor to reach the expected speed. This can effectively improve the control accuracy of the tracked walking device 100, thereby improving the positioning accuracy of the photovoltaic module transported by the tracked walking device 100.

[0068] This application embodiment also provides a photovoltaic module transport vehicle, which includes a vehicle body and a tracked walking device 100 as described above.

[0069] The photovoltaic module transport vehicle, which adopts a tracked walking device 100, has a larger contact area with the ground compared to a wheeled transport vehicle. It also has a larger support area, which can effectively distribute the load of the photovoltaic modules and the photovoltaic module transport vehicle, thereby increasing the stability of the photovoltaic module transport vehicle when traveling on uneven terrain. This allows the photovoltaic module transport vehicle to adapt to various complex working conditions, thus improving the environmental adaptability of the photovoltaic module transport vehicle.

[0070] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A tracked walking device, characterized in that, include: Tracked walking mechanism, mounted on a vehicle body; The first control terminal is connected to the tracked walking mechanism and is used to locally control the movement of the tracked walking mechanism. The controller is mounted on the vehicle body and electrically connected to the tracked walking mechanism; The second control terminal is wirelessly connected to the controller, and remotely controls the movement of the tracked walking mechanism through the controller.

2. The tracked walking device according to claim 1, characterized in that, The tracked walking mechanism includes a track assembly that drives the vehicle body to move and a drive assembly connected to the track assembly. The driving component includes: A hydraulic oil tank is installed in the vehicle body and electrically connected to the controller; A hydraulic pump is connected to the hydraulic oil tank via a pipeline and is electrically connected to the controller; A hydraulic motor is connected to the hydraulic pump via a pipeline and to the track assembly to drive the track assembly to move.

3. The tracked walking device according to claim 2, characterized in that, The driving component also includes: A proportional valve assembly is electrically connected to the controller and is connected between the hydraulic oil tank and the hydraulic pump; The controller is used to control the opening degree of the proportional valve group to adjust the flow rate of hydraulic oil from the hydraulic oil tank to the hydraulic pump.

4. The tracked walking device according to claim 2, characterized in that, The hydraulic motor is a variable displacement motor.

5. The tracked walking device according to claim 2, characterized in that, The drive assembly also includes an encoder connected to the hydraulic motor and electrically connected to the controller.

6. The tracked walking device according to any one of claims 2 to 5, characterized in that, The driving component also includes: A brake is connected to the hydraulic motor and electrically connected to the controller; A first pressure sensor is installed in the oil inlet line of the hydraulic pump and electrically connected to the controller to detect the oil inlet pressure of the hydraulic pump. A second pressure sensor is installed in the oil outlet line of the hydraulic pump and electrically connected to the controller to detect the oil outlet pressure of the hydraulic pump.

7. The tracked walking device according to any one of claims 1 to 5, characterized in that, The controller is a programmable logic controller.

8. The tracked walking device according to any one of claims 1 to 5, characterized in that, The first control terminal includes a remote controller, which is wirelessly connected to the controller. The remote controller is used to locally control the movement of the tracked walking mechanism through the controller.

9. The tracked walking device according to any one of claims 1 to 5, characterized in that, The first control terminal includes an operating platform installed on the vehicle body. The operating platform is connected to the tracked walking mechanism and is used to locally control the movement of the tracked walking mechanism.

10. The tracked walking device according to any one of claims 1 to 5, characterized in that, The second control terminal is a programmable logic controller.

11. The tracked walking device according to any one of claims 1 to 5, characterized in that, The tracked walking device also includes: An electrical control box, connected to the vehicle body, is used to install the controller; A generator set is connected to the vehicle body and electrically connected to the electrical control box to supply power to the electrical control box.

12. A photovoltaic module transport vehicle, characterized in that, Includes the vehicle body and the tracked walking device as described in any one of claims 1-11.

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