Chassis and photovoltaic paving equipment

Abstract

The utility model discloses a chassis and photovoltaic paving equipment, and belongs to the technical field of photovoltaics. The chassis comprises a first frame, a frame assembly, a walking mechanism, a first connecting rod and a first telescopic rod. The first frame and the frame assembly are spaced in the first direction. The walking mechanisms are arranged on the two sides, oppositely arranged in the second direction, of the first frame, the first frame is rotationally connected with one walking mechanism around a second axis, the second direction is parallel to the second axis, and the second direction, the first direction and the walking direction of the walking mechanisms intersect in a pairwise mode; the two ends of the first connecting rod are hinged to the first frame and the frame assembly around the second axis respectively; the two ends of the first telescopic rod are hinged to the first frame and the frame assembly around the second axis respectively. And the adaptability and reliability of walking on complex terrains are improved.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic technology, and in particular relates to a chassis and photovoltaic installation equipment. Background Technology

[0002] Currently, photovoltaic (PV) module installations are mostly concentrated in areas with abundant sunshine but low land utilization rates, such as deserts, tidal flats, and mountains. However, due to the complex terrain and uneven surface in these areas, the center of gravity of the PV panel installation platform is affected when the PV panel installation vehicle is in motion, resulting in low efficiency and poor installation quality of automated PV panel installation. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a chassis and photovoltaic paving equipment, which improves the adaptability and reliability of movement on complex terrain.

[0004] In a first aspect, this application provides a chassis for use in photovoltaic installation equipment, the chassis comprising:

[0005] A first frame and a frame component, the first frame and the frame component being spaced apart along a first direction;

[0006] The first frame is provided with walking mechanisms on both sides of the first frame that are opposite to each other along the second direction. The first frame is rotatably connected to one of the walking mechanisms around the second axis. The second direction is parallel to the second axis, and the second direction, the first direction and the walking direction of the walking mechanism intersect each other.

[0007] The first link has its two ends hinged to the first frame and the frame assembly about the second axis, respectively.

[0008] A first telescopic rod, the two ends of which are respectively hinged to the first frame and the frame assembly around the second axis.

[0009] According to the chassis of this application, independently movable walking mechanisms are provided on both the left and right sides of the first frame to provide stability for the chassis movement along the walking direction, better cope with obstacles or uneven ground, and improve the chassis's passability. One side of the first frame is rotatably connected to one of the walking mechanisms via a second axis, allowing the end of the walking mechanism to swing up and down relative to the first frame. This enables dynamic adjustment of the chassis's posture according to changes in terrain elevation, reducing the possibility of chassis center of gravity shift and ensuring the levelness of the frame assembly. The first frame is also fixedly connected to the other walking mechanism to provide stable support, ensuring that the chassis always has a fixed reference point during driving, thus providing reliability for chassis movement. The first connecting rod and the first telescopic rod are hinged to the first frame and the frame assembly respectively, serving as support and connection while allowing relative movement between the first frame and the frame assembly. That is, by utilizing the hinged and telescopic functions of the first connecting rod and the first telescopic rod, the relative positions of the first frame and the frame assembly in the front-back and up-down directions can be dynamically adjusted according to changes in terrain, improving the flexibility and accuracy of the chassis's center of gravity distribution.

[0010] According to one embodiment of this application, the hinge point between the first link and the frame assembly is a first hinge point, and the hinge point between the first link and the first frame is a second hinge point; wherein, when both the first frame and the second frame of the frame assembly are in a horizontal state, the first hinge point is located on the side of the second hinge point away from the first frame along the walking direction.

[0011] According to one embodiment of this application, the hinge point between the first connecting rod and the frame assembly is a first hinge point, and the hinge point between the first telescopic rod and the frame assembly is a third hinge point; wherein...

[0012] The first hinge point and the third hinge point are spaced apart along the travel direction; and / or

[0013] The first hinge point and the third hinge point are spaced apart along the second direction.

[0014] According to one embodiment of this application, the hinge point between the first connecting rod and the first frame is a second hinge point, and the hinge point between the first telescopic rod and the first frame is a fourth hinge point; wherein...

[0015] The second hinge point and the fourth hinge point are spaced apart along the travel direction; and / or

[0016] The second hinge point and the fourth hinge point are spaced apart along the second direction.

[0017] According to one embodiment of this application, the framework component includes:

[0018] The second frame is hinged to the first connecting rod and the first telescopic rod respectively;

[0019] The third frame is located on the side of the second frame that is furthest from the first frame;

[0020] The second link has its two ends hinged to the second frame and the third frame around a third axis, which is parallel to the direction of travel.

[0021] The second telescopic rod has its two ends hinged to the second frame and the third frame around the third axis, respectively.

[0022] According to one embodiment of this application, the hinge point between the second link and the third frame is a fifth hinge point, and the hinge point between the second link and the second frame is a sixth hinge point; wherein, when both the second frame and the third frame are in a horizontal state, the fifth hinge point is located along the second direction on the side of the sixth hinge point away from the second frame.

[0023] According to one embodiment of this application, the hinge point between the second connecting rod and the third frame is the fifth hinge point, and the hinge point between the second telescopic rod and the third frame is the seventh hinge point; wherein,

[0024] The fifth hinge point and the seventh hinge point are spaced apart along the second direction; and / or

[0025] The fifth hinge point and the seventh hinge point are spaced apart along the walking direction.

[0026] According to one embodiment of this application, the hinge point between the second connecting rod and the second frame is the sixth hinge point, and the hinge point between the second telescopic rod and the second frame is the eighth hinge point; wherein...

[0027] The sixth hinge point and the eighth hinge point are spaced apart along the second direction; and / or

[0028] The sixth hinge point and the eighth hinge point are spaced apart along the walking direction.

[0029] According to one embodiment of this application, at least one of the first connecting rods is provided on both sides of the second frame that are oppositely arranged along the walking direction; and / or

[0030] At least one second connecting rod is provided on each of the two sides of the second frame that are opposite to each other along the second direction.

[0031] According to one embodiment of this application, it also includes:

[0032] A level sensor is mounted on the frame assembly to detect the levelness of the frame assembly on the side away from the first frame in real time.

[0033] Secondly, this application provides a photovoltaic paving device, which includes the chassis described above.

[0034] The photovoltaic paving equipment according to this application improves the adaptability and reliability of walking on complex terrain, reduces the possibility of the chassis changing its reference due to changes in the center of gravity when walking, and improves the installation efficiency and quality of photovoltaic modules.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0036] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0037] Figure 1 This is one of the structural schematic diagrams of the chassis provided in the embodiments of this application;

[0038] Figure 2 This is one of the structural schematic diagrams of a chassis with a walking mechanism omitted, provided in the embodiments of this application;

[0039] Figure 3 This is the second structural schematic diagram of the chassis with one walking mechanism omitted, provided in the embodiments of this application;

[0040] Figure 4 This is a second schematic diagram of the chassis structure provided in the embodiments of this application;

[0041] Figure 5 This is one of the structural schematic diagrams of the chassis provided in this application during the walking process;

[0042] Figure 6 This is the second structural schematic diagram of the chassis provided in this application during the walking process;

[0043] Figure 7 This is the third structural schematic diagram of the chassis during the walking process provided in the embodiments of this application.

[0044] Figure label:

[0045] 100. First framework;

[0046] 210. Second frame; 220. Third frame; 230. Second connecting rod; 240. Second telescopic rod;

[0047] 300. Walking mechanism;

[0048] 400, First connecting rod; 500, First telescopic rod;

[0049] 610. Rotating shaft; 620. First mounting component; 630. Second mounting component;

[0050] 700. Support beam. Detailed Implementation

[0051] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0052] The following is for reference. Figures 1-7 This application describes a chassis provided in an embodiment of a photovoltaic (PV) installation device to support the installation of PV modules. The chassis includes a first frame 100, a frame assembly, a walking mechanism 300, a first connecting rod 400, and a first telescopic rod 500.

[0053] The first frame 100 and the frame assembly are spaced apart along a first direction. The frame assembly is used to support the robotic arm of the photovoltaic installation equipment. By spaced apart from the first frame 100 along the first direction, the chassis structure is made as compact as possible without interfering with the operation of the robotic arm. For example, the first frame 100 is rectangular to ensure the symmetry and loading capacity of the chassis.

[0054] The first frame 100 has a traveling mechanism 300 on each of its two opposite sides along the second direction. The first frame 100 is rotatably connected to one of the traveling mechanisms 300 around the second axis. The second direction is parallel to the second axis, and the second direction, the first direction, and the traveling direction of the traveling mechanism 300 intersect each other. The traveling mechanism 300 includes, but is not limited to, a wheeled traveling mechanism 300 or a tracked traveling mechanism 300.

[0055] For ease of understanding, in this embodiment, the first direction refers to the up-down direction, the second direction refers to the left-right direction, and the walking direction refers to the forward-backward direction.

[0056] Understandably, the first frame 100 has independently moving walking mechanisms 300 on both its left and right sides to provide stability for the chassis as it moves in the direction of travel, better handle obstacles or uneven ground, and improve the chassis's passability. One side of the first frame 100 is rotatably connected to one of the walking mechanisms 300 via a second axis, allowing the end of the walking mechanism 300 to swing up and down relative to the first frame 100. This enables dynamic adjustment of the chassis's posture according to changes in terrain elevation, reducing the possibility of chassis center of gravity shift and ensuring the levelness of the frame components. The first frame 100 is also fixedly connected to the other walking mechanism 300 to provide stable support, ensuring that the chassis always has a fixed reference point during travel and providing reliability for chassis movement.

[0057] For example, such as Figure 5 As shown, when the first frame 100 is rotatably connected to the walking mechanism 300 located on the right side, when the chassis moves forward, the walking mechanism 300 on the right side can rotate around the middle of the first frame 100 when it is close to the protrusion on the ground. That is, the front end of the walking mechanism 300 moves upward and the rear end moves downward, so that the chassis can smoothly pass through the ground and tilt in the front-back direction while keeping the first frame 100 and the frame assembly in a horizontal state.

[0058] The two ends of the first connecting rod 400 are respectively hinged to the first frame 100 and the frame assembly about a second axis. The two ends of the first telescopic rod 500 are respectively hinged to the first frame 100 and the frame assembly about a second axis. Exemplarily, the first telescopic rod 500 includes, but is not limited to, a hydraulic cylinder or an electric push rod.

[0059] Understandably, both the first link 400 and the first telescopic rod 500 are hinged to the first frame 100 and the frame assembly, respectively, serving as support and connection while allowing relative movement between the first frame 100 and the frame assembly. That is, by utilizing the hinged connection of the first link 400 and the hinged and telescopic functions of the first telescopic rod 500, the relative positions of the first frame 100 and the frame assembly in the front-to-back and vertical directions can be dynamically adjusted according to changes in terrain, thereby improving the flexibility and precision of the chassis's center of gravity distribution.

[0060] For example, such as Figure 6 As shown, when the chassis moves forward as a whole on a slope formed by tilting in the front-to-back direction, the first link 400 rotates forward around the hinge point (i.e., the second hinge point) between the first link 400 and the first frame 100. At the same time, the first telescopic rod 500 dynamically extends, causing the frame assembly to tilt upward from front to back. This makes the tilt direction of the frame assembly opposite to the tilt direction of the slope, which has the effect of compensation, offsetting the tilt effect of the slope as much as possible, and reducing the possibility of changes in the reference due to changes in the center of gravity when the chassis moves.

[0061] The chassis provided in the embodiments of this application improves the adaptability and reliability of walking on complex terrain.

[0062] In some embodiments, such as Figure 2 , Figure 3 and Figure 7 As shown, to enable the first frame 100 to rotate around one of the traveling mechanisms 300 about a second axis, the chassis also includes a rotating shaft 610, a first mounting member 620, and a second mounting member 630. The first mounting member 620 and the second mounting member 630 are respectively disposed on both sides of the first frame 100 along the second direction. The first mounting member 620 is relatively fixedly connected to one of the traveling mechanisms 300. One end of the rotating shaft 610 is rotatably disposed on the second mounting member 630, and the other end is relatively fixedly connected to the other traveling mechanism 300. The axial direction of the rotating shaft 610 is parallel to the second axis. It should be noted that the number of the first mounting members 620, as well as the shape and number of the first mounting members 620 and the second mounting members 630, can be designed according to actual needs. This example does not impose specific limitations on this.

[0063] In some embodiments, such as Figure 2 and Figure 3 As shown, multiple first mounting components 620 are spaced apart along the travel direction, so that the travel mechanism 300 has multiple fixed support points in the front-rear direction of the chassis, reducing vibration and swaying during chassis travel, optimizing the stability and adaptability of the chassis, improving not only the chassis's driving stability on complex terrain, but also enhancing the chassis's torsional resistance and load distribution capability. Multiple components include two or more.

[0064] In some embodiments, such as Figure 2 As shown, the two ends of the second mounting member 630 are located at the middle of the walking mechanism 300 and the first frame 100 along the walking direction, respectively, in order to better balance the center of gravity distribution of the chassis.

[0065] In some embodiments, such as Figures 1 to 7 As shown, the frame assembly includes a second frame 210, a third frame 220, a second connecting rod 230, and a second telescopic rod 240. The second frame 210 is hinged to the first connecting rod 400 and the first telescopic rod 500, respectively. The third frame 220 is located on the side of the second frame 210 away from the first frame 100. The two ends of the second connecting rod 230 are hinged to the second frame 210 and the third frame 220 about a third axis, which is parallel to the direction of travel. The two ends of the second telescopic rod 240 are hinged to the second frame 210 and the third frame 220 about the third axis, respectively. Exemplarily, the second frame 210 and the third frame 220 are both rectangular to ensure the symmetry of the chassis and its loading capacity. The second telescopic rod 240 includes, but is not limited to, hydraulic cylinders or electric push rods.

[0066] It is understood that the third frame 220, the second frame 210, and the first frame 100 are arranged alternately from top to bottom, with the upper surface of the third frame 220 used to support the robotic arm of the photovoltaic installation equipment. The second connecting rod 230 and the second telescopic rod 240 are both hinged to the second frame 210 and the third frame 220 respectively, providing support and connection while allowing relative movement between the second frame 210 and the third frame 220. That is, by utilizing the hinged and telescopic functions of the second connecting rod 230 and the second telescopic rod 240, the relative positions of the second frame 210 and the third frame 220 in the left-right and up-down directions can be dynamically adjusted according to terrain changes, improving the flexibility and accuracy of the chassis's center of gravity distribution. This ensures that the third frame 220 remains level during chassis movement, thereby improving the installation efficiency and quality of the photovoltaic modules.

[0067] For example, such as Figure 7 As shown, when the chassis moves forward as a whole on a slope formed by tilting in the left and right directions, the second link 230 rotates to the right around the hinge point (i.e., the sixth hinge point) of the second link 230 and the second frame 210. At the same time, the second telescopic rod 240 dynamically shortens, causing the frame assembly to tilt downward from left to right. This makes the tilt direction of the third frame 220 opposite to the tilt direction of the slope, which has the effect of compensation, offsetting the tilt effect of the slope as much as possible, and reducing the possibility of the chassis changing its reference due to the change of center of gravity when moving.

[0068] In some embodiments, such as Figures 1 to 7 As shown, at least one first link 400 is provided on each of the two sides of the second frame 210 that are opposite each other along the walking direction.

[0069] It is understandable that the second frame 210 and the first frame 100 are provided with first connecting rods 400 on both sides along the front-rear direction, so that the first connecting rods 400 provide multi-point support for both the first frame 100 and the second frame 210, so that the chassis can distribute the load more evenly during driving and improve the stability of the second frame 210 and the first frame 100 during relative movement as much as possible.

[0070] For example, two first connecting rods 400 are distributed at intervals along the left and right directions on both the front and rear sides of the second frame 210. It should be noted that the number and specific distribution of the first connecting rods 400 can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0071] In some embodiments, such as Figure 3 and Figure 4As shown, the hinge point between the first link 400 and the frame assembly is the first hinge point, and the hinge point between the first link 400 and the first frame 100 is the second hinge point; wherein, when both the first frame 100 and the second frame 210 of the frame assembly are in a horizontal state, the first hinge point is located on the side of the second hinge point away from the first frame 100 along the walking direction.

[0072] It is understandable that the hinge point between the first link 400 and the second frame 210 is the first hinge point a, and the hinge point between the first link 400 and the first frame 100 is the second hinge point b. Since the second frame 210 is higher than the first frame 100, that is, a is also higher than b. And since both the first frame 100 and the second frame 210 are in a horizontal state, a is located outside b in the front-rear direction. That is, the first link 400 is tilted inward from top to bottom. This not only makes the first link 400 have a greater leverage effect when adjusting the attitude of the second frame 210 and improves the adaptability to ground undulations, but also lowers the center of gravity of the chassis and reduces the risk of overturning when the chassis is driving on complex terrain.

[0073] In addition, the first connecting rods 400 are provided on both sides of the second frame 210 and the first frame 100 along the front-rear direction. That is, the first connecting rods 400 on the front and rear sides, the first frame 100 and the second frame 210 form a trapezoidal structure that is wider at the top and narrower at the bottom, which enhances the chassis's anti-torsional performance and enables the chassis to better resist the torsional moment caused by ground undulations during driving, thereby reducing structural deformation.

[0074] In some embodiments, such as Figure 3 As shown, the distance between the two outer sides of the second frame 210 arranged opposite each other in the front-back direction is greater than the distance between the two outer sides of the first frame 100 arranged opposite each other in the front-back direction. The first connecting rod 400 is connected to the outer sides of the first frame 100 and the second frame 210 respectively, so as to indirectly realize that a is located outside b in the front-back direction. Of course, in other embodiments, a can also be located outside b in the front-back direction by directly changing the hinge position of the first connecting rod 400 to the first frame 100 and the second frame 210 respectively. This embodiment does not impose specific limitations on this.

[0075] In some embodiments, such as Figure 3 and Figure 4 As shown, the hinge point between the first connecting rod 400 and the frame assembly is the first hinge point, and the hinge point between the first telescopic rod 500 and the frame assembly is the third hinge point; wherein,

[0076] The first hinge point and the third hinge point are spaced apart along the direction of travel; and / or

[0077] The first hinge point and the third hinge point are spaced apart along the second direction.

[0078] It is understandable that the hinge point of the first telescopic rod 500 and the second frame 210 is the third hinge point c. By making a and c satisfy at least one of the conditions of being spaced apart in the front-back direction and being spaced apart in the left-right direction, it can not only enhance the stability of the connection between the first frame 100 and the second frame 210 and the reliability of their relative movement, but also enable the chassis to distribute the force more evenly when bearing the load, reduce local stress concentration, and improve structural strength. It can also make the first telescopic rod 500 and the first connecting rod 400 form a staggered layout, reducing the interference of their relative movement.

[0079] In some embodiments, such as Figure 3 and Figure 4 As shown, the hinge point between the first connecting rod 400 and the first frame 100 is the second hinge point, and the hinge point between the first telescopic rod 500 and the first frame 100 is the fourth hinge point; wherein,

[0080] The second and fourth hinge points are spaced apart along the direction of travel; and / or

[0081] The second hinge point and the fourth hinge point are spaced apart along the second direction.

[0082] It is understandable that the hinge point between the first telescopic rod 500 and the first frame 100 is the fourth hinge point d. By making b and d satisfy at least one of the conditions of being spaced apart in the front-back direction and spaced apart in the left-right direction, it can not only enhance the stability of the connection between the first frame 100 and the second frame 210 and the reliability of their relative movement, but also enable the chassis to distribute the force more evenly when bearing the load, reduce local stress concentration, and improve structural strength. It can also make the first telescopic rod 500 and the first connecting rod 400 form a staggered layout, reducing the interference of their relative movement.

[0083] In some embodiments, such as Figures 1 to 7 As shown, the first frame 100 and the second frame 210 are square rings. The first connecting rod 400 is located on the outside of the first frame 100 and the second frame 210. The two ends of the first telescopic rod 500 are located on the inside of the first frame 100 and the second frame 210, respectively. This not only provides sufficient space for the length change of the first telescopic rod 500 and the rotation of the first telescopic rod 500 and the first connecting rod 400, but also makes the structure of the entire chassis more compact and optimizes the center of gravity distribution of the chassis.

[0084] In some embodiments, such as Figures 1 to 7 As shown, at least one second link 230 is provided on each of the two sides of the second frame 210 that are opposite to each other along the second direction.

[0085] It is understandable that the second frame 210 and the third frame 220 are provided with second connecting rods 230 on both sides in the left and right direction, so that the second connecting rods 230 provide multi-point support for the second frame 210 and the third frame 220, so that the chassis can distribute the load more evenly during driving and improve the stability of the second frame 210 and the third frame 220 during relative movement as much as possible.

[0086] For example, two second connecting rods 230 are distributed at intervals along the front-back direction on both the left and right sides of the second frame 210. It should be noted that the number and specific distribution of the second connecting rods 230 can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0087] In some embodiments, such as Figure 4 As shown, the hinge point between the second link 230 and the third frame 220 is the fifth hinge point, and the hinge point between the second link 230 and the second frame 210 is the sixth hinge point; wherein, when both the second frame 210 and the third frame 220 are in a horizontal state, the fifth hinge point is located along the second direction on the side of the sixth hinge point away from the second frame 210.

[0088] It is understandable that the hinge point between the second link 230 and the third frame 220 is the fifth hinge point e, and the hinge point between the second link 230 and the second frame 210 is the sixth hinge point f. Since the third frame 220 is higher than the second frame 210, that is, e is also higher than f. And since both the second frame 210 and the third frame 220 are in a horizontal state, e is located outside f in the left and right direction. That is, the second link 230 is tilted inward from top to bottom. This not only makes the second link 230 have a greater leverage effect when adjusting the attitude of the third frame 220, improving the adaptability to ground undulations, but also lowers the center of gravity of the chassis, reducing the risk of overturning when the chassis is driving on complex terrain.

[0089] In addition, the second connecting rods 230 are provided on both sides of the third frame 220 and the second frame 210 along the left and right directions. That is, the second connecting rods 230, the second frame 210 and the third frame 220 on the left and right sides form a trapezoidal structure that is wider at the top and narrower at the bottom. This enhances the chassis's anti-torsional performance, so that the chassis can better resist the torsional moment caused by the undulation of the ground during driving and reduce structural deformation.

[0090] In some embodiments, such as Figures 1 to 7As shown, the distance between the two outer sides of the third frame 220 arranged opposite each other in the left-right direction is greater than the distance between the two outer sides of the second frame 210 arranged opposite each other in the left-right direction. The second connecting rod 230 is connected to the outer sides of the third frame 220 and the second frame 210, so as to indirectly realize that e is located outside f in the front-back direction. Of course, in other embodiments, e can also be located outside f in the front-back direction by directly changing the hinge position of the second connecting rod 230 to the second frame 210 and the third frame 220 respectively. This embodiment does not impose specific limitations on this.

[0091] In some embodiments, such as Figure 3 and Figure 4 As shown, the hinge point between the second link 230 and the third frame 220 is the fifth hinge point, and the hinge point between the second telescopic rod 240 and the third frame 220 is the seventh hinge point; wherein,

[0092] The fifth and seventh hinge points are spaced apart along the second direction; and / or

[0093] The fifth and seventh hinge points are spaced apart along the direction of travel.

[0094] It is understandable that the hinge point between the second telescopic rod 240 and the third frame 220 is the seventh hinge point g. By making e and g satisfy at least one of the conditions of being spaced apart in the front-back direction and spaced apart in the left-right direction, it is possible not only to enhance the stability of the connection between the second frame 210 and the third frame 220 and the reliability of their relative movement, so that the chassis can distribute the force more evenly when bearing the load, reduce local stress concentration, and improve structural strength, but also to form a staggered layout between the second telescopic rod 240 and the second connecting rod 230, thereby reducing the interference of their relative movement.

[0095] In some embodiments, such as Figure 3 and Figure 4 As shown, the hinge point between the second connecting rod 230 and the second frame 210 is the sixth hinge point, and the hinge point between the second telescopic rod 240 and the second frame 210 is the eighth hinge point; wherein,

[0096] The sixth and eighth hinge points are spaced apart along the second direction; and / or

[0097] The sixth and eighth hinge points are spaced apart along the direction of travel.

[0098] It is understandable that the hinge point of the second telescopic rod 240 and the second frame 210 is the eighth hinge point h. By making f and h satisfy at least one of the conditions of being spaced apart in the front-back direction and being spaced apart in the left-right direction, it can not only enhance the stability of the connection between the second frame 210 and the third frame 220 and the reliability of their relative movement, but also enable the chassis to distribute the force more evenly when bearing the load, reduce local stress concentration, and improve structural strength. It can also make the first telescopic rod 500 and the first connecting rod 400 form a staggered layout, reducing the interference of their relative movement.

[0099] In some embodiments, such as Figures 1 to 7 As shown, the second frame 210 and the third frame 220 are square rings. The second connecting rod 230 is located on the outside of the second frame 210, and the two ends of the second telescopic rod 240 are located on the inside of the second frame 210 and the third frame 220, respectively. This not only provides sufficient space for the length change of the second telescopic rod 240 and the rotation of the second telescopic rod 240 and the second connecting rod 230, but also makes the structure of the entire chassis more compact and optimizes the center of gravity distribution of the chassis.

[0100] In some embodiments, such as Figure 1 As shown, multiple support beams 700 are distributed on the inner side of the third frame 220. The second connecting rod 230 and the second telescopic rod 240 are connected to the support beams 700 on the side away from the second frame 210, thereby achieving a hinged connection between the second connecting rod 230 and the third frame 220 while improving the support strength of the third frame 220. It should be noted that the number and specific distribution of the support beams 700 can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0101] In some embodiments, the chassis further includes a level sensor disposed on the frame assembly for real-time detection of the levelness of the frame assembly on the side away from the first frame 100. The level sensor includes, but is not limited to, liquid level sensors, capacitive level sensors, optical level sensors, or gyroscopic level sensors.

[0102] Understandably, a level sensor is installed on the third frame 220 to detect the levelness of the third frame 220 in real time. The controller controls the length changes of the first telescopic rod 500 and the second telescopic rod 240 based on the levelness detected by the level sensor, so as to ensure that the third frame 220 remains level as much as possible during the chassis movement, thereby improving the installation accuracy and efficiency of the photovoltaic modules.

[0103] This application also provides a photovoltaic paving device. The photovoltaic paving device includes the aforementioned chassis.

[0104] The photovoltaic paving equipment provided in the embodiments of this application improves the adaptability and reliability of walking on complex terrain, reduces the possibility of the chassis changing its reference due to changes in the center of gravity when walking, and improves the installation efficiency and quality of photovoltaic modules.

[0105] In some embodiments, the photovoltaic (PV) installation equipment also includes a robotic arm mounted on a chassis. By working in conjunction with the chassis, the automated installation of PV modules is achieved, improving the installation efficiency, accuracy, and cost. The robotic arm includes, but is not limited to, a six-axis robotic arm.

[0106] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0107] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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 of this application.

[0108] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0109] In the description of this application, "multiple" means two or more.

[0110] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0111] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0112] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

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

Claims

1. A chassis, characterized in that, The chassis, used in photovoltaic installation equipment, includes: A first frame and a frame component, the first frame and the frame component being spaced apart along a first direction; The first frame is provided with walking mechanisms on both sides of the first frame that are opposite to each other along the second direction. The first frame is rotatably connected to one of the walking mechanisms around the second axis. The second direction is parallel to the second axis, and the second direction, the first direction and the walking direction of the walking mechanism intersect each other. The first link has its two ends hinged to the first frame and the frame assembly about the second axis, respectively. A first telescopic rod, the two ends of which are respectively hinged to the first frame and the frame assembly around the second axis.

2. The chassis according to claim 1, characterized in that, The hinge point between the first link and the frame assembly is the first hinge point, and the hinge point between the first link and the first frame is the second hinge point; wherein, when both the first frame and the second frame of the frame assembly are in a horizontal state, the first hinge point is located on the side of the second hinge point away from the first frame along the walking direction.

3. The chassis according to claim 1, characterized in that, The hinge point between the first connecting rod and the frame assembly is the first hinge point, and the hinge point between the first telescopic rod and the frame assembly is the third hinge point; wherein, The first hinge point and the third hinge point are spaced apart along the travel direction; and / or The first hinge point and the third hinge point are spaced apart along the second direction.

4. The chassis according to claim 1, characterized in that, The hinge point between the first connecting rod and the first frame is the second hinge point, and the hinge point between the first telescopic rod and the first frame is the fourth hinge point; wherein, The second hinge point and the fourth hinge point are spaced apart along the travel direction; and / or The second hinge point and the fourth hinge point are spaced apart along the second direction.

5. The chassis according to any one of claims 1 to 4, characterized in that, The framework components include: The second frame is hinged to the first connecting rod and the first telescopic rod respectively; The third frame is located on the side of the second frame that is furthest from the first frame; The second link has its two ends hinged to the second frame and the third frame around a third axis, which is parallel to the direction of travel. The second telescopic rod has its two ends hinged to the second frame and the third frame around the third axis, respectively.

6. The chassis according to claim 5, characterized in that, The hinge point between the second link and the third frame is the fifth hinge point, and the hinge point between the second link and the second frame is the sixth hinge point; wherein, when both the second frame and the third frame are in a horizontal state, the fifth hinge point is located along the second direction on the side of the sixth hinge point away from the second frame.

7. The chassis according to claim 5, characterized in that, The hinge point between the second connecting rod and the third frame is the fifth hinge point, and the hinge point between the second telescopic rod and the third frame is the seventh hinge point; wherein, The fifth hinge point and the seventh hinge point are spaced apart along the second direction; and / or The fifth hinge point and the seventh hinge point are spaced apart along the walking direction.

8. The chassis according to claim 5, characterized in that, The hinge point between the second connecting rod and the second frame is the sixth hinge point, and the hinge point between the second telescopic rod and the second frame is the eighth hinge point; wherein, The sixth hinge point and the eighth hinge point are spaced apart along the second direction; and / or The sixth hinge point and the eighth hinge point are spaced apart along the walking direction.

9. The chassis according to claim 5, characterized in that, The second frame has at least one of the first connecting rods on both sides opposite to each other along the walking direction; and / or At least one second connecting rod is provided on each of the two sides of the second frame that are opposite to each other along the second direction.

10. The chassis according to any one of claims 1 to 4, characterized in that, Also includes: A level sensor is mounted on the frame assembly to detect the levelness of the frame assembly on the side away from the first frame in real time.

11. A photovoltaic installation device, characterized in that, Includes the chassis as described in any one of claims 1 to 10.

Images