Walking device of photovoltaic array installation equipment and photovoltaic array installation equipment

Abstract

The utility model discloses a walking device of photovoltaic array installation equipment and the photovoltaic array installation equipment. The walking device of the photovoltaic array installation equipment comprises a crawler walking mechanism and a steering driving mechanism, and the crawler walking mechanism is rotationally installed on a frame of the photovoltaic array installation equipment; the steering driving mechanism is arranged on the frame, connected with the crawler walking mechanism and used for driving the crawler walking mechanism to rotate relative to the frame in the horizontal plane to achieve steering of the photovoltaic array installation equipment. The technical problem that the steering speed is low is solved, a crawler walking mechanism is rotationally installed on a vehicle frame, the rotating axis of the crawler walking mechanism is the axis of the installation position, the crawler walking mechanism is driven by a steering driving mechanism to rotate around the axis of the installation position relative to the vehicle frame, and the turning radius of the crawler walking mechanism is reduced; the steering speed is improved.

Description

Technical Field

[0001] This application relates to the photovoltaic field, and in particular to a walking device for photovoltaic array installation equipment and photovoltaic array installation equipment. Background Technology

[0002] A photovoltaic (PV) array is a device that converts solar energy into electrical energy. A PV array is a system composed of multiple photovoltaic modules (PV panels) or PV cells arranged in a specific pattern (such as square arrays or circular arrays), and it represents the largest-scale photovoltaic power generation system. Each solar cell consists of two layers of differently doped semiconductor materials; typically, the upper layer is a P-type semiconductor, and the lower layer is an N-type semiconductor. When sunlight shines on the surface of the solar cell, the photovoltaic effect occurs, directly converting solar energy into electrical energy.

[0003] Photovoltaic arrays are often installed in harsh environments such as deserts and Gobi, so photovoltaic array installation equipment mostly uses tracked walking mechanisms for movement. However, existing tracked walking mechanisms have slow turning speeds. Utility Model Content

[0004] This application provides a walking device for photovoltaic array installation equipment and photovoltaic array installation equipment, which can improve the turning speed of the tracked walking mechanism and reduce the turning radius.

[0005] In a first aspect, embodiments of this application provide a walking device for a photovoltaic array installation equipment, including a tracked walking mechanism and a steering drive mechanism. The tracked walking mechanism is rotatably mounted on the frame of the photovoltaic array installation equipment; the steering drive mechanism is disposed on the frame and connected to the tracked walking mechanism, and is used to drive the tracked walking mechanism to rotate relative to the frame in a horizontal plane to realize the steering of the photovoltaic array installation equipment.

[0006] In some optional embodiments of this application, the frame includes a frame body and two bottom beams disposed at the bottom of the frame body, the two bottom beams being arranged opposite to each other and parallel to each other; each bottom beam is respectively provided with at least one track walking mechanism and one steering drive mechanism.

[0007] In some optional embodiments of this application, two tracked walking mechanisms are arranged at intervals along the length direction on the bottom of each of the bottom beams, and each of the tracked walking mechanisms is equipped with a steering drive mechanism.

[0008] In some optional embodiments of this application, the two steering drive mechanisms on the same bottom beam are arranged on the bottom beam between the two tracked walking mechanisms, and the driving directions of the two steering drive mechanisms are on the same straight line.

[0009] In some optional embodiments of the present application, the walking device of the photovoltaic array installation device further comprises a rotating mechanism, and the track walking mechanism is connected to the frame through the rotating mechanism.

[0010] In some optional embodiments of the present application, the rotating mechanism comprises a first rotating part and a second rotating part connected in rotation, the first rotating part is connected to the track walking mechanism, and the second rotating part is connected to the frame.

[0011] In some optional embodiments of the present application, the rotating mechanism further comprises a support arm connected to the first rotating part and extending radially therefrom, and the support arm is hinged to the steering driving mechanism.

[0012] In some optional embodiments of the present application, the steering driving mechanism comprises a telescopic mechanism, the telescopic mechanism comprises a telescopic end and a mounting end arranged opposite to each other along a length direction, the telescopic end is hinged to the support arm, the mounting end is hinged to the frame, and the telescopic end is telescopic relative to the mounting end along the length direction for driving the track walking mechanism to rotate around the axis of the rotating mechanism.

[0013] In some optional embodiments of the present application, the steering driving mechanism adopts an electric push rod.

[0014] In the second aspect, the embodiments of the present application further provide a photovoltaic array installation device, comprising a lifting assembly, a frame and the walking device of the photovoltaic array installation device of the first aspect, the frame is connected to the walking device, and the lifting assembly is arranged on the frame.

[0015] In some optional embodiments of the present application, the lifting assembly comprises a movable trolley and a lifting tool, the movable trolley is movably mounted on the frame, and the lifting tool is arranged on the movable trolley for lifting the photovoltaic array panel.

[0016] The embodiments of the present application provide a walking device of a photovoltaic array installation device, the track walking mechanism is rotatably mounted on the frame, so that the rotation axis of the track walking mechanism is the axis of the mounting position, the track walking mechanism is driven to rotate around the axis of the mounting position relative to the frame through the steering driving mechanism, so that the turning radius of the track walking mechanism is reduced, and the steering speed is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The features, advantages and technical effects of the exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0018] Figure 1 A structural schematic diagram of a photovoltaic array installation device provided by some embodiments of the present application is shown in the figure.

[0019] Figure 2A turning state schematic view of the photovoltaic array installation device provided for some embodiments of the present application;

[0020] Figure 3 Another turning state schematic view of the photovoltaic array installation device provided for some embodiments of the present application;

[0021] Figure 4 A partial schematic view of the walking device shown in Figure 2

[0022] Figure 5 A schematic view of A in Figure 1

[0023] Figure 6 A schematic view of B in Figure 4

[0024] In the drawings, the drawings are not necessarily drawn according to the actual scale.

[0025] Explanation of reference signs:

[0026] 100, walking device; 110, track walking mechanism; 111, first driving mechanism; 112, track walking wheel; 120, turning driving mechanism; 121, telescopic mechanism; 122, telescopic end; 123, mounting end; 124, first hinged part; 125, second hinged part; 200, vehicle frame; 210, bottom beam; 220, vehicle frame main body; 240, mounting support; 300, slewing mechanism; 301, first rotating part; 302, second rotating part; 310, support arm; 311, first arm end; 312, second arm end; 313, arm main body; 314, reinforcing rib; X, first direction; Y, second direction. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] ​​​Unless otherwise defined, all technical and scientific terms used in the present application have the same meanings as those commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing the particular embodiments only and is not intended to be limiting of the application; the description and the claims herein, and the above description of drawings thereinout, use the term "including" and "comprises" and variations thereof, and they are intended to be cover the non-exclusive inclusion; the description and the claims herein, and the above description of drawings thereinout, use the term "first", "second" and the like, which are intended to distinguish different objects, not to describe a particular order or primary and secondary relationship.

[0029] In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily refer to the same embodiment, nor is it necessarily mutually exclusive or alternative to other embodiments.

[0030] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection", "attachment" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] In the present application, the term "and / or" is only a description of the association between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " in the present application generally represents an "or" relationship between the front and rear associated objects.

[0032] In the embodiments of the present application, the same reference signs represent the same parts, and for the sake of brevity, the detailed description of the same parts is omitted in different embodiments. It should be understood that the thickness, length and width of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length and width of the integrated device, are only exemplary and should not constitute any limitation on the present application.

[0033] "Multiple" appearing in the present application means two or more (including two).

[0034] Crawler walking mechanism is widely used, through the characteristics of large contact area with the ground and stable movement, it is widely used in military tanks, engineering machinery field and photovoltaic installation field, and can run on the road surface with poor road conditions.

[0035] In the related art, the device using the track walking mechanism is fixedly installed with the track walking mechanism and the device frame. There are two kinds of turning modes for the device using the track walking mechanism. The first turning mode is that the track walking mechanisms on both sides are reversely rotated, and the device is rotated around the center. The second turning mode is that the track walking mechanisms on both sides are differentially driven, for example, one track walking mechanism is locked, and the other track walking mechanism is rotated. The two turning modes are commonly used in the field of military tanks or engineering machinery, and the turning is adjusted through the cooperation of gears and other mechanisms.

[0036] However, for the photovoltaic installation device with a large span, the complex gear transmission and the large span of the track walking mechanism increase the weight and structural rigidity of the device itself, affect the moving speed, and thus are not conducive to the performance of the operation task.

[0037] In view of this, some embodiments of the present application provide a walking device applied to a photovoltaic array installation device. The turning driving mechanism is arranged on the frame and connected with the track walking mechanism, and is used to drive the track walking mechanism to rotate relative to the frame in the horizontal plane to realize the turning of the photovoltaic array installation device and improve the turning speed.

[0038] As shown in FIG. 1, Figures 1 to 4 some embodiments of the present application provide a walking device 100 of a photovoltaic array installation device, which includes a track walking mechanism 110 and a turning driving mechanism 120. The track walking mechanism 110 is rotationally installed on a frame 200 of the photovoltaic array installation device. The turning driving mechanism 120 is arranged on the frame 200 and connected with the track walking mechanism 110, and is used to drive the track walking mechanism 110 to rotate relative to the frame 200 in the horizontal plane to realize the turning of the traveling direction of the entire photovoltaic array installation device.

[0039] The track walking mechanism 110 is a mechanism that relies on the friction generated by the relative motion between the ground-engaging track and the ground to drive the device to walk. The track walking mechanism 110 is rotationally connected with the frame 200. The rotational connection between the track walking mechanism 110 and the frame 200 can have a certain rotation range or a 360-degree rotational connection without rotation range limitation.

[0040] The track walking mechanism 110 can be one or more.

[0041] The turning driving mechanism 120 is a mechanism for driving the track walking mechanism 110 to turn relative to the frame 200. The turning driving mechanism 120 can be directly driven or indirectly driven through a transmission mechanism. The turning driving mechanism 120 can adopt a motor, an electric push rod, or the like, which is not limited herein.

[0042] The steering driving mechanism 120 can be one or more. One steering driving mechanism 120 can drive one or more crawler traveling mechanisms 110 to steer. For example, when the steering driving mechanism 120 drives the plurality of crawler traveling mechanisms 110 to steer, the steering directions of the crawler traveling mechanisms 110 can be the same or different.

[0043] The horizontal plane is a plane parallel to the ground.

[0044] The walking device of the photovoltaic array installation equipment provided by the embodiments of the present application is installed on the frame 200 through the crawler traveling mechanism 110, so that the rotation axis of the crawler traveling mechanism 110 is the axis of the installation position. The crawler traveling mechanism 110 is driven by the steering driving mechanism 120 to rotate around the axis of the installation position relative to the frame 200, so that the turning radius of the crawler traveling mechanism 110 is reduced, and the steering speed is improved.

[0045] In some optional embodiments of the present application, as shown in Figure 1 and Figure 4 The frame 200 includes a frame body 220 and two bottom beams 210 arranged at the bottom of the frame body 220. The two bottom beams 210 are arranged opposite to and parallel to each other, and the frame body 220 is arranged above the two bottom beams 210. The extension direction of the bottom beam 210 is the first direction X, and the transverse direction of the two bottom beams 210 is the second direction Y. Each bottom beam 210 is provided with at least one crawler traveling mechanism 110 and one steering driving mechanism 120.

[0046] For example, the frame body 220 is arranged at a certain height along the height direction of the frame 200 and the bottom beam 210, for installing a hoisting assembly. The hoisting assembly is movably arranged on the frame body 220 along the second direction Y. The specific structure of the frame body 220 and the bottom beam 210 is not limited to the above, and can be adjusted according to specific needs.

[0047] The crawler traveling mechanism 110 is arranged on the side of the bottom beam 210 away from the frame 200, and walks along the advancing direction in contact with the ground. One bottom beam 210 can be provided with one crawler traveling mechanism 110. Alternatively, one bottom beam 210 can be provided with a plurality of crawler traveling mechanisms 110.

[0048] The steering driving mechanism 120 is arranged on the bottom beam 210 and connected to the crawler traveling mechanism 110. For example, the steering driving mechanism 120 drives the crawler traveling mechanism 110 to rotate relative to the bottom beam 210, so as to realize the steering of the crawler traveling mechanism 110. One bottom beam 210 can be provided with one steering driving mechanism 120, or one bottom beam 210 can be provided with a plurality of steering driving mechanisms 120. One steering driving mechanism 120 can drive one or more crawler traveling mechanisms 110.

[0049] The bottom beams 210 are arranged at the bottom of the frame 200, facilitating the installation of the track walking mechanisms 110 and the steering driving mechanisms 120, and facilitating the steering driving mechanisms 120 to drive the track walking mechanisms 110 to steer.

[0050] In an embodiment of the present application, the frame 200 further comprises mounting brackets 240, which are arranged along the second direction Y of the bottom beams 210, and the steering driving mechanisms 120 are connected to the bottom beams 210 through the mounting brackets 240. The steering driving mechanisms 120 are spaced apart from the bottom beams 210 along the second direction Y, so as to facilitate the movement of the steering driving mechanisms 120 relative to the bottom beams.

[0051] As shown in FIG. 1, Figures 1 to 3 In an embodiment of the present application, the angle between the advancing direction of the track walking mechanisms 110 and the length direction of the bottom beams 210 ranges from 0 degree to 90 degree. For example, Figure 1 the advancing direction of the track walking mechanisms 110 is parallel to the bottom beams 210, Figure 2 the advancing direction of the track walking mechanisms 110 is perpendicular to the bottom beams 210, Figure 3 the advancing direction of the track walking mechanisms 110 is 60 degrees to the bottom beams 210.

[0052] As shown in FIG. 1, Figure 4 In another embodiment of the present application, two track walking mechanisms 110 are arranged on the bottom of each bottom beam 210 along the length direction thereof, and each track walking mechanism 110 is equipped with a steering driving mechanism 120.

[0053] The two track walking mechanisms 110 are arranged along the length direction of the bottom beams 210, and can be arranged at the two ends of the bottom beams 210 along the length direction, or between the two ends of the bottom beams 210 along the length direction. The specific arrangement position can be adjusted according to specific needs, which is not limited here.

[0054] The two track walking mechanisms 110 are connected to the two steering driving mechanisms 120 respectively, and the two steering driving mechanisms 120 drive the two track walking mechanisms 110 to steer around the respective axes of rotation. In an example, the two steering driving mechanisms 120 can drive the two track walking mechanisms 110 to move synchronously.

[0055] Exemplarily, the two steering driving mechanisms 120 are arranged on one bottom beam 210. The two steering driving mechanisms 120 can be arranged on one side of the bottom beam 210 or on opposite sides of the bottom beam 210 along the width direction. The two steering driving mechanisms 120 can be arranged between the two track walking mechanisms 110 or on the two sides of the two track walking mechanisms 110.

[0056] The walking stability of the photovoltaic array installation equipment is improved by arranging two track walking mechanisms 110 on the bottom beam 210, the carrying capacity of the photovoltaic array installation equipment is improved, and the equipment can cope with severe traveling conditions. Each track walking mechanism 110 is equipped with a steering driving mechanism 120 to improve the steering speed of the track walking mechanism 110 and improve the steering control accuracy.

[0057] In actual work, the track walking mechanism 110 needs to bear a weight of dozens of tons. In order to better realize smooth steering of each track walking mechanism 110 and reduce the risk that the steering driving mechanism 120 cannot drive the track walking mechanism 110 or damage occurs during driving, each track walking mechanism 110 is equipped with a steering driving mechanism 120.

[0058] Further, in an embodiment of the present application, the two steering driving mechanisms 120 on the same bottom beam 210 are arranged on the bottom beam 210 between the two track walking mechanisms 110, and the driving directions of the two steering driving mechanisms 120 are located on the same straight line.

[0059] For example, the driving directions of the two steering driving mechanisms 120 on the same bottom beam 210 extend along the length direction of the bottom beam 210, and the driving directions of the two steering driving mechanisms 120 are the same or opposite.

[0060] The arrangement of the two steering driving mechanisms 120 between the two track walking mechanisms 110 increases the span of the two track walking mechanisms 110, thereby improving the stability of the photovoltaic array installation equipment. The driving directions of the two steering driving mechanisms 120 are located on the same straight line, which facilitates the installation and arrangement of the two steering driving mechanisms 120, improves the steering convenience, and the driving forces of the two steering driving mechanisms 120 act on the same straight line, the interaction forces of each other are offset, and the risk of stress damage to itself and the vehicle frame is reduced.

[0061] Specifically, as shown in Figure 4 In other embodiments of the present application, the walking device 100 of the photovoltaic array installation equipment further comprises a slewing mechanism 300, and the track walking mechanism 110 is rotatably connected to the vehicle frame 200 through the slewing mechanism 300.

[0062] The slewing mechanism 300 is a transmission structure that rotates around a slewing center line. The steering driving mechanism 120 drives the slewing mechanism 300 to make the track walking mechanism 110 rotate around the slewing center line relative to the vehicle frame 200. The steering driving mechanism 120 can directly drive the slewing mechanism 300 or indirectly drive the slewing mechanism 300 through the track walking mechanism 110. For example, one track walking mechanism 110 is rotatably connected to the vehicle frame 200 through one slewing mechanism 300, or a plurality of track walking mechanisms 110 are rotatably connected to the vehicle frame 200 through one slewing mechanism 300.

[0063] The tracked walking mechanism 110 rotates relative to the frame 200 through the slewing mechanism 300. The structure is simple, easy to install, and has a good rotation effect.

[0064] In addition, in an optional embodiment of this application, the slewing mechanism 300 includes a first rotating part 301 and a second rotating part 302 that are rotatably connected. The first rotating part 301 is connected to the tracked walking mechanism 110, and the second rotating part 302 is connected to the frame 200.

[0065] The first rotating part 301 and the second rotating part 302 rotate relative to the center of rotation. For example, the rotating mechanism 300 can be a structure such as a turntable or a bearing assembly.

[0066] For example, the first rotating part 301 and the second rotating part 302 are arranged radially inside and outside the rotary mechanism 300. For example, the second rotating part 302 is placed on the outer ring of the first rotating part 301, or the first rotating part 301 is placed on the outer ring of the second rotating part 302.

[0067] In one example, the first rotating part 301 can be disc-shaped, and the second rotating part 302 can be a rotating shaft, which is rotatably connected to the disc-shaped first rotating part 301. The tracked traveling mechanism 110 and the frame 200 can be arranged vertically and connected to the first rotating part 301 and the second rotating part 302 respectively.

[0068] In one example, the first rotating part 301 is fastened to the tracked walking mechanism 110. The second rotating part 302 is fastened to the frame 200.

[0069] The first rotating part 301 and the second rotating part 302 realize the rotational connection between the tracked walking mechanism 110 and the frame 200, which improves the ease of installation and ensures the reliability of rotation.

[0070] In one embodiment of this application, the second rotating part 302 is connected to the bottom of the bottom beam 210.

[0071] In another embodiment of this application, the steering drive mechanism 120 is connected to the first rotating part 301, and the steering drive mechanism 120 is connected to the first rotating part 301 by means of hinge, universal joint connection, gear and rack meshing connection, etc.

[0072] Furthermore, such as Figure 5 As shown, in other optional embodiments of this application, the slewing mechanism 300 further includes a support arm 310 connected to and extending radially therefrom the first rotating part 301, the support arm 310 being hinged to the steering drive mechanism 120.

[0073] The support arm 310 and the first rotating part 301 can be an integrally formed structure or a separate connection structure. The material of the support arm 310 can be the same as or different from that of the first rotating part 301.

[0074] In one example, the control arm 310 includes an arm body 313 and a first arm end 311 and a second arm end 312 disposed opposite to each other along the length of the arm body 313. The first arm end 311 is fixedly connected to the first rotating part 301, and the second arm end 312 is provided with a mounting part for hinged connection with the steering drive mechanism 120. The mounting part includes a first mounting ear and a second mounting ear disposed vertically along the height direction. One end of the steering drive mechanism 120 is positioned between the first and second mounting ears and connected via a shaft, thereby achieving hinged connection.

[0075] In another example, a reinforcing rib 314 is provided between the arm body 313 and the first mounting ear and the second mounting ear.

[0076] In other examples, the width of the support arm 310 tends to decrease from the first arm end 311 to the second arm end 312, thereby increasing the connection strength between the support arm 310 and the first rotating part 301.

[0077] The control arm 310 is hinged to the steering drive mechanism 120, providing driving and rotation space for the steering drive mechanism 120 to drive the steering mechanism.

[0078] like Figure 4 As shown, in some optional embodiments of this application, the steering drive mechanism 120 includes a telescopic mechanism 121. The telescopic mechanism 121 includes a telescopic end 122 and a mounting end 123 arranged opposite to each other along the length direction. The telescopic end 122 is hinged to the support arm 310, and the mounting end 123 is hinged to the frame 200. The telescopic end 122 extends and retracts relative to the mounting end 123 along the length direction to drive the track walking mechanism 110 to rotate about the axis of the slewing mechanism 300.

[0079] The telescopic mechanism 121 is capable of linear telescoping along its length. For example, the telescopic mechanism 121 extends along the length of the bottom beam 210.

[0080] In one embodiment of this application, the steering drive mechanism 120 includes a drive unit connected to a telescopic mechanism 121, which drives the telescopic end 122 of the telescopic mechanism 121 to reciprocate linearly relative to the mounting end 123.

[0081] In another embodiment of this application, the bottom beam 210 is equipped with two telescopic mechanisms 121, both of which extend along the length of the bottom beam 210. The two telescopic mechanisms 121 can be driven by one drive unit or by two drive units.

[0082] In other embodiments of the present application, the mounting end 123 of the two telescopic mechanisms 121 is arranged at the middle of the bottom beam 210, and the telescopic end 122 of the two telescopic mechanisms 121 is arranged opposite to each other.

[0083] Figure 6 For Figure 4 the schematic view at B.

[0084] Specifically, as Figure 6 shown in the figure, in some embodiments of the present application, the telescopic mechanism 121 further comprises a first hinge part 124 and a second hinge part 125 connected to each other, the first hinge part 124 is connected to the bottom beam 210 through a mounting bracket 240, and the second hinge part 125 is connected to the mounting end 123. The first hinge part 124 comprises a first hinge shaft, and the second hinge part 125 comprises a second hinge shaft, and the first hinge shaft and the second hinge shaft are arranged vertically.

[0085] Exemplarily, the first hinge shaft of the first hinge part 124 is arranged to extend along the height direction of the vehicle frame, so as to realize the rotation of the mounting end 123 around the first hinge shaft in the horizontal plane. The second hinge shaft of the second hinge part 125 is arranged to extend in the horizontal plane, for example, the second hinge shaft is arranged to extend along the second direction Y, so as to realize the rotation of the mounting end 123 around the second hinge shaft in the plane perpendicular to the horizontal plane. The flexibility of the mounting end 123 is improved, and the interaction force between the telescopic mechanism 121 and the bottom beam 210 during the telescopic process is reduced, so as to cause the bending deformation.

[0086] In an embodiment of the present application, in the state that the included angle between the two crawler traveling mechanisms 110 and the bottom beam 210 is the same, the telescopic amount between the telescopic end 122 and the mounting end 123 of the two telescopic mechanisms 121 is equal. So that the turning direction of the two crawler traveling mechanisms 110 is consistent.

[0087] In a specific embodiment of the present application, the turning driving mechanism 120 adopts an electric push rod.

[0088] In other embodiments of the present application, the turning driving mechanism 120 can be a hydraulic cylinder, a pneumatic cylinder, etc. Alternatively, the turning driving mechanism 120 is an electric motor which drives the rotation of the slewing mechanism; or the turning driving mechanism 120 is an electric motor which drives the gear rack, so as to realize the rotation of the slewing mechanism.

[0089] As Figure 5 shown in the figure, in some embodiments of the present application, the crawler traveling mechanism 110 comprises a crawler traveling wheel 112 and a first driving mechanism 111, the first driving mechanism 111 is configured to output power to the crawler traveling wheel 112, so as to drive the crawler traveling wheel 112 to move along the direction of travel. For example, the first driving mechanism 111 is an electric motor.

[0090] As Figures 1 to 6As shown, some embodiments of this application provide a walking device 100 for a photovoltaic array installation equipment. When the angle between the tracked walking mechanism 110 and the bottom beam 210 is 0 degrees, the frame 200 moves along the length direction of the bottom beam 210 with the tracked walking mechanism 110. At this time, the two telescopic mechanisms 121 on one bottom beam 210 are in a retracted state.

[0091] When a 90-degree turn is required, two telescopic mechanisms 121 on one bottom beam 210 extend, causing the tracked traveling mechanism 110 to rotate 90 degrees around the rotation center line of the slewing mechanism 300. The telescopic mechanisms 121 on the two bottom beams 210 can rotate synchronously. When the telescopic end 122 of the telescopic mechanism 121 rotates from 0 degrees to 90 degrees or from 90 degrees to 0 degrees, the telescopic end 122 moves in an arc with the rotation center as the center and the outrigger as the radius.

[0092] When the angle between the tracked traveling mechanism 110 and the bottom beam 210 is 90 degrees, the chassis 200 moves along the width direction of the bottom beam 210 along with the tracked traveling mechanism 110. At this time, the two telescopic mechanisms 121 on one bottom beam 210 are in the extended state.

[0093] The walking device 100 in this embodiment has a fast turning speed, and can even complete the turning action of the walking device 100 in about 20 seconds. It improves the operating efficiency of photovoltaic array installation equipment, has a small turning radius, occupies little space, saves land resources, has strong terrain adaptability, and does not require a specific turning area.

[0094] like Figures 1 to 3 As shown, some embodiments of this application also provide a photovoltaic array installation device, including a frame 200, a hoisting assembly (not shown in the figure), and a walking device 100.

[0095] Among them, the photovoltaic array installation equipment is used to lift the photovoltaic array from the stacking position and move it precisely to the designated position for installation. It has a large overall size and weight, with the weight reaching tens of tons and the overall span reaching tens of meters.

[0096] The lifting assembly is movably mounted on the vehicle frame 200, with at least a portion of the lifting assembly located on the underside of the vehicle frame 200. The lifting assembly is used to lift the photovoltaic array panel and move it to a designated location for installation. For example, the lifting assembly is movably mounted on the vehicle frame 200 along a second direction Y.

[0097] The walking device 100 is installed at the bottom of the frame 200. The walking device 100 is used to move the entire photovoltaic array installation equipment to the installation position of the photovoltaic array. The walking device 100 adopts the walking device described above.

[0098] The photovoltaic array installation device provided in the embodiments of the present application can realize the turning of the whole photovoltaic array installation device by rotating the walking device 100 in place relative to the frame 200, which reduces the turning radius, improves the turning speed, makes the photovoltaic array installation flexible, and improves the installation efficiency.

[0099] In one specific embodiment of the present application, the hoisting assembly (not shown in the figure) comprises a moving trolley and a hoist, the moving trolley is movably installed on the frame 200, and the hoist is hung on the moving trolley and used for hoisting the photovoltaic array panel.

[0100] In one example, the frame 200 is provided with a slide rail in the second direction Y, and the moving trolley moves along the slide rail, so as to realize the movement of the hoist relative to the frame 200.

[0101] In other examples, the photovoltaic array panel can be installed on the hoist by automatic adsorption or manual installation.

[0102] The photovoltaic array installation device forms a large span in the second direction Y of the frame 200, which facilitates the moving trolley to hoist and transfer the photovoltaic array panel through the hoist.

[0103] If not particularly stated, all the embodiments and optional embodiments of the present application can be combined to form new technical solutions. If not particularly stated, all the technical features and optional technical features of the present application can be combined to form new technical solutions.

[0104] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A traveling device of a photovoltaic array installation apparatus, characterized by, The application relates to a photovoltaic array installation device, which comprises: two crawler mechanisms, which are rotatably installed on a frame of the photovoltaic array installation device, the frame has a bottom beam, and the two crawler mechanisms are arranged on the bottom beam along the length direction of the bottom beam; two steering driving mechanisms, one end of each of the two steering driving mechanisms is connected to the bottom beam, and the other end of each of the two steering driving mechanisms is connected to the two crawler mechanisms respectively, the driving directions of the two steering driving mechanisms are opposite, and the steering driving mechanisms are used for driving the crawler mechanisms to rotate relative to the frame in a horizontal plane, so that the included angle between the advancing direction of the crawler mechanisms and the length direction of the bottom beam ranges from 0 degrees to 90 degrees, and the steering of the photovoltaic array installation device is realized.

2. The traveling device of the photovoltaic array installation apparatus according to claim 1, wherein The frame comprises a frame body and two bottom beams arranged at the bottom of the frame body, and the two bottom beams are oppositely and parallelly arranged; each of the bottom beams is provided with at least one crawler mechanism and one steering driving mechanism.

3. The walking device of the photovoltaic array installation apparatus according to claim 2, wherein The two steering driving mechanisms on the same bottom beam are arranged on the bottom beam between the two crawler mechanisms, and the driving directions of the two steering driving mechanisms are located on the same straight line.

4. The walking device of the photovoltaic array mounting apparatus according to any one of claims 1 to 3, wherein The application further comprises a slewing mechanism, and the crawler mechanisms are rotatably connected to the frame through the slewing mechanism.

5. The walking device of the photovoltaic array installation apparatus according to claim 4, wherein The slewing mechanism comprises a first rotating part and a second rotating part which are rotatably connected, the first rotating part is connected to the crawler mechanisms, and the second rotating part is connected to the frame.

6. The walking device of the photovoltaic array installation apparatus according to claim 5, wherein The slewing mechanism further comprises a supporting arm which is connected to the first rotating part and extends radially, and the supporting arm is hinged to the steering driving mechanism.

7. The walking device of the photovoltaic array mounting apparatus according to claim 6, wherein The steering driving mechanism comprises an extension mechanism, the extension mechanism comprises an extension end and a mounting end which are oppositely arranged along the length direction, the extension end is hinged to the supporting arm, the mounting end is hinged to the frame, and the extension end is extended relative to the mounting end along the length direction for driving the crawler mechanisms to rotate around the axis of the slewing mechanism.

8. The walking device of the photovoltaic array mounting apparatus according to claim 7, wherein The steering driving mechanism adopts an electric push rod.

9. A photovoltaic array mounting apparatus, characterized by, The application further relates to a lifting assembly, a frame and a walking device of the photovoltaic array installation device, the frame is connected to the walking device, and the lifting assembly is arranged on the frame.

10. The photovoltaic array mounting apparatus of claim 9, wherein, The lifting assembly comprises a moving trolley and a lifting tool, the moving trolley is movably installed on the frame, and the lifting tool is arranged on the moving trolley and used for lifting photovoltaic array plates.

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