Installation apparatus and trolley thereof

Abstract

An installation apparatus (1000) and a trolley (100) thereof. The installation apparatus (1000) comprises a main carriage (200). The trolley (100) comprises a frame (1), a first micro-motion mechanism (2) and a second micro-motion mechanism (3), wherein the first micro-motion mechanism (2) is arranged on the frame (1), and the second micro-motion mechanism (3) is arranged on the first micro-motion mechanism (2) and can connect to a lifting device (300) in a vertical direction. The frame (1) is slidably connected to the main carriage (200); the first micro-motion mechanism (2) is slidably connected to the frame (1) in a first direction (X) to adjust the positions of the second micro-motion mechanism (3) and the lifting device (300) in the first direction (X); and the second micro-motion mechanism (3) is slidably connected to the first micro-motion mechanism (2) in a second direction (Y) to adjust the position of the lifting device (300) in the second direction (Y); the first direction (X), the second direction (Y) and the vertical direction intersect pairwise.

Description

Mounting device and trolley thereof

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202420790880.6, filed on April 16, 2024, entitled “Mounting device and trolley thereof,” the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the technical field of mounting devices, and in particular relates to a mounting device and a trolley thereof. BACKGROUND

[0004] A photovoltaic array unit (a photovoltaic array square) is a core part of the entire power generation system, and the photovoltaic array square needs to be hoisted and transferred using a mounting device during the process. However, the existing photovoltaic panel mounting device can only transfer the photovoltaic array square in a large range, and cannot achieve precise butt joint installation of the photovoltaic array square. SUMMARY

[0005] The mounting device and the trolley thereof provided in the embodiments of the present application can finely adjust the hoisting position of the trolley, so as to meet the use requirement of precise butt joint installation of the to-be-installed part.

[0006] According to a first aspect of the present application, the present application provides a trolley of a mounting device, the mounting device comprising a main trolley, the trolley being slidingly connected to a vertical side of the main trolley, the trolley comprising a trolley frame, a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism being arranged on the trolley frame, the second micro-motion mechanism being arranged on the first micro-motion mechanism and being capable of connecting a lifting appliance in a vertical direction; the trolley frame being slidingly connected to the main trolley, the first micro-motion mechanism being slidingly connected to the trolley frame in a first direction to adjust the position of the second micro-motion mechanism and the lifting appliance in the first direction; the second micro-motion mechanism being slidingly connected to the first micro-motion mechanism in a second direction to adjust the position of the lifting appliance in the second direction; the first direction, the second direction and the vertical direction intersecting with each other, one of the first direction and the second direction being a traveling direction of the main trolley, and the other being a sliding direction of the trolley frame along the main trolley.

[0007] Optionally, the first micro-motion mechanism comprises a single frame, the frame supporting the second micro-motion mechanism and being slidingly connected to the trolley frame; the frame and the trolley frame being arranged in a vertical stack or being in the same horizontal plane.

[0008] Optionally, the trolley comprises a first driving mechanism configured to drive the frame to slide in the first direction; the first driving mechanism comprises a first power module arranged on the trolley frame and connected to the frame to drive the frame to slide in the first direction; or the first driving mechanism comprises a first power module arranged on the trolley frame and a first transmission assembly configured to transmit power output by the first power module to the first micro-motion mechanism to drive the frame to slide in the first direction.

[0009] Optionally, the first micro-motion mechanism comprises a first support frame and a second support frame arranged opposite in the first direction, the first support frame and the second support frame jointly supporting the second micro-motion mechanism and being slidably connected to the trolley frame; the first support frame and the second support frame are configured to slide in the same direction in the first direction to drive the second micro-motion mechanism and the spreader to move in the first direction.

[0010] Optionally, the trolley comprises a first driving mechanism configured to drive the first support frame and the second support frame to slide in the same direction in the first direction; the first driving mechanism comprises at least one driving unit, the driving unit comprising a first power module arranged on the trolley frame and connected to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide in the first direction; or the driving unit comprises a first power module arranged on the trolley frame and a first transmission assembly configured to transmit power output by the first power module to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide in the first direction.

[0011] Optionally, the first driving mechanism comprises two driving units; the first transmission assembly of at least one driving unit comprises a push rod and a connecting rod, one end of the push rod in the first direction being connected to the first power module, the push rod being configured to extend and retract in the first direction in response to power output by the first power module, the connecting rod being connected to the other end of the push rod in the first direction at the middle of the connecting rod in the second direction, and opposite ends of the connecting rod in the second direction being connected to the first support frame.

[0012] Optionally, the trolley further comprises a connecting device comprising a plurality of connecting units, each connecting unit being at least partially fixed to the second micro-motion mechanism to connect the spreader to the second micro-motion mechanism through the plurality of connecting units; the length of each connecting unit in the vertical direction is adjustable, and the length adjustment of each connecting unit is independent of each other.

[0013] Optionally, the connecting unit comprises a winding mechanism and a connecting rope, the winding mechanism being fixed to the second micro-motion mechanism, at least part of the connecting rope being wound on the winding mechanism, the winding mechanism connecting the spreader through the connecting rope, and the winding mechanism being configured to adjust the length of the connecting unit by winding the connecting rope.

[0014] Optionally, the at least part of the connecting units are arranged on a side of the second micro-motion mechanism facing the walking surface of the main vehicle in the vertical direction.

[0015] Optionally, the length of the connecting units is configured to be adjusted by a control mechanism, and the control mechanism adjusts the length of the connecting units according to the detection signal of the horizontal detection mechanism so that the lifting device is in a horizontal state.

[0016] Optionally, the second micro-motion mechanism includes a first carrier and a second carrier for carrying the connecting device, the first carrier and the second carrier are oppositely arranged in the first direction and are slidingly connected to the first micro-motion mechanism; the first carrier and the second carrier are configured to slide in the same direction along the second direction to drive the lifting device to move along the second direction, or slide in opposite directions along the second direction to drive the lifting device to rotate in the horizontal plane.

[0017] Optionally, the trolley further includes a second driving mechanism configured to drive the first carrier and the second carrier to slide in the same direction or in opposite directions along the second direction; the second driving mechanism includes two driving modules respectively driving the first carrier and the second carrier, each driving module includes a second power module arranged on the first micro-motion mechanism and connected to the first carrier or the second carrier to drive the first carrier or the second carrier to slide along the second direction; or each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the first micro-motion mechanism, and the second transmission assembly is configured to transmit power output by the second power module to the first carrier or the second carrier to drive the first carrier or the second carrier to slide along the second direction.

[0018] Optionally, the first carrier and the second carrier respectively carry a plurality of connecting units, and the plurality of connecting units are distributed on the first carrier or the second carrier along the second direction.

[0019] Optionally, the main vehicle includes a vertical support assembly and a transverse support assembly, the transverse support assembly is carried on a side of the vertical support assembly in the vertical direction, the trolley is slidingly connected to the transverse support assembly, and a part of the vehicle frame extends out of the transverse support assembly in the direction of travel of the main vehicle; the first carrier, the second carrier and the connecting device are arranged on the part of the vehicle frame extending out of the transverse support assembly.

[0020] Optionally, the trolley further includes a shake prevention device including two or more shake prevention mechanisms spaced apart along the first direction, each shake prevention mechanism being vertically extendable and fixedly connected to the second micro-motion mechanism, and one end of the shake prevention mechanism in the vertical direction being connectable to the lifting device.

[0021] Optionally, the shake prevention mechanism includes a first connecting piece, a second connecting piece and a plurality of sleeves, the plurality of sleeves are movably sleeved, the first connecting piece is fixedly connected to the second micro-motion mechanism and the outermost sleeve, and the second connecting piece is hingedly connected to the lower end of the innermost sleeve in the vertical direction and is fixedly connected to the lifting device.

[0022] Optionally, the connecting device comprises two sets of connecting units arranged oppositely, the length adjustment of the two sets of connecting units can make the spreader overturn relative to the horizontal plane in the vertical direction, the spreader comprises a central axis between the two sets of connecting units; the trolley further comprises an anti-sway device, the anti-sway device comprises at least one anti-sway mechanism fixed on the frame in sequence in the direction parallel to the central axis, and one end of the anti-sway mechanism in the vertical direction is connected with the spreader; the length of the anti-sway mechanism in the vertical direction is adjustably arranged, and the length adjustment of each anti-sway mechanism is independent of each other.

[0023] Optionally, the anti-sway mechanism comprises an anti-sway rope and a plurality of winding structures, the winding structures are arranged on the frame, at least part of the anti-sway rope is wound on the winding structures, the winding structures are connected with the spreader through the anti-sway rope, and the winding structures are configured to adjust the length of the anti-sway mechanism by winding the anti-sway rope; the anti-sway mechanism forms an inverted triangular connection between the anti-sway rope and the spreader.

[0024] Optionally, in the case of overturning of the spreader, the connection point of the anti-sway mechanism and the spreader deviates from the central axis of the spreader towards the frame.

[0025] Optionally, the main trolley comprises a vertical support assembly and a transverse support assembly, the transverse support assembly is borne on one side of the vertical support assembly in the vertical direction, the trolley is slidingly connected to the transverse support assembly, and part of the section of the frame extends out of the transverse support assembly in the advancing direction of the main trolley; the anti-sway device is arranged on the section of the frame extending out of the transverse support assembly.

[0026] Optionally, the main trolley comprises a vertical support assembly and a transverse support assembly, the transverse support assembly is borne on one side of the vertical support assembly in the vertical direction, the transverse support assembly and the vertical support assembly enclose and constitute a working space, and the trolley is slidingly connected to the transverse support assembly; the trolley further comprises an anti-collision mechanism, the anti-collision mechanism is arranged on one side of the frame in the vertical direction towards the working space, and the anti-collision mechanism is configured to limit the spreader connected to the second micro-motion mechanism from moving towards the transverse support assembly in the vertical direction.

[0027] Optionally, the anti-collision mechanism comprises a limit sensor, a limit structure and a collision rod, the collision rod is movably arranged in the vertical direction, the limit structure is arranged on one side of the collision rod in the vertical direction away from the working space, and is configured to move in response to the abutting action of the collision rod in the vertical direction, so as to cause the limit sensor to generate a stop signal, and the stop signal is used to indicate that the spreader stops moving towards the transverse support assembly in the vertical direction.

[0028] Optionally, the first direction is a traveling direction of the host vehicle, and the trolley frame is slidably connected to the host vehicle along the second direction; the trolley frame comprises two or more trolley beams arranged at intervals along the second direction, each of the trolley beams extending along the first direction; the first micro-motion mechanism comprises a single frame supporting the second micro-motion mechanism and slidably connected to the trolley frame along the first direction, and the frame and the trolley frame are arranged in a vertical stack; the second micro-motion mechanism is connected to the lifting tool through a connecting device, the connecting device comprises a plurality of connecting units, and the second micro-motion mechanism comprises a first carrier frame and a second carrier frame, the first carrier frame and the second carrier frame are arranged opposite to each other along the first direction and are slidably connected to the first micro-motion mechanism, and each of the first carrier frame and the second carrier frame carries two connecting units distributed along the second direction.

[0029] Optionally, the trolley comprises a first driving mechanism and a second driving mechanism; the first driving mechanism comprises a first power module and a first transmission assembly, the first transmission assembly is connected to opposite sides of the frame along the first direction and is configured to transmit power output by the first power module to the frame to drive the frame to slide along the first direction, and the first power module is arranged on the trolley frame and located between the opposite sides of the frame along the first direction; the second driving mechanism comprises two driving modules respectively driving the first carrier frame and the second carrier frame, each of the driving modules comprises a second power module and a second transmission assembly, the second power module is arranged on the frame, and the second transmission assembly is configured to transmit power output by the second power module to the first carrier frame or the second carrier frame to drive the first carrier frame or the second carrier frame to slide along the second direction.

[0030] Optionally, the first direction is a traveling direction of the host vehicle, and the trolley frame is slidably connected to the host vehicle along the second direction; the trolley frame comprises two or more trolley beams arranged at intervals along the second direction, each of the trolley beams extending along the first direction; the first micro-motion mechanism comprises a first support frame and a second support frame arranged opposite to each other along the first direction, the first support frame and the second support frame jointly supporting the second micro-motion mechanism and being slidably connected to the trolley frame; the second micro-motion mechanism is connected to the lifting tool through a connecting device, the connecting device comprises a plurality of connecting units, and the second micro-motion mechanism comprises a first carrier frame and a second carrier frame for carrying the connecting device, the first carrier frame and the second carrier frame are arranged opposite to each other along the first direction and are slidably connected to the first micro-motion mechanism, and each of the first carrier frame and the second carrier frame carries two connecting units distributed along the second direction.

[0031] Optionally, the trolley comprises a first driving mechanism and a second driving mechanism; the first driving mechanism comprises two driving units between the first support frame and the second support frame in the first direction, each driving unit comprising a first power module and a first transmission assembly, the first power module being arranged on the frame, and the first transmission assembly transmitting power output by the first power module to the first support frame or the second support frame to drive the first support frame or the second support frame to slide in the first direction; the second driving mechanism comprises two driving modules driving the first carrier frame and the second carrier frame respectively, each driving module comprising a second power module and a second transmission assembly, the second power module being arranged on the first support frame or the second support frame, and the second transmission assembly being configured to transmit power output by the second power module to the first carrier frame or the second carrier frame to drive the first carrier frame or the second carrier frame to slide in the second direction.

[0032] According to a second aspect of the present application, the present application also provides a mounting device comprising a main vehicle and a trolley according to any of the embodiments, the trolley being slidingly connected to one side of the main vehicle in the vertical direction.

[0033] Optionally, the mounting device is used for mounting a photovoltaic array semi-finished product.

[0034] The trolley provided by the embodiments of the present application can be slidingly connected to one side of the main vehicle in the vertical direction. The trolley comprises a frame, a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism being slidingly connected to the frame in a first direction, the second micro-motion mechanism being slidingly connected to the first micro-motion mechanism in a second direction, the first direction, the second direction and the vertical direction intersecting with each other, and the second micro-motion mechanism being capable of connecting a lifting appliance, the lifting appliance being capable of hoisting a to-be-mounted piece, such as a photovoltaic array semi-finished product. The position of the lifting appliance in the second direction can be adjusted by the second micro-motion mechanism, and the position of the second micro-motion mechanism in the first direction can be adjusted by the first micro-motion mechanism, so as to adjust the position of the lifting appliance in the first direction. The combination of the first micro-motion mechanism and the second micro-motion mechanism can realize accurate determination and fine adjustment of the hoisting position of the trolley, so as to accurately butt joint and mount the to-be-mounted piece hoisted by the lifting appliance.

[0035] The embodiments of the present application bear the first micro-motion mechanism by the frame, and bear the second micro-motion mechanism by the first micro-motion mechanism. On the one hand, the weight of the two micro-motion mechanisms directly or indirectly acts on the frame, and the support strength and stability are good. On the other hand, the structure of the trolley is more compact, and the adjustment of the hoisting position is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0037] Fig. 1 is a structural schematic diagram of an installation device according to an embodiment of the present application.

[0038] Fig. 2 is a structural schematic diagram of the installation device of Fig. 1 installing a piece to be installed.

[0039] Fig. 3 is a structural schematic diagram of a trolley according to an embodiment of the present application.

[0040] Fig. 4 is a structural schematic diagram of the trolley of Fig. 3 connected with a lifting appliance.

[0041] Fig. 5 is a structural schematic diagram of a trolley according to another embodiment of the present application.

[0042] Fig. 6 is a structural schematic diagram of the trolley of Fig. 5 from a top view.

[0043] Fig. 7 is an enlarged structural schematic diagram of region A in Fig. 3.

[0044] Fig. 8 is a structural schematic diagram of an anti-swing mechanism of the trolley of Fig. 3.

[0045] Fig. 9 is an enlarged structural schematic diagram of region B in Fig. 5. DETAILED DESCRIPTION

[0046] Features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without some or all of these specific details. The description of the embodiments is merely illustrative of the present application and is not intended to limit the present application, as is apparent to one of ordinary skill in the art. In the drawings and description below, well-known structures and techniques have not been shown or described in detail in order not to obscure the application. Also, descriptions of features, structures, or characteristics can be presented in terms of sequences of actions, which can be described or depicted as occurring in some order. This ordering is not intended to be a limitation and is sometimes use as a device of describing whatever happens to be the first or second, third or fourth, etc. actions. But the descriptions and depictions are intended to be an accurate factual description and are not intended to reflect sequencing limitations.

[0047] In the description of the present application, it should be noted that, unless otherwise specified, the meaning of "a plurality of" is more than one; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer" and the like is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0048] The orientation words appearing in the following description are the directions shown in the drawings, and are not intended to limit the specific structure of the embodiments of the present application. In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected. 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.

[0049] In order to better understand the present application, the mounting device and the trolley of the embodiments of the present application will be described in detail below in combination with FIGS. 1-6.

[0050] As shown in FIGS. 1 and 2, the mounting device 1000 provided by the embodiments of the present application includes a trolley 100 and a main vehicle 200, the trolley 100 is slidingly connected to one side of the main vehicle 200 in the vertical direction. The side of the main vehicle 200 away from the trolley 100 in the vertical direction can form a working space. The mounting device 1000 is used for mounting a to-be-mounted piece 2000, which includes but is not limited to a large structural piece such as a photovoltaic array semi-finished product. The photovoltaic array semi-finished product includes a plurality of photovoltaic panels arranged in a certain form, which are fixed together by a fixing means, for example, but not limited to, at least one connecting beam arranged on the back of the photovoltaic panel.

[0051] As shown in FIGS. 3 and 4, the first aspect of the present application provides a trolley 100 of a mounting device, the trolley 100 includes a trolley frame 1, a first micro-motion mechanism 2 and a second micro-motion mechanism 3, the first micro-motion mechanism 2 is arranged on the trolley frame 1, and the second micro-motion mechanism 3 is arranged on the first micro-motion mechanism 2 and can be connected to a lifting appliance 300 in the vertical direction. The trolley frame 1 is slidingly connected to the main vehicle 200, and the first micro-motion mechanism 2 is slidingly connected to the trolley frame 1 in a first direction X to adjust the position of the second micro-motion mechanism 3 and the lifting appliance 300 in the first direction X. The second micro-motion mechanism 3 is slidingly connected to the first micro-motion mechanism 2 in a second direction Y to adjust the position of the lifting appliance 300 in the second direction Y. The first direction X, the second direction Y and the vertical direction intersect with each other in pairs, and one of the first direction X and the second direction Y is the direction of travel of the main vehicle 200, and the other is the sliding direction of the trolley frame 1 along the main vehicle 200.

[0052] In the embodiments of the present application, the two slidingly connected means that one is movably connected to the other in a certain direction. For the two slidingly connected means, the specific implementation form of the sliding connection is not limited, which can be a structure such as a sliding rail, a sliding groove, a sliding channel, or any combination of a sliding block, a pulley, a roller, or any other form capable of realizing the relative sliding of the two.

[0053] In the embodiments provided in the present application, the frame 1 is slidingly connected to the main vehicle 200, and can adjust the position of the trolley 100 as a whole relative to the main vehicle 200. The sliding of the frame 1 relative to the main vehicle 200 can be long-distance sliding, which is used to adjust the working space of the lifting appliance 300. The sliding of the first micro-motion mechanism 2 and the second micro-motion mechanism 3 can be short-distance sliding, which is used to finely adjust the position of the lifting appliance 300 in the working space so as to facilitate the installation of the to-be-installed part.

[0054] The second micro-motion mechanism 3 can connect the lifting appliance 300 in the vertical direction, that is, the second micro-motion mechanism 3 can connect the lifting appliance 300 and provide a vertical supporting action for the lifting appliance 300, so that the lifting appliance 300 is movably suspended in the working space of the main vehicle 200. The lifting appliance 300 can be connected to one side of the second micro-motion mechanism 3 in the vertical direction. Exemplarily, the lifting appliance 300 can be connected below the second micro-motion mechanism 3.

[0055] One of the first direction X and the second direction Y is the running direction of the main vehicle 200, and the other is the sliding direction of the frame 1 along the main vehicle 200. The sliding direction of the frame 1 relative to the main vehicle 200 intersects the running direction of the main vehicle 200.

[0056] Optionally, as shown in FIG. 1 and FIG. 3, the first direction X can be the running direction of the main vehicle 200, and the second direction Y can be the sliding direction of the trolley 100 along the frame 1. The first micro-motion mechanism 2 connected with the frame 2 slides in the running direction of the main vehicle 200, which can adjust the position of the second micro-motion mechanism 3 and the lifting appliance 300 in the running direction of the main vehicle 200. The second micro-motion mechanism 3 connected with the first micro-motion mechanism 2 slides in the sliding direction of the trolley 100 relative to the main vehicle 200, which can adjust the position of the lifting appliance 300 in the sliding direction of the trolley 100 relative to the main vehicle 200.

[0057] It can be understood that, as another example, the first direction X can also be the sliding direction of the frame 1 along the main vehicle 200, and the second direction Y can be the running direction of the main vehicle 200, that is, the first micro-motion mechanism 2 connected with the frame slides in the sliding direction of the trolley 100 relative to the main vehicle 200, and the second micro-motion mechanism 3 connected with the first micro-motion mechanism slides in the running direction of the main vehicle 200.

[0058] The trolley 100 provided in the embodiments of the present application adjusts the position of the lifting appliance 300 in the second direction Y through the second micro-motion mechanism 3, adjusts the position of the second micro-motion mechanism 3 in the first direction X through the first micro-motion mechanism 2, and thereby adjusts the position of the lifting appliance 300 in the first direction X. The combination of the first micro-motion mechanism 2 and the second micro-motion mechanism 3 can realize accurate determination and fine adjustment of the hoisting position of the trolley, so as to accurately dock and install the to-be-installed part hoisted by the lifting appliance 300.

[0059] And, the trolley 100 provided by the embodiment of the present application bears the first micro-motion mechanism 2 through the frame 1, and bears the second micro-motion mechanism 3 through the first micro-motion mechanism 2, the weight of the two micro-motion mechanisms directly or indirectly acts on the frame 1, and the support strength and stability are better. And, the structure layout of the trolley 100 is more compact, and the design of the lifting appliance 300 and the adjustment of the hoisting position are more convenient.

[0060] In some optional embodiments, as shown in FIG. 3 and FIG. 4, the first micro-motion mechanism 2 includes a single frame 211, the frame 211 supports the second micro-motion mechanism 3 and is slidingly connected to the frame 1. The frame 211 is vertically stacked with the frame 1 or is in the same horizontal plane as the frame 1.

[0061] In these optional embodiments, the second micro-motion mechanism 3 is supported on the frame 211 and moves with the sliding of the frame 211, realizing the position adjustment of the second micro-motion mechanism 3 and the lifting appliance 300 in the first direction X. The single-frame structure design of the first micro-motion mechanism 2 can make the driving of the first micro-motion mechanism 2 more simple.

[0062] Exemplarily, the frame 211 can be suspended below the frame 1 and is spaced apart from the frame 1 to facilitate smooth sliding. As another example, the frame 211 can also be in the same horizontal position as the frame 1, for example, the frame 211 can be located in the space enclosed by the frame 1.

[0063] Optionally, the frame 1 can include two or more than two car beams 11 spaced apart along the second direction Y, each car beam 11 extends along the first direction X, and each car beam 11 is provided with a sliding rail 111. The frame 211 is connected to at least two car beams 11 at opposite ends along the second direction Y, and each end of each frame 211 along the second direction Y is provided with a sliding piece 212 capable of being coupled to the sliding rail 111. The sliding piece 212 can be a sliding block, a pulley or other suitable sliding structure, and the specific form of the sliding rail 111 and the sliding piece 212 is not limited here.

[0064] In some optional embodiments, as shown in FIG. 3, the trolley 100 includes a first driving mechanism 4 configured to drive the frame 211 to slide along the first direction X. In an example, the first driving mechanism 4 can include a first power module capable of generating and outputting power, the first power module is arranged on the frame 1 (for example, but not limited to, arranged on one side of the frame 211 in the first direction X) and connected to the frame 211 to drive the frame 211 to slide along the first direction X. Optionally, the first power module can include a telescopic air cylinder, a hydraulic cylinder or the like.

[0065] As an alternative example, the first driving mechanism 4 comprises a first power module and a first transmission assembly, the first power module is arranged on the vehicle frame 1, and the first transmission assembly is configured to transmit the power output by the first power module to the first micro-motion mechanism 2 to drive the frame 211 to slide along the first direction X.

[0066] In these alternative embodiments, the first power module is capable of generating and outputting power, and the power output by the first power module is transmitted to the first micro-motion mechanism 2 through the first transmission assembly, thereby driving the frame 211 to slide along the first direction X, and achieving the position adjustment of the first micro-motion mechanism 2, the second micro-motion mechanism 3 and the spreader 300 along the first direction X.

[0067] Optionally, the first power module can comprise a motor. Further, the first power module can further comprise a speed reduction mechanism, and the first power module outputs power through the speed reduction mechanism.

[0068] Optionally, the first transmission assembly can comprise one or more of a gear and rack transmission assembly, a sprocket and chain transmission assembly, a worm and gear transmission assembly, a transmission belt assembly or other suitable transmission assemblies.

[0069] In other alternative embodiments, as shown in FIGS. 5 and 6, the first micro-motion mechanism 2 comprises a first support frame 213 and a second support frame 214 arranged opposite to each other in the first direction X, and the first support frame 213 and the second support frame 214 jointly support the second micro-motion mechanism 3 and are slidingly connected to the vehicle frame 1. The first support frame 213 and the second support frame 214 are configured to slide in the same direction along the first direction X to drive the second micro-motion mechanism 3 and the spreader 300 to move along the first direction X. The first micro-motion mechanism 2 adopts the form of two support frames, which can reduce the weight of the first micro-motion mechanism, lower the center of gravity of the trolley 100 and the installation device 1000, and strengthen the structural stability.

[0070] In these alternative embodiments, the first support frame 213 and the second support frame 214 are both carried on the vehicle frame 1 and are both slidingly connected to the vehicle frame 1. The first support frame 213 and the second support frame 214 can slide in the same direction along the first direction X, that is, the first support frame 213 and the second support frame 214 always slide in the same direction, and the sliding of the first support frame 213 and the second support frame 214 is synchronized.

[0071] Optionally, the first support frame 213 and the second support frame 214 can be independently arranged relative to each other, or can be connected through a connecting piece.

[0072] Optionally, the vehicle frame 1 can include two or more vehicle beams 11 spaced apart along the second direction Y, each of the vehicle beams 11 extending along the first direction X, and each of the vehicle beams 11 being provided with a guide structure. The first support frame 213 and the second support frame 214 are connected to at least two vehicle beams 11 at opposite ends thereof along the second direction Y, and each of the frames 211 is provided at each end thereof along the second direction Y with a sliding member capable of being coupled to the guide structure. Exemplarily, the guide structure can be a sliding rail, a sliding groove, a sliding channel, or the like capable of guiding, and the sliding member can be a sliding block, a pulley, a roller, or the like.

[0073] In some optional embodiments, as shown in FIG. 5, the trolley 100 includes a first driving mechanism configured to drive the first support frame 213 and the second support frame 214 to slide in the same direction along the first direction X. The first driving mechanism includes at least one driving unit 40. In an example, the driving unit 40 includes a first power module capable of generating and outputting power, which is arranged on the vehicle frame 1 (for example, but not limited to, arranged on one side of each support frame along the first direction X or between the two support frames) and connected to the first support frame 213 and / or the second support frame 214 to drive the first support frame 213 and / or the second support frame 214 to slide along the first direction X. Optionally, the first power module can include a single-port or double-port telescopic pneumatic cylinder, a single-port or double-port hydraulic cylinder, or the like.

[0074] In another example, the driving unit 40 includes a first power module 41 arranged on the vehicle frame 1 and a first transmission assembly 42 configured to transmit power output by the first power module 41 to the first support frame 213 and / or the second support frame 214 to drive the first support frame 213 and / or the second support frame 214 to slide along the first direction X.

[0075] In these optional embodiments, the first support frame 213 and the second support frame 214 slide in the same direction along the first direction X under the driving action of the first driving mechanism. Optionally, the first driving mechanism can include two driving units 40, and the first transmission assemblies 42 of the two driving units 40 are connected to the first support frame 213 and the second support frame 214, respectively, to transmit power output by the first power modules of the two driving units 40 to the first support frame 213 and the second support frame 214, respectively, so as to drive the first support frame 213 and the second support frame 214 to slide in the same direction, respectively.

[0076] Optionally, the first driving mechanism can also include one driving unit 40, and the first transmission assembly 42 of the driving unit 40 is connected to the first support frame 213 and the second support frame 214 at the same time to transmit power output by the first power module to the first support frame 213 and the second support frame 214, so as to drive the first support frame 213 and the second support frame 214 to slide in the same direction along the first direction X.

[0077] It can be understood that, as another example, the first driving mechanism can further include three or more driving units 40.

[0078] In some optional embodiments, as shown in FIG. 5, the first driving mechanism includes two driving units 40. The first transmission assembly 42 of at least one driving unit 40 includes a push rod 421 and a connecting rod 422, one end of the push rod 421 is connected to the first power module 41 along the first direction X, the push rod 421 is configured to stretch and retract along the first direction X in response to the power output by the first power module 41, the middle part of the connecting rod 422 along the second direction Y is connected to the other end of the push rod 421 along the first direction X, and the opposite ends of the connecting rod 422 along the second direction Y are connected to the first support frame 213.

[0079] In these optional embodiments, the push rod 421 stretches and retracts along the first direction X under the action of the power output by the first power module 41, which drives the connecting rod 422 to move along the first direction X, and the connecting rod 422 further drives the first support frame 213 to slide along the first direction X.

[0080] The push rod 421 is connected to the middle part of the connecting rod 422 along the second direction Y, which can relatively uniformly transmit power to the two ends of the first support frame 213 along the second direction Y, so as to avoid the phenomenon of jamming or locking of the two ends of the first support frame 213 due to uneven force, and improve the smoothness of the sliding of the first support frame 213.

[0081] For example, the connecting rod 422 can include two rod segments arranged symmetrically, the two rod segments are arranged at an obtuse angle or at a straight angle, and the push rod 421 is connected to the connection position of the two rod segments to form a “Y” type or a “T” type structure with the connecting rod 422, so as to more uniformly transmit power to the first support frame 213.

[0082] Alternatively, the push rod 421 and the connecting rod 422 can be fixedly connected through screw connection, welding, clamping or the like, and the connecting rod 422 can also be integrally formed with the telescopic segment of the push rod 421. The connecting rod 422 and the two ends of the first support frame 213 can also be fixedly connected through screw connection, welding, clamping or the like.

[0083] Alternatively, the first power module 41 can include a motor. Further, the first power module 41 can further include a speed reduction mechanism, and the first power module 41 outputs power through the speed reduction mechanism.

[0084] In some optional embodiments, as shown in FIG. 5, the two drive units 40 of the first drive mechanism are respectively configured to drive the first support frame 213 and the second support frame 214 to slide along the first direction X. The first transmission assembly 42 of at least one of the two drive units 40 includes a push rod 421 and a connecting rod 422. The push rod 421 is connected to the first power module 41 at one end thereof along the first direction X, and is configured to extend and retract along the first direction X in response to the power output by the first power module 41. The connecting rod 422 is connected to the push rod 421 at the other end thereof along the first direction X at the middle portion thereof along the second direction Y, and is connected to the second support frame 214 at opposite ends thereof along the second direction Y.

[0085] It can be understood that the drive unit 40 for driving the second support frame 214 to slide has the same structure as the drive unit 40 for driving the first support frame 213 to slide, and thus will not be described here again.

[0086] The examples of the first transmission assembly 42 are not limited thereto, and one or more of a gear and rack transmission assembly, a sprocket and chain transmission assembly, a worm and gear transmission assembly, a transmission belt assembly, or other suitable transmission assemblies can also be used.

[0087] In some optional embodiments, as shown in FIGS. 3 and 5, the trolley 100 further includes a connecting device including a plurality of connecting units 5, each of which is at least partially fixed to the second micro-drive mechanism 3 so that the second micro-drive mechanism 3 is connected to the spreader 300 through the plurality of connecting units 5. The length of each connecting unit 5 along the vertical direction is adjustably arranged, and the length of each connecting unit 5 is independently adjusted.

[0088] In these optional embodiments, the plurality of connecting units 5 can be connected to different positions of the spreader 300. The connecting positions between the plurality of connecting units 5 and the spreader 300 can be relatively uniformly distributed. For example, the spreader 300 can have a rectangular structure, and the plurality of connecting units 5 can be respectively connected to the corner portions or positions adjacent to the corner portions of the spreader 300.

[0089] The length of each connecting unit 5 along the vertical direction can be independently adjusted to adjust the spatial orientation and azimuth angle of the spreader 300, thereby facilitating flexible realization of the installation angle of the to-be-installed member. For example, the length of the connecting unit 5 connected to one side of the spreader 300 along the vertical direction is adjusted to be smaller than the length of the connecting unit 5 connected to the other side of the spreader 300 along the vertical direction, so that the spreader 300 is in an inclined state.

[0090] In some optional embodiments, as shown in FIG. 7, the connecting unit 5 comprises a winding mechanism 51 fixed to the second micro-motion mechanism 3 and a connecting rope 52, at least part of which is wound on the winding mechanism 51, and the winding mechanism 51 is connected to the lifting appliance 300 through the connecting rope 52, and the winding mechanism 51 is configured to adjust the length of the connecting unit 5 by winding the connecting rope 52.

[0091] In these optional embodiments, at least part of the connecting rope 52 is wound on the winding mechanism 51, and another part of the connecting rope 52 is not wound on the winding mechanism 51, and the length of the part not wound on the winding mechanism 51 can be adjusted by controlling the length of the connecting rope 52 wound on the winding mechanism 51, so that the length of the connecting unit 5 is adjustable. The winding mechanism 51 is fixedly arranged on the second micro-motion mechanism 3 and connected to the lifting appliance 300 through the connecting rope 52, and the length of the part of the connecting rope 52 wound on the winding mechanism 51 can be adjusted by the winding mechanism 51 to move the lifting appliance 300 closer to or farther away from the second micro-motion mechanism 3, that is, to adjust the vertical position of the lifting appliance 300.

[0092] Optionally, the connecting rope 52 can be led out from the winding mechanism 51 towards the inner side of the adjacent connecting unit 5 to increase the rope angle of the connecting rope 52 and enhance the connection stability. It can be understood that, as another example, the connecting rope 52 can also be led out from the outer side of the winding mechanism 51.

[0093] Optionally, the winding mechanism 51 can comprise a winding drum and a driving structure, and at least part of the connecting rope 52 is wound on the winding drum. The driving mechanism can drive the winding drum to rotate in different directions, thereby lengthening or shortening the length of the connecting rope not wound on the winding drum.

[0094] It can be understood that, as another example, the winding mechanism 51 can also be fixedly connected to the trolley 1, and the connecting rope 52 is connected to the second micro-motion mechanism 3 after passing through the connecting point of the lifting appliance 300.

[0095] In some optional embodiments, as shown in FIG. 5, at least part of the connecting unit 5 is arranged on the side of the second micro-motion mechanism 3 facing the walking surface of the main vehicle 200 in the vertical direction.

[0096] In these optional embodiments, the connecting unit 5 faces the walking surface of the main vehicle 200, which is beneficial to reduce the gravity center of the trolley 100 and the installation equipment 1000 and enhance the structural stability. Moreover, it also reduces the structural interference between the connecting unit 5 and the second micro-motion mechanism 3, the first micro-motion mechanism 2 and the trolley 1, which is beneficial to flexibly select the connection position between the connecting unit 5 and the lifting appliance 300.

[0097] For example, the trolley 100 can be slidably connected to the upper side of the main vehicle 200 in the vertical direction, and the connecting unit 5 can be arranged on the lower side of the second micro-motion mechanism 3.

[0098] In some alternative embodiments, the length of the connecting units 5 is configured to be adjusted by a control mechanism (not shown in the figures), which adjusts the length of the connecting units 5 according to a detection signal from a level detection mechanism (not shown in the figures) to make the spreader 300 in a level state.

[0099] In these alternative embodiments, the level detection mechanism is capable of detecting the state of the spreader 300 and outputting a detection signal. Optionally, the level detection mechanism can include a gyroscope, a laser scanner, etc. The control mechanism is connected with the level detection mechanism to receive the detection signal and adjust the length of the connecting units 5 along the vertical direction according to the detection signal, so as to achieve the purpose of leveling the spreader 300.

[0100] In some alternative embodiments, as shown in FIG. 3 and FIG. 6, the second micro-motion mechanism 3 includes first and second supporting frames 31 and 32 for supporting the connecting units 5, which are oppositely arranged along the first direction X and are slidingly connected with the first micro-motion mechanism 2. The first and second supporting frames 31 and 32 are configured to slide in the same direction along the second direction Y to drive the spreader 300 to move along the second direction Y, and are configured to slide in the opposite direction along the second direction Y to drive the spreader 300 to rotate in the horizontal plane.

[0101] In these alternative embodiments, the connecting units 5 of the connecting device are arranged on the first and second supporting frames 31 and 32, which are oppositely arranged along the first direction X, so that the connecting units 5 can be connected to different positions of the spreader 300 along the first direction X, improving the stability of the connection.

[0102] The first and second supporting frames 31 and 32 are capable of sliding in the same direction along the second direction Y to drive the spreader 300 to move along the second direction Y, adjusting the position of the spreader 300 along the second direction Y. The first and second supporting frames 31 and 32 are also capable of sliding in the opposite direction along the second direction Y to drive the two ends of the spreader 300 along the first direction X to move in the opposite direction along the second direction Y, achieving the purpose of rotating the spreader 300 in the horizontal plane.

[0103] Optionally, as shown in FIG. 3, the first micro-motion mechanism 2 can include a single frame 211, and the first and second supporting frames 31 and 32 are supported on the frame 211 and are slidingly connected with the frame 211.

[0104] Optionally, as shown in FIG. 6, the first micro-motion mechanism 2 can also include first and second supporting frames 213 and 214, and the first and second supporting frames 31 and 32 are arranged on the first and second supporting frames 213 and 214, respectively, and are slidingly connected with the first and second supporting frames 213 and 214, respectively.

[0105] In some optional embodiments, the trolley 100 further comprises a second driving mechanism configured to drive the first carrier 31 and the second carrier 32 to slide in the second direction Y in the same direction or in the opposite direction. The second driving mechanism comprises two driving modules respectively driving the first carrier 31 and the second carrier 32. In an example, each driving module comprises a second power module arranged at the first micro-motion mechanism 2 (for example, but not limited to, arranged at one side of the first carrier 31 or the second carrier 32 in the second direction Y) and connected to the first carrier 31 or the second carrier 32 to drive the first carrier 31 or the second carrier 32 to slide in the second direction Y. Optionally, the second power module can comprise a telescopic pneumatic cylinder, a hydraulic cylinder, etc.

[0106] As an alternative example, each driving module comprises a second power module arranged at the first micro-motion mechanism 2 and a second transmission assembly configured to transmit the power output by the second power module to the first carrier 31 or the second carrier 32 to drive the first carrier 31 or the second carrier 32 to slide in the second direction Y.

[0107] In these optional embodiments, the two driving modules of the second driving mechanism are independently arranged to respectively independently drive the first carrier 31 and the second carrier 32 to slide in the second direction Y, which is simple in structure. The second transmission assembly of one of the driving modules is connected to the first carrier 31 to transmit the power output by the second power module of the driving module to the first carrier 31, thereby driving the first carrier 31 to slide in the second direction Y. The second transmission assembly of the other driving module is connected to the second carrier 32 to transmit the power output by the second power module of the driving module to the second carrier 32, thereby driving the second carrier 32 to slide in the second direction Y.

[0108] Optionally, the second power module can comprise an electric motor. Further, the second power module can further comprise a speed reduction mechanism through which the second power module outputs power.

[0109] Optionally, the second transmission assembly can comprise one or more of a gear and rack transmission assembly, a sprocket and chain transmission assembly, a worm and gear transmission assembly, a transmission belt assembly, or other suitable transmission assemblies.

[0110] In some optional embodiments, the first carrier 31 and the second carrier 32 respectively carry a plurality of connection units 5, and the plurality of connection units 5 are distributed on the first carrier 31 or the second carrier 32 in the second direction Y, so that the plurality of connection units 5 can be connected to a plurality of different positions of the spreader 300 in the second direction Y, thereby improving the connection stability.

[0111] In these alternative embodiments, the first carrier 31 and the second carrier 32 are arranged opposite to each other in the first direction X, and the first carrier 31 and the second carrier 32 respectively carry a plurality of the connection units 5. Thus, the plurality of the connection units 5 of the connection device can be arranged in an array in the first direction X and the second direction Y, improving the connection stability between the connection device and the spreader 300.

[0112] Alternatively, the first carrier 31 and the second carrier 32 can respectively carry two connection units 5, and the two connection units 5 are arranged spaced apart in the second direction Y.

[0113] In some alternative embodiments, as shown in FIGS. 1, 2 and 6, the main vehicle 200 comprises a vertical support assembly 201 and a transverse support assembly 202, the transverse support assembly 202 is carried on one side of the vertical support assembly 201 in the vertical direction, the trolley 100 is slidingly connected to the transverse support assembly 202, and a portion of the frame 1 extends out of the transverse support assembly 202 in the running direction of the main vehicle 200. The first carrier 31, the second carrier 32 and the connection device are arranged on the portion of the frame 1 extending out of the transverse support assembly 202.

[0114] In these alternative embodiments, a portion of the frame 1 extends out of the transverse support assembly 202 in the running direction of the main vehicle 200, which reduces the track gauge of the trolley 100 and improves the support stability of the trolley 100. The first carrier 31, the second carrier 32 and the connection device are all arranged on the portion of the frame 1 extending out of the transverse support assembly 202, which facilitates the connection between the connection device and the spreader 300 and reduces the possibility of structural interference between the connection device and the main vehicle 200. In addition, the increase in the distance between the lifting points also ensures the stability of the spreader 300.

[0115] The first carrier 31 and the second carrier 32 are carried by the first micro-motion mechanism 2, and the first micro-motion mechanism 2 slides relative to the frame 1 in the first direction X. When the first direction X is the running direction of the main vehicle 200, the first carrier 31, the second carrier 32 and the connection device move with the first micro-motion mechanism 2 in the first direction X, and the path of the first carrier 31, the second carrier 32 and the connection device moving in the first direction X is on the portion of the frame 1 extending out of the transverse support assembly 202.

[0116] Alternatively, the two end portions 12 of the frame 1 extending out of the transverse support assembly 202 in opposite directions in the running direction of the main vehicle 200 have the same length. The first carrier 31 and the second carrier 32 can be respectively arranged on the two end portions of the frame 1, so that the force acting on the main vehicle 200 by the trolley 100 is more evenly distributed, improving the structural stability.

[0117] In some optional embodiments, as shown in FIG. 3, the trolley 100 further comprises an anti-swing device, which comprises two or more anti-swing mechanisms 7 arranged along the first direction X, each of the anti-swing mechanisms 7 being vertically retractable and fixedly connected to the second micro-motion mechanism 3, and one end of each of the anti-swing mechanisms 7 being connectable to the spreader 300.

[0118] In these optional embodiments, the anti-swing mechanisms 7 are vertically retractable to adjust the length of the anti-swing mechanisms 7 in the vertical direction, so as to adapt to the height of the spreader 300. The anti-swing mechanisms 7 can have a rigid structure, and the structural strength of the anti-swing mechanisms 7 can inhibit the spreader 300 from swinging due to external environmental interference.

[0119] Optionally, the anti-swing mechanisms 7 and the second micro-motion mechanism 3, and the anti-swing mechanisms 7 and the spreader 300 can be fixedly connected by suitable means.

[0120] In some optional embodiments, as shown in FIGS. 4 and 8, the anti-swing mechanisms 7 comprise first connecting members 71, second connecting members 72, and a plurality of sleeves 73, the plurality of sleeves 73 being movably sleeved, the first connecting members 71 being fixedly connected to the second micro-motion mechanism 3 and the outermost sleeve 73, and the second connecting members 72 being hingedly connected to the lower end of the innermost sleeve 73 in the vertical direction and fixedly connected to the spreader 300.

[0121] In these optional embodiments, the plurality of sleeves 73 are movably sleeved, and each of the sleeves 73 extends in the vertical direction. The height of the anti-swing mechanisms 7 in the vertical direction can be adjusted by the mutual movement of the plurality of sleeves 73, so as to realize the vertical retraction of the anti-swing mechanisms 7.

[0122] Optionally, the first connecting members 71 can be connecting plates, which are fixedly connected to the second micro-motion mechanism 3 and the outermost sleeve 73 by bolting, welding, riveting, or other suitable means.

[0123] The second connecting members 72 are fixedly connected to the spreader 300, and the second connecting members 72 are hingedly connected to the lower end of the innermost sleeve 73 in the vertical direction, so as to allow the spreader 300 to rotate relative to the plurality of sleeves 73 together with the second connecting members 72, thereby allowing the spreader 300 to have multiple postures of being horizontal and inclined at different angles relative to the horizontal plane.

[0124] In some optional embodiments, as shown in FIG. 6, the connecting device includes two sets of connecting units 5 arranged oppositely, and the length adjustment of the two sets of connecting units 5 (i.e., the lengths of the two sets of connecting units 5 are different) can make the spreader 300 overturn in the vertical direction relative to the horizontal plane, and the spreader 300 includes a central axis a located between the two sets of connecting units 5. The trolley 100 further includes anti-sway devices, which include at least one anti-sway mechanism 7' fixed on the trolley frame 1 in sequence in the direction parallel to the central axis a, and the anti-sway mechanism 7' is connected to the spreader 300 at one end in the vertical direction. The length of the anti-sway mechanism 7' in the vertical direction is adjustably arranged, and the length adjustment of each anti-sway mechanism 7' is independent of each other.

[0125] In these optional embodiments, the anti-sway mechanism 7' can not generate a force on the spreader 300 during the gradual extension of the length of the connecting device in the vertical direction to lower the spreader 300. When the lengths of the two sets of connecting units 5 in the vertical direction are equal, the spreader 300 is in a horizontal position; when the lengths of the two sets of connecting units 5 in the vertical direction are different, the spreader 300 is overturned to a position inclined relative to the horizontal plane. After the posture of the spreader 300 relative to the position to be installed is determined, when the spreader 300 shakes due to the influence of external environment, the shaking displacement of the spreader 300 can be detected by a detection device (such as but not limited to a laser scanner), and the anti-sway control system can adjust the length of each anti-sway mechanism 7' in the vertical direction according to the shaking displacement, thereby controlling the horizontal displacement of the spreader 300 and suppressing the shaking of the spreader 300.

[0126] Optionally, the number of anti-sway mechanisms 7' can be one, and the anti-sway mechanism 7' can be connected to the center of the spreader 300 in the direction of the central axis a. The number of anti-sway mechanisms 7' can also be more than two, and the more than two anti-sway mechanisms 7' are distributed at equal intervals in the direction of the central axis a, thereby generating balanced anti-sway effect on the spreader 300 in the direction of the central axis a, so as to improve the anti-sway effect of the entire spreader 300.

[0127] In some optional embodiments, as shown in FIG. 2, the anti-sway mechanism 7' includes an anti-sway rope 74 and a plurality of winding structures 75, the winding structures 75 are arranged on the trolley frame 1, at least part of the anti-sway rope 74 is wound on the winding structures 75, the winding structures 75 are connected to the spreader 300 through the anti-sway rope 74, and the winding structures 75 are configured to realize the length adjustment of the anti-sway mechanism 7' by winding the anti-sway rope 74. The anti-sway mechanism 7' forms an inverted triangular connection between the anti-sway rope 74 and the spreader 300.

[0128] In these optional embodiments, the anti-sway mechanism 7' and the spreader 300 form an inverted triangular connection relationship, and such a shape of the connecting structure is relatively stable and has better anti-sway effect.

[0129] Optionally, the anti-swing mechanism 7' can include two winding structures 75, which are spaced apart along a direction perpendicular to the central axis a, and the connection position of the anti-swing mechanism 7' to the spreader 300 is located between the two winding structures 75. The two winding structures 75 can be independently arranged or have a certain connection relationship.

[0130] Illustratively, the winding structure 75 can include a winding drum and a driving structure, and at least part of the anti-swing rope 74 is wound on the winding drum. The driving structure is connected to the winding drum and used to drive the winding drum to rotate in different directions, thereby extending or shortening the length of the anti-swing rope 74 that is not wound on the winding drum.

[0131] Optionally, the anti-swing rope 74 can be led out from the outer side of the winding structure 75 away from the other winding structure 75, so as to increase the rope angle of the anti-swing rope 74 and enhance the connection stability and anti-swing effect. It can be understood that, as another example, the anti-swing rope 74 can also be led out from the inner side of the winding structure 75.

[0132] In some optional embodiments, in the case that the spreader 300 is flipped relative to the horizontal plane, the connection point of the anti-swing mechanism 7' to the spreader 300 deviates from the central axis a of the spreader 300 towards the vehicle frame 1.

[0133] In these optional embodiments, in the case that the spreader 300 is in the flipped state, the connection point of the anti-swing mechanism 7' to the spreader 300 deviates from the central axis a of the spreader 300 towards the vehicle frame 1, which can make the anti-swing rope 74 led out by each winding structure 75 have the same state of the included angle with the horizontal direction (also with the vertical direction), thereby effectively playing the anti-swing effect.

[0134] In some optional embodiments, as shown in FIGS. 1, 5 and 6, the main vehicle 200 includes a vertical support assembly 201 and a transverse support assembly 202, the transverse support assembly 202 is borne on one side of the vertical support assembly 201 along the vertical direction, the trolley 100 is slidingly connected to the transverse support assembly 202, and part of the vehicle frame 1 extends out of the transverse support assembly 202 along the running direction of the main vehicle 200. The anti-swing device is arranged on the section of the vehicle frame 1 extending out of the transverse support assembly 202.

[0135] In these optional embodiments, part of the vehicle frame 1 extends out of the transverse support assembly 202 along the running direction of the main vehicle 200, which reduces the track gauge of the trolley 100 sliding and improves the support stability of the trolley 100. The anti-swing device is arranged on the section of the vehicle frame 1 extending out of the transverse support assembly 202, which is conducive to the connection of the anti-swing device to the spreader 300 and reduces the possibility of structural interference between the anti-swing device and the main vehicle 200. In addition, the increase of the lifting point distance also ensures the stability of the spreader.

[0136] Optionally, the two end sections 12 of the frame 1 extend in opposite directions relative to the two ends of the main vehicle 200 in the direction of travel of the main vehicle 200, and the two end sections extend by the same length. The anti-rolling device can include two anti-rolling mechanisms 7', which are respectively located at the two end sections of the frame 1, so that the force acting on the main vehicle 200 by the trolley 100 is more evenly distributed, and the connection position of the anti-rolling device and the lifting appliance 300 is more evenly distributed, thereby improving the structural stability.

[0137] In some optional embodiments, as shown in FIGS. 1 and 5, the main vehicle 200 includes a vertical support assembly 201 and a transverse support assembly 202, the transverse support assembly 202 is carried on one side of the vertical support assembly 201 in the vertical direction, and the transverse support assembly 202 and the vertical support assembly 201 enclose and form a working space, and the trolley 100 is slidingly connected to the transverse support assembly 202. The trolley 100 further includes a collision prevention mechanism 8, which is arranged on the side of the frame 1 facing the working space in the vertical direction, and is configured to limit the movement of the lifting appliance 300 connected to the second micro-motion mechanism 3 in the vertical direction towards the transverse support assembly 202.

[0138] In these optional embodiments, the length adjustment of the connection device in the vertical direction adjusts the length of the lifting appliance 300 in the vertical direction, and if the height of the lifting appliance 300 is too high, it may collide with the transverse support assembly 202. The embodiments of the present application provide the collision prevention mechanism 8 on the frame 1 of the trolley 100, which can limit the upward movement of the lifting appliance 300 after the lifting appliance 300 moves to a certain height, thereby avoiding the collision of the lifting appliance 300 with the transverse support assembly 202, and improving the safety of the operation.

[0139] In some optional embodiments, as shown in FIGS. 5 and 9, the collision prevention mechanism 8 includes a limit sensor, a limit structure 82, and a collision rod 83, the collision rod 83 is movably arranged in the vertical direction, the limit structure 82 is arranged on the side of the collision rod 83 away from the working space in the vertical direction, and is configured to move in response to the abutting action of the collision rod 83 in the vertical direction, thereby prompting the limit sensor to generate a stop signal, which is used to indicate that the lifting appliance 300 stops moving in the vertical direction towards the transverse support assembly 202.

[0140] In these optional embodiments, when the lifting appliance 300 collides with the collision rod 83 in the working space, the collision rod 83 moves upward in the vertical direction, and when the collision rod 83 moves to contact the limit structure 82, the limit structure 82 moves under the abutting action of the collision rod 83, and when the limit structure 82 moves to a certain position, the limit sensor can be triggered to generate a stop signal, so that the control mechanism controls the connection device to stop the lifting appliance 300.

[0141] Exemplarily, the impact rod 83 can be a rigid rod with high structural strength and less deformation. The limiting structure 82 is rotatably arranged, and when the impact rod 83 abuts against the limiting structure 82, the limiting structure 82 rotates, and when it rotates to a predetermined position, the limiting sensor is triggered to generate a stop signal. Exemplarily, the limiting structure can be a cam limiting switch.

[0142] In some optional embodiments, as shown in FIGS. 3 and 4, the first direction X is the running direction of the host vehicle 200, and the vehicle frame 1 is slidably connected to the host vehicle 200 along the second direction Y. The vehicle frame 1 includes two or more vehicle beams 11 arranged at intervals along the second direction Y, and each vehicle beam 11 extends along the first direction X. The first micro-motion mechanism 2 includes a single frame 211 supporting the second micro-motion mechanism 3 and slidably connected to the vehicle frame 1 along the first direction X, and the frame 211 and the vehicle frame 1 are vertically stacked. The second micro-motion mechanism 3 is connected to the spreader 300 through a connecting device including a plurality of connecting units 5, and the second micro-motion mechanism 3 includes a first carrier 31 and a second carrier 32 arranged opposite to each other along the first direction X and slidably connected to the first micro-motion mechanism 2 along the second direction Y, and each of the first carrier 31 and the second carrier 32 carries two connecting units 5 distributed along the second direction Y.

[0143] In these optional embodiments, the host vehicle 200 runs along the first direction X, and the positions of the vehicle frame 1 and the spreader 300 along the first direction X can be adjusted. The vehicle frame 1 slides along the second direction Y, and the position of the spreader 300 along the second direction Y can be adjusted. It can be understood that the movements of the host vehicle 200 and the vehicle frame 1 can be long-distance movements for coarsely adjusting the position of the spreader 300. The frame 211 of the first micro-motion mechanism 2 slides along the first direction X, and the fine position of the spreader 300 along the running direction of the host vehicle 200 can be adjusted. The second micro-motion mechanism 3 slides along the second direction Y, and the fine position of the spreader 300 along the sliding direction of the vehicle frame 1 can be adjusted. It can be understood that the sliding of the first micro-motion mechanism 2 and the second micro-motion mechanism 3 can be short-distance sliding for finely adjusting the position of the spreader 300.

[0144] In these optional embodiments, the first carrier 31 and the second carrier 32 can slide along the second direction Y in the same direction, thereby driving the spreader 300 to move along the second direction Y and adjusting the position of the spreader 300 along the second direction Y. The first carrier 31 and the second carrier 32 can also slide along the second direction Y in opposite directions to drive the opposite ends of the spreader 300 to move along the second direction Y in opposite directions, so as to realize the rotation of the spreader 300 in the horizontal plane.

[0145] In some optional embodiments, as shown in FIG. 3 and FIG. 4, the trolley 100 comprises a first driving mechanism 4 and a second driving mechanism. The first driving mechanism 4 comprises a first power module and a first transmission assembly, the first transmission assembly is connected to opposite sides of the frame 211 in the first direction X and is configured to transmit power output by the first power module to the frame 211 to drive the frame 211 to slide in the first direction X, the first power module is arranged on the vehicle frame 1 and between opposite sides of the frame 211 in the first direction X. In this embodiment, one power module and one set of transmission assemblies between opposite sides of the frame 211 in the first direction X can achieve better power distribution and transmission effect at a lower cost.

[0146] In some optional embodiments, the second driving mechanism comprises two driving modules respectively driving the first carrier 31 and the second carrier 32, each driving module comprises a second power module and a second transmission assembly, the second power module is arranged on the frame 211, and the second transmission assembly is configured to transmit power output by the second power module to the first carrier 31 or the second carrier to drive the first carrier 31 or the second carrier 32 to slide in the second direction Y. In this embodiment, using two driving modules facilitates simplified implementation, and using one power module and one set of transmission assemblies for each carrier can achieve better power distribution and transmission effect at a lower cost.

[0147] As a non-limiting example, the first power module and the second power module can comprise a motor, and the first transmission assembly and the second transmission assembly can comprise a gear and rack transmission assembly, a chain wheel and chain transmission assembly, a worm and gear transmission assembly, a transmission belt assembly or any other suitable transmission assembly.

[0148] In some optional embodiments, as shown in FIG. 5 and FIG. 6, the first direction X is the running direction of the main vehicle 200, and the vehicle frame 1 is slidably connected to the main vehicle 200 in the second direction Y; the vehicle frame 1 comprises two or more vehicle beams 11 arranged in the second direction Y, each vehicle beam 11 extends in the first direction X. The first micro-motion mechanism 2 comprises a first support frame 213 and a second support frame 214 arranged opposite to each other in the first direction X, the first support frame 213 and the second support frame 214 jointly support the second micro-motion mechanism 3 and are slidably connected to the vehicle frame 1. The second micro-motion mechanism 3 is connected to the spreader 300 through a connecting device, the connecting device comprises a plurality of connecting units 5, the second micro-motion mechanism 3 comprises a first carrier 31 and a second carrier 32 for carrying the connecting device, the first carrier 31 and the second carrier 32 are arranged opposite to each other in the first direction X and are slidably connected to the first micro-motion mechanism 2, and each of the first carrier 31 and the second carrier carries two connecting units 5 distributed in the second direction Y.

[0149] In these alternative embodiments, the first carrier 31 and the second carrier 32 are capable of sliding along the second direction Y in the same direction, thereby moving the spreader 300 along the second direction Y and adjusting the position of the spreader 300 along the second direction Y. The first carrier 31 and the second carrier 32 are also capable of sliding along the second direction Y in opposite directions, thereby moving the opposite ends of the spreader 300 along the second direction Y in opposite directions and achieving the purpose of rotating the spreader 300 in the horizontal plane.

[0150] Alternatively, the first carrier 31 and the second carrier 32 are respectively arranged on the first support frame 213 and the second support frame 214 and are respectively in sliding connection with the first support frame 213 and the second support frame 214.

[0151] In some alternative embodiments, the trolley 100 comprises a first driving mechanism 4 and a second driving mechanism. The first driving mechanism 4 comprises two driving units 40 located between the first support frame 213 and the second support frame 214 along the first direction X, each driving unit 40 comprising a first power module arranged on the frame 1 and a first transmission assembly configured to transmit the power output by the first power module to the first support frame 213 or the second support frame 214 to drive the first support frame 213 or the second support frame 214 to slide along the first direction X. As a non-limiting example, the first power module can comprise an electric motor, and the first transmission assembly can comprise a gear and rack transmission assembly, a chain wheel and chain transmission assembly, a worm and gear transmission assembly, or any other suitable transmission assembly. In this embodiment, two driving units 40 are used, which is more convenient to implement.

[0152] The second driving mechanism comprises two driving modules respectively driving the first carrier 31 and the second carrier 32, each driving module comprising a second power module arranged on the first support frame 213 or the second support frame 214 and a second transmission assembly configured to transmit the power output by the second power module to the first carrier 31 or the second carrier 32 to drive the first carrier 31 or the second carrier 32 to slide along the second direction Y. In this embodiment, two driving modules are used to facilitate the implementation, and for each carrier, one power module and one set of transmission assembly are used, which can achieve better transmission force distribution and transmission effect at a lower cost.

[0153] As a non-limiting example, the first power module and the second power module can comprise an electric motor, and the first transmission assembly and the second transmission assembly can comprise a gear and rack transmission assembly, a chain wheel and chain transmission assembly, a worm and gear transmission assembly, a transmission belt assembly, or any other suitable transmission assembly.

[0154] According to a second aspect of the present application, as shown in FIG. 1 and FIG. 2, the present application further provides a mounting device 1000, which comprises the trolley 100 and the main vehicle 200 provided by any of the above-mentioned embodiments, and the trolley 100 is slidingly connected to one side of the main vehicle 200 along the vertical direction.

[0155] The mounting device 1000 provided by the present application has the corresponding technical effects of the trolley 100 provided by any of the above-mentioned embodiments, which will not be repeated here.

[0156] Optionally, the main vehicle 200 can comprise a vertical support assembly 201, a transverse support assembly 202, and a traveling mechanism assembly 203, the traveling mechanism assembly 203 is arranged on one side of the vertical support assembly 201 along the vertical direction, the transverse support assembly 202 is carried on one side of the vertical support assembly 201 along the vertical direction and away from the traveling mechanism assembly 203, and the trolley 100 is slidingly connected to the transverse support assembly 202.

[0157] In some optional embodiments, the mounting device 1000 is used for mounting a photovoltaic array semi-finished product. That is, the mounting device 1000 can be a photovoltaic array semi-finished product mounting device.

[0158] Optionally, the mounting device 1000 is connected with a lifting device 300, and the lifting device 300 is used for hoisting the photovoltaic array semi-finished product. One side of the main vehicle 200 away from the trolley 100 along the vertical direction can form a working space, and the lifting device 300 can hoist the photovoltaic array semi-finished product in the working space.

[0159] In the description of the embodiments of the present application, the term "and / or" is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, m and / or n, which means that there are three cases of m alone, m and n together, and n alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are in an "or" relationship.

[0160] In the description of the embodiments of the present application, the term "a plurality of" means two or more (including two).

[0161] In the embodiments of the present application, "parallel" not only includes the case of absolute parallel, but also includes the case of approximate parallel which is generally recognized in engineering; at the same time, "vertical" also not only includes the case of absolute vertical, but also includes the case of approximate vertical which is generally recognized in engineering. Illustratively, the included angle between two directions is 85°-90°, which can be considered as vertical; the included angle between two directions is 0°-5°, which can be considered as parallel.

[0162] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A trolley of an installation device, the installation device comprising a main vehicle, the trolley being slidingly connected to a vertical side of the main vehicle, wherein the trolley comprises a frame, a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism being arranged on the frame, the second micro-motion mechanism being arranged on the first micro-motion mechanism and being capable of connecting a lifting device along the vertical direction; the frame being slidingly connected to the main vehicle, the first micro-motion mechanism being slidingly connected to the frame along a first direction to adjust a position of the second micro-motion mechanism and the lifting device in the first direction; the second micro-motion mechanism being slidingly connected to the first micro-motion mechanism along a second direction to adjust a position of the lifting device in the second direction; the first direction, the second direction and the vertical direction intersecting with each other, one of the first direction and the second direction being a traveling direction of the main vehicle, and the other being a sliding direction of the frame along the main vehicle. 2.The trolley of claim 1, wherein the first micro-motion mechanism comprises a single frame, the frame supporting the second micro-motion mechanism and being slidingly connected to the frame; and the frame and the frame being arranged in a vertical stack or in a same horizontal plane. 3.The trolley of claim 2, wherein the trolley comprises a first driving mechanism configured to drive the frame to slide along the first direction; the first driving mechanism comprises a first power module arranged on the frame and connected to the frame to drive the frame to slide along the first direction; or the first driving mechanism comprises a first power module and a first transmission assembly, the first power module being arranged on the frame, the first transmission assembly being configured to transmit power output by the first power module to the first micro-motion mechanism to drive the frame to slide along the first direction. 4.The trolley of claim 1, wherein the first micro-motion mechanism comprises a first support frame and a second support frame arranged opposite to each other in the first direction, the first support frame and the second support frame jointly supporting the second micro-motion mechanism and being slidingly connected to the frame; and the first support frame and the second support frame are configured to slide in the same direction along the first direction to drive the second micro-motion mechanism and the lifting device to move along the first direction. 5.The trolley of claim 4, wherein the trolley comprises a first driving mechanism configured to drive the first support frame and the second support frame to slide in the same direction along the first direction; the first driving mechanism comprises at least one driving unit, the driving unit comprising a first power module arranged on the frame and connected to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide along the first direction; or ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The driving unit comprises a first power module and a first transmission assembly, the first power module is arranged on the frame, and the first transmission assembly is configured to transmit power output by the first power module to the first support frame and / or the second support frame to drive the first support frame and / or the second support frame to slide in the first direction.

6. The trolley according to claim 5, wherein, The first driving mechanism comprises two driving units; The first transmission assembly of at least one driving unit comprises a push rod and a connecting rod, one end of the push rod in the first direction is connected to the first power module, the push rod is configured to stretch and contract in the first direction in response to power output by the first power module, the connecting rod is connected to the other end of the push rod in the first direction at the middle of the connecting rod in the second direction, and opposite ends of the connecting rod in the second direction are connected to the first support frame.

7. The trolley according to any one of claims 1-6, further comprising: a connecting device comprising a plurality of connecting units, each connecting unit is at least partially fixed to the second micro-motion mechanism, so that the second micro-motion mechanism connects the lifting appliance through the plurality of connecting units; The length of each connecting unit in the vertical direction is adjustable, and the length of each connecting unit is adjusted independently.

8. The trolley according to claim 7, wherein, The connecting unit comprises a winding mechanism and a connecting rope, the winding mechanism is fixed to the second micro-motion mechanism, at least part of the connecting rope is wound on the winding mechanism, the winding mechanism connects the lifting appliance through the connecting rope, and the winding mechanism is configured to adjust the length of the connecting unit by winding the connecting rope.

9. The trolley according to claim 7, wherein, At least part of the connecting unit is arranged on the side of the second micro-motion mechanism facing the walking surface of the main trolley in the vertical direction.

10. The trolley according to claim 7, wherein, The length of the connecting unit is configured to be adjusted by a control mechanism, and the control mechanism adjusts the length of the connecting unit according to the detection signal of the horizontal detection mechanism to make the lifting appliance in a horizontal state.

11. The trolley according to claim 7, wherein, The second micro-motion mechanism comprises a first bearing frame and a second bearing frame for bearing the connecting device, the first bearing frame and the second bearing frame are arranged opposite to each other in the first direction and are slidingly connected to the first micro-motion mechanism; The first bearing frame and the second bearing frame are configured to slide in the same direction in the second direction to drive the lifting appliance to move in the second direction, or slide in the opposite direction in the second direction to drive the lifting appliance to rotate in the horizontal plane.

12. The trolley according to claim 11, wherein, The trolley further comprises a second driving mechanism configured to drive the first bearing frame and the second bearing frame to slide in the same direction or in the opposite direction in the second direction. The second driving mechanism comprises two driving modules respectively driving the first carrier frame and the second carrier frame, each of the driving modules comprises a second power module, the second power module is arranged on the first micro-motion mechanism and connected to the first carrier frame or the second carrier frame to drive the first carrier frame or the second carrier frame to slide along the second direction; or Each of the driving modules comprises a second power module and a second transmission assembly, the second power module is arranged on the first micro-motion mechanism, and the second transmission assembly is configured to transmit power output by the second power module to the first carrier frame or the second carrier frame to drive the first carrier frame or the second carrier frame to slide along the second direction.

13. The trolley according to claim 11, wherein The first carrier frame and the second carrier frame respectively carry a plurality of the connection units, and the plurality of the connection units are distributed on the first carrier frame or the second carrier frame along the second direction.

14. The trolley according to claim 11, wherein The main trolley comprises a vertical support assembly and a transverse support assembly, the transverse support assembly is carried on one side of the vertical support assembly along the vertical direction, the trolley is slidingly connected to the transverse support assembly, and a part of the trolley extends out of the transverse support assembly along the advancing direction of the main trolley; The first carrier frame, the second carrier frame and the connection device are arranged on the part of the trolley extending out of the transverse support assembly.

15. The trolley according to any one of claims 1-6 and 8-14, further comprising: A sway-preventing device comprising two or more sway-preventing mechanisms arranged at intervals along the first direction, each of the sway-preventing mechanisms is vertically telescopically arranged, the sway-preventing mechanisms are fixedly connected to the second micro-motion mechanism, and one end of the sway-preventing mechanisms along the vertical direction is capable of connecting the spreader.

16. The trolley according to claim 15, wherein The sway-preventing mechanism comprises a first connecting piece, a second connecting piece and a plurality of sleeves, the plurality of sleeves are movably sleeved, the first connecting piece is fixedly connected to the second micro-motion mechanism and the outermost sleeve, the second connecting piece is hingedly connected to the innermost sleeve at a lower end along the vertical direction and fixedly connected to the spreader.

17. The trolley according to claim 7, wherein The connection device comprises two sets of connection units arranged oppositely, the length adjustment of the two sets of connection units can make the spreader overturn relative to the horizontal plane along the vertical direction, and the spreader comprises a central axis between the two sets of connection units; The trolley further comprises a sway-preventing device, the sway-preventing device comprises at least one sway-preventing mechanism fixedly arranged on the trolley in a direction parallel to the central axis, one end of the sway-preventing mechanism along the vertical direction is connected to the spreader; The length of the sway-preventing mechanism along the vertical direction is adjustably arranged, and the length adjustment of each of the sway-preventing mechanisms is independent of each other.

18. The trolley according to claim 17, wherein The anti-sway mechanism comprises an anti-sway rope and a plurality of winding structures provided on the trolley frame, at least part of the anti-sway rope being wound on the winding structures, the winding structures being connected to the lifting device through the anti-sway rope, and the winding structures being configured to adjust the length of the anti-sway mechanism by winding the anti-sway rope. The anti-sway mechanism is connected to the lifting device through the anti-sway rope in a reverse triangular manner.

19. The trolley according to claim 18, wherein In the case of overturning of the lifting device, the connection point of the anti-sway mechanism to the lifting device deviates from the central axis of the lifting device towards the trolley frame.

20. The trolley according to claim 17, wherein The main vehicle comprises a vertical support assembly and a transverse support assembly, the transverse support assembly being carried on a vertical side of the vertical support assembly, the trolley being slidingly connected to the transverse support assembly, and part of the trolley frame extending out of the transverse support assembly in the direction of travel of the main vehicle; The anti-sway device is provided on the part of the trolley frame extending out of the transverse support assembly.

21. The trolley according to any one of claims 1-6, 8-14, 16-20, wherein The main vehicle comprises a vertical support assembly and a transverse support assembly, the transverse support assembly being carried on a vertical side of the vertical support assembly, the transverse support assembly and the vertical support assembly enclosing and constituting a working space, and the trolley being slidingly connected to the transverse support assembly; The trolley further comprises an anti-collision mechanism provided on a vertical side of the trolley frame facing the working space, the anti-collision mechanism being configured to limit the lifting device connected to the second micro-motion mechanism from moving vertically towards the transverse support assembly.

22. The trolley according to claim 21, wherein The anti-collision mechanism comprises a limit sensor, a limit structure and a collision rod, the collision rod being vertically movable, the limit structure being provided on a vertical side of the collision rod facing away from the working space and being configured to move in response to abutting action of the collision rod in the vertical direction, so as to cause the limit sensor to generate a stop signal indicating that the lifting device should stop moving vertically towards the transverse support assembly.

23. The trolley according to any one of claims 1-6, 8-14, 16-20, 22, wherein The first direction is the direction of travel of the main vehicle, and the trolley frame is slidingly connected to the main vehicle in the second direction; the trolley frame comprises two or more trolley beams spaced apart in the second direction, each of the trolley beams extending in the first direction; The first micro-motion mechanism comprises a single frame supporting the second micro-motion mechanism and slidingly connected to the trolley frame in the first direction, and the frame and the trolley frame are vertically stacked. The second micro-motion mechanism is connected to the lifting device through a connecting device, the connecting device includes a plurality of connecting units, the second micro-motion mechanism includes a first carrier frame and a second carrier frame, the first carrier frame and the second carrier frame are oppositely arranged in the first direction and are slidingly connected to the first micro-motion mechanism, and each of the first carrier frame and the second carrier frame carries two connecting units distributed along the second direction.

24. The trolley according to claim 23, wherein, the trolley includes a first driving mechanism and a second driving mechanism; the first driving mechanism includes a first power module and a first transmission assembly, the first transmission assembly is connected to opposite sides of the frame in the first direction and is configured to transmit power output by the first power module to the frame to drive the frame to slide in the first direction, and the first power module is arranged on the frame and located between the opposite sides of the frame in the first direction; the second driving mechanism includes two driving modules respectively driving the first carrier frame and the second carrier frame, each driving module includes a second power module and a second transmission assembly, the second power module is arranged on the frame, and the second transmission assembly is configured to transmit power output by the second power module to the first carrier frame or the second carrier frame to drive the first carrier frame or the second carrier frame to slide in the second direction.

25. The trolley according to any one of claims 1-6, 8-14, 16-20 and 22, wherein, the first direction is the running direction of the main vehicle, and the frame is slidingly connected to the main vehicle in the second direction; the frame includes two or more than two car beams arranged at intervals in the second direction, and each car beam extends in the first direction; the first micro-motion mechanism includes a first support frame and a second support frame oppositely arranged in the first direction, and the first support frame and the second support frame jointly support the second micro-motion mechanism and are slidingly connected to the frame; the second micro-motion mechanism is connected to the lifting device through a connecting device, the connecting device includes a plurality of connecting units, the second micro-motion mechanism includes a first carrier frame and a second carrier frame for carrying the connecting device, the first carrier frame and the second carrier frame are oppositely arranged in the first direction and are slidingly connected to the first micro-motion mechanism, and each of the first carrier frame and the second carrier frame carries two connecting units distributed along the second direction.

26. The trolley according to claim 25, wherein, the trolley includes a first driving mechanism and a second driving mechanism; the first driving mechanism includes two driving units located between the first support frame and the second support frame in the first direction, each driving unit includes a first power module and a first transmission assembly, the first power module is arranged on the frame, and the first transmission assembly transmits power output by the first power module to the first support frame or the second support frame to drive the first support frame or the second support frame to slide in the first direction; The second driving mechanism comprises two driving modules respectively driving the first carrier frame and the second carrier frame, each driving module comprising a second power module and a second transmission assembly, the second power module being arranged on the first support frame or the second support frame, the second transmission assembly being configured to transmit power output by the second power module to the first carrier frame or the second carrier frame to drive the first carrier frame or the second carrier frame to slide in the second direction.

27. An installation apparatus comprising a main vehicle and a trolley according to any one of claims 1-26, the trolley being slidingly connected to a vertically oriented side of the main vehicle.

28. The installation apparatus according to claim 27, wherein, the installation apparatus is used for installing a photovoltaic array semi-finished product.

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