A coating robot and coating method for repairing photovoltaic components

Abstract

The present invention relates to the field of photovoltaic module coating technology, and specifically discloses a coating robot and coating method for repairing photovoltaic modules, including: a trailer body, an automatic coating liquid replenishing mechanism, a controller, a spraying robot, a coating liquid storage box and a pump body; the coating liquid automatic replenishing mechanism is embedded on the left side of the top of the trailer body; the controller is arranged on the front side of the coating liquid automatic replenishing mechanism; the spraying robot is arranged on the outside of the trailer body; the coating liquid storage box is arranged on the top of the trailer body and located on the right side of the coating liquid automatic replenishing mechanism; the pump body is arranged on the top of the trailer body and located on the right side of the coating liquid storage box. The present invention can realize the automatic filling and feeding of the coating liquid inside the spraying robot, reduce the manual operation items of the staff, reduce the contact between the staff and the coating liquid, improve safety, and realize the automatic storage of the spraying robot after the operation is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic module coating, and in particular to a coating robot and a coating method for repairing photovoltaic modules. Background Art

[0002] With the increasing global demand for renewable energy, photovoltaic power generation technology, as one of the representatives of clean energy, has been expanding its market size and application areas. Photovoltaic modules, as one of the core components of photovoltaic power generation systems, have a direct impact on the power generation efficiency and stability of photovoltaic systems. However, in the long-term use process, the surface of photovoltaic modules may be attenuated due to environmental factors (such as dust, bird droppings, etc.) or physical damage (such as scratches, microcracks, etc.). Therefore, in the prior art, coating robots are often used to spray and coat large areas of photovoltaic modules. However, in the prior art, because the coverage area of ​​photovoltaic modules for photovoltaic power generation is relatively large, when it is necessary to spray and repair the coating of photovoltaic modules on a large area, it is necessary to frequently replenish the coating liquid inside the coating robot. In the process of filling the coating liquid inside the spray robot, the staff still needs to manually dock the coating liquid storage box with the coating liquid storage bin of the spray robot, which is troublesome to operate, and some coating liquids also contain harmful substances, which will cause harm to the staff when in contact with the staff, so the degree of automation of the spray robot in the coating process is still insufficient. Summary of the invention

[0003] The object of the present invention is to provide a coating robot and a coating method for repairing photovoltaic components to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a coating robot for repairing photovoltaic modules, comprising: a trailer body, an automatic coating liquid replenishing mechanism, a controller, a spraying robot, a coating liquid storage box and a pump body; the coating liquid automatic replenishing mechanism is embedded in the left side of the top end of the trailer body; the controller is arranged on the front side of the coating liquid automatic replenishing mechanism; the spraying robot is arranged on the outside of the trailer body, and the controller is remotely wirelessly connected to the spraying robot; the coating liquid storage box is arranged at the top of the trailer body and is located on the right side of the coating liquid automatic replenishing mechanism; the pump body is arranged at the top of the trailer body and is located on the right side of the coating liquid storage box, one end of the conduit is screwed at the inlet of the pump body, and the other end of the conduit extends into the inner cavity of the coating liquid storage box, and the pump body and the controller are electrically connected.

[0005] Preferably, the automatic coating liquid replenishing mechanism includes: a box body, an electric door, a camera, a mounting groove, a ramp mechanism and a docking mechanism; the box body is embedded in the left side of the top end of the trailer body along the left-right direction; the electric door is arranged at the left opening of the inner cavity of the box body, and the electric door and the controller are electrically connected; the camera is arranged at the top end of the inner cavity of the box body, and the camera and the controller are electrically connected; the mounting groove is opened at the bottom end of the inner cavity of the box body; the ramp mechanism is arranged in the inner cavity of the mounting groove; the docking mechanism is arranged at the bottom end of the inner cavity of the trailer body and is located on the outside of the mounting groove.

[0006] Preferably, the ramp mechanism comprises: a ramp mechanism mounting seat, a rotating seat, a guide rail frame, a ramp plate, an electric telescopic rod and a connecting seat; the ramp mechanism mounting seat is arranged in the inner cavity of the mounting groove along the left and right directions; the number of the rotating seats is two, and the two rotating seats are rotatably connected to the front and rear ends of the left side of the top end of the ramp mechanism mounting seat through pin shafts; the number of the guide rail frames is two, and the two guide rail frames are respectively arranged at the top ends of the front and rear rotating seats along the left and right directions; the ramp plate is arranged at the top ends of the front and rear guide rail frames along the left and right directions; the electric telescopic rod is arranged at the inner right end of the front and rear guide rail frames through a bracket, and the electric telescopic rod is electrically connected to the docking mechanism; the connecting seat is installed on the left side of the electric telescopic rod, and the top end of the connecting seat is fixedly connected to the bottom end of the ramp plate; wherein, the front and rear sides of the connecting seat are respectively plugged into the inner cavities of the front and rear guide rail frames and can move left and right in the inner cavity of the guide rail frames.

[0007] Preferably, the ramp mechanism also includes: a lead screw nut, a lead screw, a push plate, a worm gear, a first motor and a multi-thread worm; the lead screw nut is rotatably connected to the center position of the inner right end of the ramp mechanism mounting seat through a bearing; the lead screw is screwed into the inner cavity of the lead screw nut in the up and down directions; the push plate is rotatably connected to the top end of the lead screw through a bearing, and the top end of the push plate contacts the right side of the bottom end of the ramp plate; the worm gear is interference fit at the bottom end of the outer wall of the lead screw nut; the first motor is arranged on the inner side of the ramp mechanism mounting seat, and the first motor is electrically connected to the controller; the multi-thread worm screw is connected to the output end of the first motor, and the multi-thread worm is screwed to the worm wheel; wherein, the worm wheel can rotate clockwise or counterclockwise under the action of the rotational force of the multi-thread worm.

[0008] Preferably, the docking mechanism comprises: a docking mechanism mounting seat, a first slide rail, a first slider, a first mounting frame, a second motor, a second lead screw and a second lead screw nut; the number of the docking mechanism mounting seats is two, and the two docking mechanism mounting seats are respectively arranged at the bottom end of the inner cavity of the box body along the left-right direction and located at the front and rear sides of the mounting groove; the number of the first slide rails is two, and the two first slide rails are respectively arranged at the top of the front and rear docking mechanism mounting seats along the left-right direction; the number of the first sliders is two, and the two first sliders are respectively sleeved on the outer walls of the front and rear first slide rails; the first mounting frame is arranged at the top of the front and rear first sliders along the front and rear direction; the number of the second motors is two, and the two second motors are respectively installed at the outer left ends of the front and rear docking mechanism mounting seats, and the second motor is electrically connected to the controller; the number of the second lead screws is two, and the two second lead screws are respectively screwed to the output ends of the front and rear second motors along the left-right direction; the number of the second lead screw nuts is two, and the two second lead screw nuts are respectively screwed to the outer walls of the front and rear second lead screws and are respectively fixedly connected to the front and rear first sliders.

[0009] Preferably, the docking mechanism also includes: a third motor, a third lead screw, a third lead screw nut, a second slide rail and a second slider; the third motor is installed on the rear side of the top end of the first mounting frame, and the third motor is electrically connected to the controller; the third lead screw is screwed to the output end of the third motor along the front-to-back direction; the third lead screw nut is screwed to the outer wall of the third lead screw; the number of the second slide rails is two, and the two second slide rails are respectively arranged on the left and right sides of the top end of the first mounting frame along the front-to-back direction; the number of the second sliders is two, and the two second sliders are respectively sleeved on the outer sides of the left and right second slide rails.

[0010] Preferably, the docking mechanism also includes: an outer shell, a fourth motor, a rotating disk, a first gear and a second gear; the outer shell is arranged at the top ends of the two left and right second sliders, and the top end of the third lead screw nut is fixedly connected to the bottom end of the outer shell; the fourth motor is arranged at the bottom end of the outer shell, and the output end of the third motor extends into the inner cavity of the outer shell, and the fourth motor is electrically connected to the controller; the rotating disk is rotatably connected to the top opening of the inner cavity of the outer shell through a bearing; the first gear is screwed to the bottom end of the rotating disk; the second gear is screwed to the output end of the fourth motor, and the second gear is meshed with the first gear.

[0011] Preferably, the docking mechanism also includes: a second mounting frame, a third guide rail, a third slider, a fixed seat and a first electric push rod; the second mounting frame is mounted on the top of the rotating disk; the number of the third guide rails is two, and the two third guide rails are respectively arranged at the front and rear ends of the inner side of the second mounting frame along the left and right directions; the number of the third sliders is two groups, the number of the third sliders in each group is two, and the two groups of third sliders are respectively sleeved on the outer walls of the front and rear third guide rails; the fixed seat is arranged at the top of the front and rear groups of the second mounting frames; the first electric push rod is arranged on the right side of the second mounting frame, the left side of the first electric push rod extends into the inner side of the second mounting frame and is fixedly connected to the bottom end of the fixed seat, and the first electric push rod is electrically connected to the controller.

[0012] Preferably, the docking mechanism also includes: a solenoid valve, a second electric push rod, a movable seat, a fixed claw and a limit plate; the solenoid valve is arranged on the inner side of the fixed seat in the left-right direction, the outlet of the pump body is connected to the solenoid valve through a conduit, and the solenoid valve and the controller are electrically connected; the second electric push rod is arranged at the top of the fixed seat, and the second electric push rod is electrically connected to the controller; the movable seat is sleeved on the outer wall of the solenoid valve, and the left end of the second electric push rod is fixedly connected to the right side of the movable seat; the number of the fixed claws is several, and several of the fixed claws are rotatably connected to the outer side of the movable seat through a pin shaft along the circumferential direction; the limit plate is interference fit on the left side of the outer wall of the solenoid valve, and the limit plate is provided with a card groove along the circumferential direction, and several of the fixed claws are respectively engaged with several card grooves on the outer side of the limit plate.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. Use a spraying robot to spray the coating liquid on photovoltaic modules, which can construct the coating liquid layer on a large area and efficiently, effectively repair the coating liquid layer on the surface of old photovoltaic modules, and restore the original light transmittance of photovoltaic modules. The spraying robot sends a signal to the controller, and the pre-made program in the controller controls the electric door to release the seal on the inner cavity of the box. The first motor drives the multi-wire worm to rotate, causing the worm wheel to drive the lead screw nut to rotate under the action of the multi-wire worm rotation force. The lead screw pushes the right end of the ramp plate to move upward and tilt downward from right to left under the action of the lead screw nut rotation force. The electric telescopic rod pushes the connecting seat to drive the ramp plate to move downward through its own extension. After the spraying robot can enter the inner cavity of the box along the ramp plate, the pre-made program in the controller controls the electric door to close and reset the ramp plate, thereby completing the automatic storage and protection of the spraying robot.

[0015] 2. Use a camera to shoot the spray robot in the inner cavity position of the box and send a position signal to the controller to control the second motor, the third motor, the third motor and the first electric push rod to start in sequence. The second motor drives the second lead screw to rotate, so that the second lead screw nut drives the first slider to drive the solenoid valve to move horizontally in the left and right directions to a specified position under the action of the rotation force of the second lead screw. The third motor drives the third lead screw to rotate, so that the third lead screw nut drives the outer shell to drive the solenoid valve to move horizontally in the front and back directions to a specified position under the action of the rotation force of the third lead screw. The fourth motor drives the third gear to rotate, and the first gear is in the second gear. Under the action of the rotating force, the rotating disk is driven to change the horizontal angle of the solenoid valve and align it with the interface of the coating liquid storage bin inside the spray robot. The first electric push rod pushes the fixed seat to move to the left by its own extension and inserts into the interface of the coating liquid storage bin inside the spray robot for docking. The second electric push rod shortens and pulls the moving seat to move to the right by itself, so that the fixed claw rotates inward with the rotating connection with the pin shaft of the moving seat as the vertex to grasp the interface of the coating liquid storage bin inside the spray robot and then fix the solenoid valve. The pump body pumps the coating liquid inside the coating liquid storage box along the conduit from the solenoid valve into the interior of the spray robot, thereby realizing automatic replenishment of the coating liquid inside the spray robot.

[0016] To sum up, the present invention can realize the automatic replenishment of the coating liquid inside the spray robot, reduce the manual operation items of the staff, save time and effort, reduce the contact between the staff and the coating liquid and improve safety, and can realize the automatic storage of the spray robot after the operation is completed, without the need for manual intervention by the staff, which is more intelligent and quick, and improves the automation level of existing spray robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 for Figure 1 Exploded diagram of the automatic coating liquid replenishing mechanism.

[0019] Figure 3 for Figure 2 Exploded diagram of the ramp mechanism.

[0020] Figure 4 for Figure 2 Exploded diagram of the docking mechanism.

[0021] Figure 5 for Figure 4 Schematic diagram of the local structure.

[0022] In the figure: 1, trailer body; 2, coating liquid automatic replenishing mechanism; 21, box; 22, electric door; 23, camera; 24, mounting groove; 4, ramp mechanism; 41, ramp mechanism mounting seat; 42, rotating seat; 43, guide rail frame; 44, ramp plate; 45, electric telescopic rod; 46, connecting seat; 47, lead screw nut; 48, lead screw; 49, push plate; 410, worm gear; 411, first motor; 412, multi-line worm; 5, docking mechanism; 51, docking mechanism mounting seat; 52, first slide rail; 53, first slider; 54, first mounting frame; 55, second motor; 56, second lead screw; 5 7. Second lead screw nut; 58. Third motor; 59. Third lead screw; 510. Third lead screw nut; 511. Second slide rail; 512. Second slider; 513. Casing; 514. Fourth motor; 515. Rotating disk; 516. First gear; 517. Second gear; 518. Second mounting bracket; 519. Third guide rail; 520. Third slider; 521. Fixed seat; 522. First electric push rod; 523. Solenoid valve; 524. Second electric push rod; 525. Moving seat; 526. Fixed claw; 527. Limiting plate; 6. Controller; 7. Spraying robot; 8. Coating liquid storage box; 9. Pump body. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-Figure 5 The present invention provides a technical solution: a coating robot for repairing photovoltaic modules, comprising: a trailer body 1, an automatic coating liquid replenishing mechanism 2, a controller 6, a spraying robot 7, a coating liquid storage box 8 and a pump body 9; the coating liquid automatic replenishing mechanism 2 is embedded in the left side of the top of the trailer body 1; the controller 6 is arranged on the front side of the coating liquid automatic replenishing mechanism 2; the spraying robot 7 is arranged on the outside of the trailer body 1, and the controller 6 is remotely wirelessly connected to the spraying robot 7; the coating liquid storage box 8 is arranged at the top of the trailer body 1 and is located on the right side of the coating liquid automatic replenishing mechanism 2; the pump body 9 is arranged at the top of the trailer body 1 and is located on the right side of the coating liquid storage box 8, one end of the catheter is screwed at the inlet of the pump body 9, and the other end of the catheter extends into the inner cavity of the coating liquid storage box 8, the pump body 9 and the controller 6 are electrically connected, and the pump body 9 can be controlled by the controller 6 to pump the coating liquid in the coating liquid storage box 8 along the catheter into the spray robot 7 through the solenoid valve 523.

[0025] As a preferred embodiment, further, the automatic coating liquid replenishing mechanism 2 includes: a box body 21, an electric door 22, a camera 23, a mounting groove 24, a ramp mechanism 4 and a docking mechanism 5; the box body 21 is embedded in the left side of the top end of the trailer body 1 along the left-right direction; the electric door 22 is arranged at the left opening of the inner cavity of the box body 21, the electric door 22 and the controller 6 are electrically connected, and the electric door 22 can be controlled to open and close by the controller 6; the camera 23 is arranged at the top of the inner cavity of the box body 21, the camera 23 and the controller 6 are electrically connected, the camera 23 spray robot 7 takes pictures at the inner cavity position of the box body 21 and sends the position signal to the controller 6; the mounting groove 24 is opened at the bottom end of the inner cavity of the box body 21; the ramp mechanism 4 is arranged in the inner cavity of the mounting groove 24; the docking mechanism 5 is arranged at the bottom end of the inner cavity of the trailer body 1 and is located on the outside of the mounting groove 24.

[0026] As a preferred solution, further, the ramp mechanism 4 includes: a ramp mechanism mounting seat 41, a rotating seat 42, a guide rail frame 43, a ramp plate 44, an electric telescopic rod 45, a connecting seat 46, a lead screw nut 47, a lead screw 48, a push plate 49, a worm gear 410, a first motor 411 and a multi-wire worm 412; the ramp mechanism mounting seat 41 is arranged in the inner cavity of the mounting groove 24 along the left and right directions; the number of the rotating seats 42 is two, and the two rotating seats 42 are rotatably connected to the front and rear ends of the left side of the top of the ramp mechanism mounting seat 41 through the pin shaft; the number of the guide rail frames 43 is two, and the two guide rail frames 43 The ramp plate 44 is arranged at the top of the front and rear rotating seats 42 along the left and right directions respectively; the ramp plate 44 is arranged at the top of the front and rear guide rail frames 43 along the left and right directions, and the ramp plate 44 can be rotated upward or downward with the cooperation of the rotating seat 42 and the rotating seat 42 and the inclined path mechanism mounting seat 41 The pin shaft rotation connection point is the vertex; the electric telescopic rod 45 is arranged at the inner right end of the front and rear guide rail frames 43 through a bracket, and the electric telescopic rod 45 is electrically connected to the docking mechanism 5. The electric telescopic rod 45 can be controlled by the controller 6 to extend and shorten itself to drive the connecting seat 46 to move to the left or right; the connecting seat 46 is installed On the left side of the electric telescopic rod 45, the top end of the connecting seat 46 is fixedly connected to the bottom end of the ramp plate 44; wherein, the front and rear sides of the connecting seat 46 are respectively plugged into the inner cavities of the front and rear guide rail frames 43 and can move left and right in the inner cavity of the guide rail frame 43; the lead screw nut 47 is rotatably connected to the center position of the inner right end of the ramp mechanism mounting seat 41 through a bearing; the lead screw 48 is screwed to the inner cavity of the lead screw nut 47 in the up and down direction, and the lead screw 48 can move upward or downward under the action of the rotation force of the lead screw nut 47; the push plate 49 is rotatably connected to the top end of the lead screw 48 through a bearing, and the top end of the push plate 49 is connected to the lead screw 48. The right side of the bottom end of the ramp plate 44 is in contact; the worm wheel 410 is interference fit at the bottom end of the outer wall of the lead screw nut 47; the first motor 411 is arranged on the inner side of the ramp mechanism mounting seat 41, and the first motor 411 is electrically connected to the controller 6; the multi-thread worm 412 is screwed to the output end of the first motor 411, and the multi-thread worm 412 is threadedly connected to the worm wheel 410, and the electric telescopic rod 45 can be controlled by the controller 6 to extend and shorten itself to drive the connecting seat 46 to move to the left or right; wherein, the worm wheel 410 can rotate clockwise or counterclockwise under the action of the rotational force of the multi-thread worm 412.

[0027] As a preferred solution, further, the docking mechanism 5 includes: a docking mechanism mounting seat 51, a first slide rail 52, a first slider 53, a first mounting frame 54, a second motor 55, a second lead screw 56, a second lead screw nut 57, a third motor 58, a third lead screw 59, a third lead screw nut 510, a second slide rail 511, a second slider 512, a housing 513, a fourth motor 514, a rotating disk 515, a first gear 516, a second gear 517, a second mounting frame 518, a third guide rail 519, a third slider 520, a fixed seat 521, a first electric push rod 522, a solenoid valve 523, a second electric push rod 524, a moving seat 525, a fixed claw 526 and a limit plate 527; the docking mechanism mounting seat 51 There are two of them, and the two docking mechanism mounting seats 51 are respectively arranged at the bottom of the inner cavity of the box body 21 along the left-right direction and located at the front and rear sides of the mounting groove 24; there are two first slide rails 52, and the two first slide rails 52 are respectively arranged at the top of the front and rear docking mechanism mounting seats 51 along the left-right direction; there are two first sliders 53, and the two first sliders 53 are respectively sleeved on the outer walls of the front and rear first slide rails 52, and the first slider 53 can move left and right on the outer walls of the first slide rails 52; the first mounting frame 54 is arranged at the top of the front and rear first sliders 53 along the front-to-back direction; there are two second motors 55, and the two second motors 55 are respectively installed at the outer left ends of the front and rear docking mechanism mounting seats 51, and the second motor 55 and the controller 6 is electrically connected, the second motor 55 can be controlled by the controller 6 to drive the second lead screw 56 to rotate clockwise or counterclockwise; the number of the second lead screw 56 is two, and the two second lead screws 56 are respectively screwed to the output ends of the front and rear second motors 55 in the left and right directions; the number of the second lead screw nuts 57 is two, and the two second lead screw nuts 57 are respectively screwed to the outer walls of the front and rear second lead screws 56 and are respectively fixedly connected to the front and rear first sliders 53, and the second lead screw nuts 57 can drive the first slider 53 to move to the left or right under the action of the rotation force of the second lead screw 56; the third motor 58 is installed on the rear side of the top end of the first mounting bracket 54, and the third motor 58 is electrically connected to the controller 6. 58 can be controlled by the controller 6 to drive the third lead screw 59 to rotate clockwise or counterclockwise; the third lead screw 59 is screwed to the output end of the third motor 58 along the front-to-back direction; the third lead screw nut 510 is screwed to the outer wall of the third lead screw 59, and the third lead screw nut 510 can drive the housing 513 to move forward or backward under the action of the rotation force of the third lead screw 59; the number of the second slide rails 511 is two, and the two second slide rails 511 are respectively arranged on the left and right sides of the top of the first mounting frame 54 along the front-to-back direction; the number of the second sliders 512 is two, and the two second sliders 512 are respectively sleeved on the outer sides of the left and right second slide rails 511, and the second slider 512 can move forward and backward on the outer side of the second slide rails 511;The housing 513 is arranged at the top ends of the left and right second sliders 512, and the top end of the third lead screw nut 510 is fixedly connected to the bottom end of the housing 513; the fourth motor 514 is arranged at the bottom end of the housing 513, and the output end of the fourth motor 514 extends into the inner cavity of the housing 513, and the fourth motor 514 is electrically connected to the controller 6, and the fourth motor 514 can be controlled by the controller 6 to drive the second gear 517 to rotate clockwise or counterclockwise; the rotating disk 515 is rotatably connected to the top opening of the inner cavity of the housing 513 through a bearing; the first gear 516 is screwed to the bottom end of the rotating disk 515, and the first gear 516 can drive the rotating disk 515 to rotate clockwise or counterclockwise under the action of the rotational force of the second gear 517; the second gear The wheel 517 is screwed to the output end of the fourth motor 514, and the second gear 517 is meshed with the first gear 516; the second mounting frame 518 is mounted on the top of the rotating disk 515; the number of the third guide rails 519 is two, and the two third guide rails 519 are respectively arranged at the front and rear ends of the inner side of the second mounting frame 518 along the left and right directions; the number of the third sliders 520 is two groups, and the number of each group of third sliders 520 is two, and the two groups of third sliders 520 are respectively sleeved on the outer walls of the front and rear third guide rails 519; the fixing seat 521 is arranged at the top of the front and rear groups of the second mounting frames 518; the first electric push rod 522 is arranged on the right side of the second mounting frame 518, and the left side of the first electric push rod 522 extends into the inner side of the second mounting frame 518 and is connected to the outer wall of the front and rear third guide rails 519. The bottom end of the fixed seat 521 is fixedly connected, the first electric push rod 522 is electrically connected to the controller 6, and the first electric push rod 522 can be controlled by the controller 6 to extend and shorten itself, so as to drive the fixed seat 521 to move to the left or right, so that the fixed seat 521 can be inserted into the interface of the internal coating liquid storage bin of the spray robot 7 for docking; the electromagnetic valve 523 is arranged on the inner side of the fixed seat 521 along the left and right directions, and the outlet of the pump body 9 is connected to the electromagnetic valve 523 through a conduit, and the electromagnetic valve 523 is electrically connected to the controller 6, and the electromagnetic valve 523 can be controlled to open and close by the controller 6; the second electric push rod 524 is arranged at the top end of the fixed seat 521, and the second electric push rod 524 is electrically connected to the controller 6, and the second electric push rod 524 can be controlled by the controller 6 The control is to pull the moving seat 525 to move to the left or right by stretching and shortening itself; the moving seat 525 is sleeved on the outer wall of the electromagnetic valve 523, and the left end of the second electric push rod 524 is fixedly connected to the right side of the moving seat 525, and the moving seat 525 can move left and right on the outer wall of the electromagnetic valve 523; there are several fixed claws 526, and several fixed claws 526 are rotatably connected to the outer side of the moving seat 525 through the pin shaft along the circumferential direction, and the fixed claws 526 can be rotated inward or outward with the pin shaft connection point of the moving seat 525 as the vertex; the limit plate 527 is interference-fitted on the left side of the outer wall of the electromagnetic valve 523, and the limit plate 527 is provided with a card slot along the circumferential direction, and several fixed claws 526 are respectively engaged with several card slots on the outer side of the limit plate 527. ;

[0028] By those skilled in the art, all electrical components in this case can be connected to an externally adapted power supply through wires, and an adapted external controller should be selected for connection according to the specific actual usage conditions to meet the control requirements of all electrical components. The specific connection method and control sequence should refer to the following working principle, in which the electrical components are electrically connected in sequence. The detailed connection means are well-known technologies in the art and will not be explained again. The following mainly introduces the working principle and process, and the specific work is as follows.

[0029] Step 1: When in use, the coating liquid is sprayed on the photovoltaic module by the spray robot 7, which can construct the coating liquid layer on a large area and efficiently, effectively repair the coating liquid layer on the surface of the old photovoltaic module, and restore the original light transmittance of the photovoltaic module. When the spray robot 7 needs to replenish the coating liquid or store it, the spray robot 7 sends a signal to the controller 6. The prefabricated program in the controller 6 controls the electric door 22 to start and open to release the seal on the inner cavity of the box 21. The prefabricated program in the controller 6 controls in sequence, and the first motor 411 and the electric telescopic rod 45 are started. The first motor 411 drives the multi-thread worm 412 to rotate clockwise. Since the multi-thread worm 412 and the worm wheel 410 are meshed, the worm wheel 410 drives the lead screw nut 47 to rotate clockwise under the action of the rotational force of the multi-thread worm 412. Since the lead screw nut 47 is threadedly connected with the lead screw 48, The lead screw 48 is prompted to move upward under the action of the rotational force of the lead screw nut 47, and then the lead screw 48 pushes the right end of the ramp plate 44 to move upward under the cooperation of the push plate 49, so that the ramp plate 44 is prompted to rotate upward with the rotation connection between the rotating seat 42 and the inclined path mechanism mounting seat 41 as the vertex, and then the ramp plate 44 is driven by the cooperation of the connecting seat 46 to tilt downward from right to left in the inner cavity of the mounting groove 24, and the electric telescopic rod 45 extends itself to push the connecting seat 46 to move to the left, and then the connecting seat 46 drives the ramp plate 44 to move to the lower left, so that the ramp plate 44 contacts the ground, and the spraying robot 7 can enter the inner cavity of the box body 21 along the ramp plate 44, and the controller 6 internal prefabricated program controls the electric door 22 to close and reset the ramp plate 44, thereby completing the automatic storage of the spraying robot 7;

[0030] Step 2: The camera 23 takes a picture of the spray robot 7 at the inner cavity position of the box body 21 and sends the position signal to the controller 6. The pre-made program in the controller 6 controls the second motor 55, the third motor 58, the fourth motor 514 and the first electric push rod 522 to start in sequence. The second motor 55 drives the second lead screw 56 to rotate clockwise or counterclockwise. Since the second lead screw nut 57 is screwed with the second lead screw 56, the second lead screw nut 57 drives the first slider 53 to move to the left or right under the action of the rotation force of the second lead screw 56. Then, under the limiting action of the first slide rail 52, the first slider 53 drives the first mounting bracket 54 to move to the left or right, and the first mounting bracket 54 is moved to the left or right. Under the cooperation of the second slide rail 511, the second slider 512, the housing 513, the rotating disk 515, the second mounting frame 518, the third guide rail 519, the third slider 520 and the fixing seat 521, the solenoid valve 523 is driven to move horizontally to a specified position in the left-right direction, and the third motor 58 drives the third lead screw 59 to rotate clockwise or counterclockwise. Since the third lead screw 59 is threadedly connected with the third lead screw nut 510, the third lead screw nut 510 drives the housing 513 to move forward or backward under the action of the rotation force of the third lead screw 59, and then under the limiting action of the second slider 512, the housing 513 is moved forward or backward between the rotating disk 515, the second mounting frame 518, the third guide rail 519, the third slider 520 and the fixing seat 521. The electromagnetic valve 523 is driven to move horizontally to a specified position along the front-rear direction in cooperation with the fixed seat 521, and the fourth motor 514 drives the second gear 517 to rotate clockwise or counterclockwise. Since the first gear 516 is meshed with the second gear 517, the first gear 516 drives the rotating disk 515 to rotate clockwise or counterclockwise under the action of the rotational force of the second gear 517, so that the rotating disk 515 changes the horizontal angle of the electromagnetic valve 523 under the cooperation of the second mounting frame 518, the third guide rail 519, the third slider 520 and the fixed seat 521, thereby aligning the electromagnetic valve 523 with the interface of the coating liquid storage bin inside the spray robot 7, and the first electric push rod 522 pushes the fixed seat 521 to the left by its own extension. The movable seat 525 is moved to the right side and the fixed seat 521 is inserted into the interface of the coating liquid storage bin inside the spray robot 7 for docking. The second electric push rod 524 shortens itself and pulls the movable seat 525 to move to the right. The movable seat 525 drives the fixed claw 526 to rotate inward with the pin shaft rotation connection with the movable seat 525 as the vertex under the limiting action of the limiting plate 527, so that the fixed claw 526 grasps the interface of the coating liquid storage bin inside the spray robot 7 and fixes the solenoid valve 523. The pre-made program inside the controller 6 controls the pump body 9 to start so as to pump the coating liquid inside the coating liquid storage box 8 along the conduit from the solenoid valve 523 into the spray robot 7, thereby realizing the automatic replenishment of the coating liquid inside the spray robot 7.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coating robot for repairing photovoltaic modules, characterized in that: include: Trailer body (1); An automatic coating liquid replenishing mechanism (2) is embedded on the left side of the top end of the trailer body (1); A controller (6) is arranged on the front side of the coating liquid automatic replenishing mechanism (2); A spraying robot (7) is arranged outside the trailer body (1), and the controller (6) is remotely wirelessly connected to the spraying robot (7); A coating liquid storage box (8) is arranged at the top of the trailer body (1) and is located on the right side of the coating liquid automatic replenishment mechanism (2); A pump body (9) is arranged at the top of the trailer body (1) and is located on the right side of the coating liquid storage box (8); one end of a conduit is screwed to the inlet of the pump body (9), and the other end of the conduit extends into the inner cavity of the coating liquid storage box (8); the pump body (9) is electrically connected to the controller (6); The coating liquid automatic replenishing mechanism (2) comprises: A box body (21) is embedded in the left side of the top end of the trailer body (1) along the left-right direction; An electric door (22) is arranged at the left opening of the inner cavity of the box body (21), and the electric door (22) is electrically connected to the controller (6); A camera (23) is arranged at the top of the inner cavity of the box (21), and the camera (23) is electrically connected to the controller (6); A mounting groove (24) is provided at the bottom end of the inner cavity of the box body (21); A ramp mechanism (4) arranged in the inner cavity of the mounting groove (24); A docking mechanism (5) arranged at the bottom end of the inner cavity of the trailer body (1) and located outside the mounting groove (24); The docking mechanism (5) comprises: A docking mechanism mounting seat (51), wherein the number of the docking mechanism mounting seats (51) is two, and the two docking mechanism mounting seats (51) are respectively arranged at the bottom end of the inner cavity of the box body (21) along the left-right direction and located at the front and rear sides of the mounting groove (24); A first slide rail (52), the number of the first slide rails (52) being two, and the two first slide rails (52) being respectively arranged at the top ends of the two front and rear docking mechanism mounting seats (51) along the left-right direction; A first sliding block (53), the number of the first sliding blocks (53) being two, and the two first sliding blocks (53) being respectively sleeved on the outer walls of the front and rear first sliding rails (52); A first mounting frame (54) is arranged at the top ends of the two front and rear first sliding blocks (53) along the front-rear direction; A second motor (55), the number of the second motors (55) being two, the two second motors (55) being respectively mounted on the outer left ends of the front and rear docking mechanism mounting seats (51), and the second motors (55) being electrically connected to the controller (6); A second lead screw (56), the number of the second lead screw (56) being two, the two second lead screws (56) being respectively screw-connected to the output ends of the two front and rear second motors (55) in the left-right direction; A second lead screw nut (57), the number of the second lead screw nuts (57) being two, the two second lead screw nuts (57) being respectively screwed onto the outer walls of the front and rear second lead screw rods (56) and respectively fixedly connected to the front and rear two first sliding blocks (53); a third motor (58) mounted on the rear side of the top end of the first mounting frame (54), the third motor (58) being electrically connected to the controller (6); A third lead screw (59) screw-connected to the output end of the third motor (58) along the front-rear direction; A third lead screw nut (510) threadedly connected to the outer wall of the third lead screw (59); A second slide rail (511), the number of the second slide rails (511) being two, and the two second slide rails (511) being respectively arranged on the left and right sides of the top end of the first mounting frame (54) along the front-to-back direction; A second sliding block (512), wherein the number of the second sliding blocks (512) is two, and the two second sliding blocks (512) are respectively sleeved on the outer sides of the left and right second sliding rails (511); A housing (513) is arranged at the top ends of the two left and right second sliding blocks (512), and the top end of the third lead screw nut (510) is fixedly connected to the bottom end of the housing (513); A fourth motor (514) is arranged at the bottom end of the housing (513), an output end of the fourth motor (514) extends into the inner cavity of the housing (513), and the fourth motor (514) is electrically connected to the controller (6); A rotating disk (515) is rotatably connected to the top opening of the inner cavity of the housing (513) via a bearing; A first gear (516) screwed to the bottom end of the rotating disk (515); A second gear (517) is screw-connected to the output end of the fourth motor (514), and the second gear (517) is meshed with the first gear (516); A second mounting frame (518) mounted on the top of the rotating disk (515); A third guide rail (519), the number of the third guide rails (519) being two, and the two third guide rails (519) being respectively arranged at the front and rear ends of the inner side of the second mounting frame (518) along the left-right direction; A third sliding block (520), wherein the third sliding blocks (520) are provided in two groups, each group of the third sliding blocks (520) is provided with two third sliding blocks, and the two groups of the third sliding blocks (520) are respectively sleeved on the outer walls of the front and rear third guide rails (519); A fixing seat (521) is arranged at the top ends of the front and rear sets of the second mounting frames (518); A first electric push rod (522) is arranged on the right side of the second mounting frame (518), the left side of the first electric push rod (522) extends into the inner side of the second mounting frame (518) and is fixedly connected to the bottom end of the fixing seat (521), and the first electric push rod (522) is electrically connected to the controller (6); The solenoid valve (523) is arranged on the inner side of the fixing seat (521) in the left-right direction, the outlet of the pump body (9) is connected to the solenoid valve (523) via a conduit, and the solenoid valve (523) is electrically connected to the controller (6); A second electric push rod (524) is arranged on the top end of the fixing seat (521), and the second electric push rod (524) is electrically connected to the controller (6); A movable seat (525) is sleeved on the outer wall of the solenoid valve (523), and the left end of the second electric push rod (524) is fixedly connected to the right side of the movable seat (525); A fixed claw (526), ​​wherein the number of the fixed claws (526) is multiple, and the multiple fixed claws (526) are rotatably connected to the outer side of the movable seat (525) along the circumferential direction via a pin shaft; The limiting plate (527) is interference-fitted on the left side of the outer wall of the solenoid valve (523); the limiting plate (527) is provided with a clamping groove along the circumferential direction; and a plurality of the fixing claws (526) are respectively clamped with a plurality of clamping grooves on the outer side of the limiting plate (527).

2. A coating robot for repairing photovoltaic modules according to claim 1, characterized in that: The ramp mechanism (4) comprises: A ramp mechanism mounting seat (41) disposed in the inner cavity of the mounting groove (24) along the left-right direction; A rotating seat (42), wherein the number of the rotating seats (42) is two, and the two rotating seats (42) are rotatably connected to the front and rear ends of the left side of the top end of the ramp mechanism mounting seat (41) via a pin shaft; A guide rail frame (43), wherein the number of the guide rail frames (43) is two, and the two guide rail frames (43) are respectively arranged at the top ends of the two front and rear rotating seats (42) along the left-right direction; A ramp plate (44) is arranged at the top ends of the two front and rear guide rail frames (43) along the left-right direction; An electric telescopic rod (45) is arranged at the inner right ends of the two front and rear guide rail frames (43) through a bracket, and the electric telescopic rod (45) is electrically connected to the docking mechanism (5); A connecting seat (46) is installed on the left side of the electric telescopic rod (45), and the top end of the connecting seat (46) is fixedly connected to the bottom end of the ramp plate (44); The front and rear sides of the connection seat (46) are respectively plugged into the inner cavities of the front and rear guide rail frames (43) and can move left and right in the inner cavity of the guide rail frame (43).

3. A coating robot for repairing photovoltaic modules according to claim 2, characterized in that: The ramp mechanism (4) further comprises: A lead screw nut (47) is rotatably connected to the center position of the inner right end of the ramp mechanism mounting seat (41) via a bearing; A lead screw (48) is screwed into the inner cavity of the lead screw nut (47) in the up-down direction; A push plate (49) is rotatably connected to the top end of the lead screw (48) via a bearing, and the top end of the push plate (49) is in contact with the right side of the bottom end of the ramp plate (44); A worm wheel (410) is interference-fitted on the bottom end of the outer wall of the lead screw nut (47); A first motor (411) is arranged on the inner side of the ramp mechanism mounting seat (41), and the first motor (411) is electrically connected to the controller (6); A multi-thread worm (412) is screw-connected to the output end of the first motor (411), and the multi-thread worm (412) is screw-connected to the worm wheel (410); The worm wheel (410) can rotate clockwise or counterclockwise under the action of the rotational force of the multi-thread worm (412).

4. A coating method for a coating robot for repairing photovoltaic modules according to claim 3, characterized in that: The following steps are involved: Step 1: Use a spraying robot (7) to spray the coating liquid on the photovoltaic module to repair the coating liquid layer on the surface of the old photovoltaic module. When the spraying robot (7) needs to replenish the coating liquid or store it, the spraying robot (7) sends a signal to the controller (6). The pre-made program in the controller (6) controls the electric door (22) to start and open to release the seal of the inner cavity of the box (21). The pre-made program in the controller (6) controls in sequence, and the first motor (411) and the electric telescopic rod (45) are started. The first motor (411) drives the multi-thread worm (412) to rotate clockwise. Since the multi-thread worm (412) and the worm wheel (410) are meshed, the worm wheel (410) drives the lead screw nut (47) to rotate clockwise under the action of the rotational force of the multi-thread worm (412). Since the lead screw nut (47) is screwed with the lead screw (48), the lead screw (48) is driven by the rotational force of the lead screw nut (47). The guide plate (44) is moved upward under the action of the guide plate (48), thereby causing the lead screw (48) to push the right end of the ramp plate (44) to move upward under the cooperation of the push plate (49), so that the ramp plate (44) is caused to rotate upward with the rotation connection point between the rotation seat (42) and the inclined path mechanism mounting seat (41) as the vertex under the cooperation of the rotation seat (42), thereby causing the ramp plate (44) to drive the ramp plate (44) to tilt downward from right to left in the inner cavity of the mounting groove (24) under the cooperation of the connecting seat (46), and the electric The movable telescopic rod (45) extends itself to push the connecting seat (46) to move to the left, thereby causing the connecting seat (46) to drive the ramp plate (44) to move to the lower left, causing the ramp plate (44) to contact the ground. After the spraying robot (7) can enter the inner cavity of the box body (21) along the ramp plate (44), the controller (6) internally pre-programmed controls the electric door (22) to close and reset the ramp plate (44), thereby completing the automatic storage of the spraying robot (7); Step 2: The camera (23) takes a picture of the spraying robot (7) at the inner cavity position of the box (21) and sends the position signal to the controller (6). The pre-made program in the controller (6) controls the second motor (55), the third motor (58), the fourth motor (514) and the first electric push rod (522) to start in sequence. The second motor (55) drives the second lead screw (56) to rotate clockwise or counterclockwise. Since the second lead screw nut (57) is screwed to the second lead screw (56), the second lead screw nut (57) drives the first slider (53) to move to the left or right under the action of the rotation force of the second lead screw (56), and then the first slider (53) is moved to the left or right under the limiting action of the first slide rail (52). 3) driving the first mounting frame (54) to move to the left or right, and causing the first mounting frame (54) to drive the electromagnetic valve (523) to move horizontally in the left-right direction to a specified position under the cooperation of the second slide rail (511), the second slider (512), the housing (513), the rotating disk (515), the second mounting frame (518), the third guide rail (519), the third slider (520) and the fixing seat (521), and the third motor (58) drives the third lead screw (59) to rotate clockwise or counterclockwise. Since the third lead screw (59) is screwed to the third lead screw nut (510), the third lead screw nut (510) drives the housing (513) to move forward or backward under the action of the rotational force of the third lead screw (59). The housing (513) moves to the rear side, and then under the limiting action of the second slider (512), the housing (513) drives the electromagnetic valve (523) to move horizontally in the front-to-back direction to a specified position under the cooperation of the rotating disk (515), the second mounting frame (518), the third guide rail (519), the third slider (520) and the fixing seat (521), and the fourth motor (514) drives the second gear (517) to rotate clockwise or counterclockwise. Since the first gear (516) is meshed with the second gear (517), the first gear (516) drives the rotating disk (515) to rotate clockwise or counterclockwise under the action of the rotational force of the second gear (517), so that the rotating disk (515) is moved to the front-to-back direction under the cooperation of the second mounting frame (518), the third guide rail (519), the third slider (520) and the fixing seat (521). 19), the third slider (520) and the fixed seat (521) cooperate to change the horizontal angle of the electromagnetic valve (523), so that the electromagnetic valve (523) is aligned with the interface of the internal coating liquid storage bin of the spray robot (7), the first electric push rod (522) pushes the fixed seat (521) to move to the left by its own extension, and the fixed seat (521) is inserted into the interface of the internal coating liquid storage bin of the spray robot (7) for docking, the second electric push rod (524) shortens itself, pulls the movable seat (525) to move to the right, and the movable seat (525) drives the fixed claw (526) to rotate inward with the pin shaft rotation connection of the movable seat (525) as the vertex under the limiting action of the limiting plate (527),Then, the fixed claw (526) grasps the interface of the coating liquid storage tank inside the spraying robot (7) and fixes the electromagnetic valve (523). The pre-programmed program inside the controller (6) controls the pump body (9) to start so as to pump the coating liquid inside the coating liquid storage tank (8) along the conduit through the electromagnetic valve (523) into the spraying robot (7), thereby realizing automatic replenishment of the coating liquid inside the spraying robot (7).

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