Intelligent installation device for photovoltaic panels

Abstract

The application discloses a kind of photovoltaic panel intelligent installation equipment, including at least two columns, same column column top is equipped with crossbeam, and two columns are installed with component flexible support between;Crossbeam top is equipped with truss guide rail, and double-beam truss car is arranged on two truss guide rails, and at least one end of truss car is installed with cantilever crane, and movable carriage is arranged between two beams of truss car, and mechanical hand moving car is arranged between cantilever crane and mechanical hand moving car, and cantilever crane is lifted with the material bracket of photovoltaic panel and placed on movable carriage, and mechanical hand moving car and movable carriage move on truss car, and mechanical hand absorbs photovoltaic panel and is installed to component flexible support.The application can continuously and coherently install photovoltaic panel, and installation process is quick and convenient, and coverage is wide;During installation process, photovoltaic panel is transported with material bracket and movable carriage as a whole, to avoid photovoltaic panel transfer breakage risk;It can be applicable to photovoltaic power station photovoltaic panel installation in a variety of scenarios.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic installation, in particular to a photovoltaic panel intelligent installation equipment. BACKGROUND

[0002] With the increasing strength of new energy development and utilization, the photovoltaic industry has formed a certain scale, and more and more photovoltaic power stations are being built. Flexible photovoltaic support is to change the rigid purlin to steel strand, forming a flexible cable structure, directly installing photovoltaic modules on two module installation cables, which can greatly reduce the amount of steel. The flexible support is to use the way of tensioning prestressed cable between two fixed points, and the two fixed points use steel foundation to provide reaction force, so that a larger span installation can be realized. However, how to complete the efficient installation of photovoltaic panels on the large-span flexible support is still a problem to be solved.

[0003] Chinese patent application CN 114084629 A discloses a warehouse box type photovoltaic module automatic installation device, which comprises a mobile installation vehicle, a warehouse box and a photovoltaic support. The mobile installation vehicle is provided with a supporting rod, and the supporting rod is provided with a pushing device for pushing the photovoltaic module. The warehouse box is detachably fixed on the mobile installation vehicle, and a plurality of photovoltaic modules are vertically stacked in the warehouse box. The bottom end of the warehouse box is provided with a vertical driving device for adjusting the lifting height and inclination angle of the photovoltaic module. The photovoltaic support and the mobile installation vehicle are detachably connected with a conveyor belt, and the photovoltaic module is pushed by the pushing device from the warehouse box to the conveyor belt and transported to the photovoltaic support. The above-mentioned patent can reduce the installation workload and the installation personnel, and can be installed for a long time without interruption. The installation process can be repeated multiple times, and the coverage is wide. However, the photovoltaic support of the above-mentioned patent is a rigid support, which is not suitable for photovoltaic installation on flexible support, and the installation vehicle needs to be fixed in position, which is not suitable for water surface operation (water surface fluctuation will cause the installation vehicle to shake, and then cause safety hazards in photovoltaic module transfer). SUMMARY

[0004] To solve the above-mentioned problems in the prior art, the present application provides a high-efficiency photovoltaic panel intelligent installation equipment.

[0005] To achieve the above technical purposes, the technical scheme adopted by the present application is:

[0006] The application discloses an intelligent installation device for photovoltaic panels, which comprises at least two columns, a crossbeam arranged above the columns in the same column, and a flexible support for a module arranged between the two columns; a truss guide rail is arranged at the top of the crossbeam, a double-beam truss car is arranged on the two truss guide rails, at least one end of the double-beam truss car is provided with a cantilever crane, a material transport vehicle and a mechanical arm moving vehicle are movably arranged between the two beams of the double-beam truss car, a mechanical arm is arranged on the mechanical arm moving vehicle, the material transport vehicle is arranged between the cantilever crane and the mechanical arm moving vehicle, the cantilever crane hoists a material bracket provided with photovoltaic panels and places the material bracket on the material transport vehicle, the mechanical arm moving vehicle and the material transport vehicle move on the double-beam truss car, the mechanical arm sucks the photovoltaic panels and installs the photovoltaic panels on the flexible support for a module.

[0007] Further, the truss car comprises a truss assembly, the truss assembly is composed of a first truss and a second truss, the first truss and the second truss are symmetrically arranged at intervals, the two ends of the first truss and the second truss are respectively connected through a short beam, a plurality of connecting mechanisms are further connected between the first truss and the second truss, and the connecting mechanisms are arranged below the first truss and the second truss; walking trolleys are arranged below the two ends of the truss assembly respectively, the walking trolleys are provided with driving motors, the walking trolleys are matched with the truss guide rails on the short beam, and the driving motors drive the walking trolleys to drive the truss assembly to travel on the truss guide rails.

[0008] Further, one of the walking trolleys is an adjustable structure, the walking trolley comprises a sliding plate and a walking frame, a fixing plate is arranged between the sliding plate and the truss assembly, the fixing plate is fixedly connected with the truss assembly, a linear sliding rail is arranged at the bottom of the fixing plate along the length direction of the truss assembly, a sliding block matched with the linear sliding rail is arranged above the sliding plate, the sliding plate can move along the linear sliding rail relative to the truss assembly, and stop blocks are arranged at the two ends of the linear sliding rail of the fixing plate; the walking frame is connected to the sliding plate through rotary support at the middle part below the sliding plate, and the driving motor is connected with the walking frame.

[0009] Further, the first truss and the second truss are of the same structure and respectively comprise two main beams and a plurality of vertical beams, the two main beams are arranged at intervals in the up-down direction, the vertical beams are respectively connected to the two main beams at two ends, and an inclined beam is further connected between the two main beams and arranged at an inclination, so that the inclined beam, the vertical beams and the main beams form a triangular support structure; the first truss and the second truss further comprise a reinforcing beam, the reinforcing beam is arranged in parallel with the main beams, the reinforcing beam and the two main beams are respectively fixed through a pull rod, and the reinforcing beam and the two main beams form a triangular structure; the connecting mechanism comprises a fixed part and a crossbar part, the fixed part is of an "L" shape, one end of the fixed part is fixed to the outside of the main beam below, and the other end of the fixed part is directed to the inside of the truss assembly and connected with the crossbar part, and the crossbar part is arranged below the main beam and connects the two fixed parts into one.

[0010] Further, the cantilever crane comprises a hoisting frame, the hoisting frame is arranged above the end of the truss car, a cantilever is arranged at the top of the hoisting frame, a winch is connected below the cantilever, a lifting tool is connected below the winch, and a first electromagnet is arranged at the bottom of the lifting tool.

[0011] Further, the lifting appliance comprises a lifting rope, a lifting beam and a lifting arm, one end of the lifting rope is connected with the winch, one end of the lifting rope is connected with the lifting beam, two groups of lifting arms are arranged side by side below the lifting beam, and the first electromagnet is arranged at the bottom of the lifting arm.

[0012] Further, the material bracket comprises a bottom support, a baffle and a guardrail, the baffle is vertically connected at one end of the bottom support, the guardrail is arranged on both sides of the bottom support, and the iron block is arranged above the guardrail.

[0013] Further, the material transport vehicle comprises a chassis, a supporting frame is arranged on the chassis, driving wheels are arranged on both sides of one end of the chassis in the length direction, driving wheels are arranged on both sides of the other end of the chassis, the driving wheels are connected with the motor through the shaft coupling, the motor drives the chassis to move through the driving wheels and the driven wheels, the supporting frame is arranged at an inclination angle with the chassis, a material rack base is arranged on the top of the material transport vehicle, the material bracket is placed on the material rack base, bracket guide rails are arranged on both sides of the top of the supporting frame, slide block assemblies are arranged on both sides of the material rack base, and the slide block assemblies are slidably connected with the bracket guide rails, a pushing assembly is further arranged below the material rack base on the top of the material transport vehicle, the pushing assembly comprises a lead screw, a connecting seat and a speed reducer, the lead screw is arranged along the length direction of the supporting frame, one end of the lead screw is rotatably connected with the material transport vehicle, the other end of the lead screw is connected with the speed reducer, the connecting seat is rotatably connected with the lead screw, and the connecting seat is connected with the material rack base above.

[0014] Further, the mechanical hand moving vehicle comprises a mounting seat, a mechanical hand mounting position is arranged at the middle of the top of the mounting seat, rollers are arranged at four corners of the mounting seat, the rollers are connected with the walking mechanism, and the walking mechanism drives the mounting seat to move through the rollers; at least one end of the mounting seat is provided with a connecting mechanism, and the connecting mechanism is used for connecting the material transport vehicle.

[0015] Further, the connecting mechanism is a third electromagnet, at least one third electromagnet is arranged at one end of the mounting seat, and a proximity sensor is arranged beside the third electromagnet; one end of the material transport vehicle close to the mechanical hand moving vehicle is provided with a second iron block.

[0016] Compared with the prior art, the installation equipment has the following beneficial effects:

[0017] The installation equipment can continuously and continuously install the photovoltaic panel, the installation process is quick and convenient, and the coverage range is wide; during the installation process, the photovoltaic panel is transported integrally with the material bracket and the material transport vehicle, so that the risk of photovoltaic panel breakage during transfer is avoided; the installation equipment can be applied to photovoltaic panel installation of photovoltaic power stations in various scenes, and is not limited to ground and water surface operation.

[0018] In the installation equipment, the truss vehicle has simple structure, strong carrying capacity and good stability; the walking trolley is arranged, so that the truss assembly can move stably as a whole; further, one of the walking trolleys is an adjustable structure, which can compensate for the error caused by insufficient parallelism of the walking guide rail.

[0019] In the mounting device, the photovoltaic panels can be hoisted in large quantities by the cantilever crane, and lifted to the material trolley on the beam trolley, and the photovoltaic panels are safe and efficient during hoisting.

[0020] In the mounting device, the material trolley and the mechanical hand moving trolley can move back and forth on the beam trolley, the supporting frame of the material trolley and the chassis are inclined, so that the photovoltaic module placed on the supporting frame is in a backward tilting state, avoiding the photovoltaic module from tilting, and the safety is high; the mechanical hand moving trolley can move alone or with the material trolley, avoiding moving back and forth between the installation position and the material trolley, saving the time of taking out the photovoltaic panel, and improving the installation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0022] Figure 1 is a schematic diagram of the overall structure of the present application;

[0023] Figure 2 is Figure 1 is an enlarged schematic diagram of the dashed box I in

[0024] Figure 3 is a top view of the beam trolley in the present application;

[0025] Figure 4 is a schematic diagram of the structure of the beam trolley;

[0026] Figure 5 is a schematic diagram of the connecting mechanism of the beam trolley;

[0027] Figure 6 is a schematic diagram of the structure of the walking trolley;

[0028] Figure 7 is a schematic diagram of the overall structure of the cantilever crane in the present application;

[0029] Figure 8 is a schematic diagram of the structure of the material trolley and the material supporting frame in the present application;

[0030] Figure 9 is a schematic diagram of the structure of the material trolley in the present application;

[0031] Figure 10 is a schematic diagram of the structure of the mechanical hand moving trolley in the present application;

[0032] Figure 11is Figure 10 Enlarged schematic view at the dotted midline box M.

[0033] Reference signs: 0 - photovoltaic panel, 10 - stand column, 11 - cross beam, 12 - assembly flexible support, 13 - truss guide rail; 20 - truss trolley, 21 - first truss, 22 - second truss, 23 - short beam, 24 - connecting mechanism, 25 - travelling trolley, 211 - main beam, 212 - vertical beam, 213 - inclined beam, 214 - reinforcing beam, 241 - fixing part, 242 - cross bar part; 251 - sliding block, 252 - travelling trolley frame, 253 - fixing plate, 254 - linear slide rail, 255 - sliding block, 256 - rotary support, 257 - stopper; 30 - cantilever crane, 31 - hoisting frame, 32 - cantilever, 33 - lifting tool, 34 - hoist, 35 - first electromagnet, 331 - hoisting rope, 332 - hoisting beam, 333 - hoisting arm; 40 - material transport trolley, 41 - base frame, 42 - supporting frame, 43 - driving wheel, 44 - driven wheel, 45 - supporting frame guide rail, 46 - limiting block, 47 - second electromagnet; 48 - second iron block; 50 - manipulator moving trolley, 51 - mounting seat, 52 - travelling wheel, 53 - travelling mechanism, 54 - third electromagnet, 55 - proximity sensor; 60 - material supporting frame, 61 - bottom support, 62 - baffle, 63 - guardrail, 64 - iron block, 491 - lead screw, 492 - connecting seat, 493 - speed reduction motor, 610 - material frame base, 611 - sliding block assembly, 612 - limiting baffle. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0035] The application discloses an intelligent installation device for photovoltaic panels, which comprises at least two columns 10, a cross beam 11 arranged above the columns 10 in the same column, a component flexible support 12 arranged between the two columns 10, a truss guide rail 13 arranged at the top of the cross beam 11, a double-beam gantry crane 20 arranged above the two truss guide rails 13, a cantilever crane 30 arranged at least at one end of the double-beam gantry crane 20, a material transport vehicle 40 and a mechanical arm moving vehicle 50 movably arranged between the two beams of the double-beam gantry crane 20, a mechanical arm installed on the mechanical arm moving vehicle 50, and the material transport vehicle 40 arranged between the cantilever crane 30 and the mechanical arm moving vehicle 50.

[0036] The double-beam gantry crane 20 comprises a truss assembly, the truss assembly is composed of a first truss 21 and a second truss 22, the first truss 21 and the second truss 22 are symmetrically arranged at intervals, the two ends of the first truss 21 and the second truss 22 are respectively connected through a short beam 23, and a plurality of connecting mechanisms 24 are further connected between the first truss 21 and the second truss 22, the connecting mechanisms 24 are arranged below the first truss 21 and the second truss 22. Walking trolleys 25 are arranged below the two ends of the truss assembly respectively, the walking trolleys 25 are provided with driving motors, the walking trolleys 25 are matched with the truss guide rails 13 on the short beam 11, and the driving motors drive the walking trolleys 25 to drive the truss assembly to run on the truss guide rails 13. Further, one of the walking trolleys 25 is an adjustable structure, the walking trolley 25 comprises a sliding plate 251 and a walking frame 252, a fixing plate 253 is arranged between the sliding plate 251 and the truss assembly, the fixing plate 253 is fixedly connected with the truss assembly, a linear sliding rail 254 is arranged at the bottom of the fixing plate 253 along the length direction of the truss assembly, a sliding block 255 matched with the linear sliding rail 254 is arranged above the sliding plate 251, the sliding plate 251 can move along the linear sliding rail 254 relative to the truss assembly, and stop blocks 257 are arranged at the two ends of the linear sliding rail 254 of the fixing plate 253, so that the walking trolley and the truss assembly cannot be separated when they relatively move, the driving motor is connected with the walking frame 252. The driving motor drives the walking frame 252 to move along the guide rail, drives the sliding plate 251 to run, and the sliding plate 251 can rotate relative to the walking frame 252. Since the stop blocks 257 are arranged at the two ends of the fixing plate 253, the sliding plate 251 can only rotate a certain angle relative to the walking frame 252 within a designed range, and through the design structure, the walking frame 252 can rotate a certain angle relative to the center position of the sliding plate 251, and can also move left and right by a certain distance; the parallelism of the truss guide rails at the two ends may have a certain deviation due to a too large span, and the walking trolley with the adjustable structure can compensate the error caused by the insufficient parallelism of the guide rails.

[0037] The first truss 21 and the second truss 22 are identical in structure and each comprises two main beams 211 and a plurality of vertical beams 212. The two main beams 211 are arranged in an upper and lower spaced manner, and the vertical beams 212 are connected to the two main beams 211 at two ends thereof. In addition, an inclined beam 213 is arranged between the two main beams 211 in an inclined manner. The inclined beam 213, the vertical beam 212 and the main beam 211 form a triangular support structure. The first truss 21 and the second truss 22 further comprise a reinforcing beam 214 which is arranged in parallel with the main beam 144. The reinforcing beam 214 and the two main beams 211 are fixed by a pull rod therebetween, and the reinforcing beam 214 and the two main beams 211 form a triangular structure. The longitudinal section of the truss assembly is in the shape of an isosceles trapezoid. The connecting mechanism 24 comprises a fixed portion 241 and a cross rod portion 242. The fixed portion 241 is in the shape of an "L" and has one end fixed to the outer side of the lower main beam 211 and the other end directed to the inside of the truss assembly and connected to the cross rod portion 242. The cross rod portion 242 is arranged below the main beam 211 and connects the two fixed portions 241 into one body.

[0038] The cantilever crane 30 comprises a lifting frame 31 arranged above the end of the trolley 20. The top of the lifting frame 31 is provided with a cantilever 32. A winch 34 is connected below the cantilever 32. A lifting device 33 is connected below the winch 34. The bottom of the lifting device 33 is provided with a first electromagnet 35 which can generate magnetism after being electrified to attract the iron block 64 on the material bracket 60. The lifting device 33 is driven by the winch 34 to hoist the material bracket 60 loaded with the photovoltaic panel upward.

[0039] The material bracket 60 comprises a bottom bracket 61, a baffle 62 and a guardrail 63. The baffle 62 is vertically connected to one end of the bottom bracket 61. The guardrail 63 is arranged on the two sides of the bottom bracket 61. The iron block 64 is arranged above the guardrail 63. One side of the bottom bracket 61 for placing the photovoltaic panel is provided with an antiskid felt.

[0040] The material transport vehicle 40 comprises a chassis 41 provided with a supporting bracket 42. The two sides of one end of the chassis 41 in the length direction are respectively provided with a driving wheel 43. The two sides of the other end are provided with a driven wheel 44. The driving wheel 43 is connected with a motor through a shaft coupling. The motor drives the chassis 41 to move through the driving wheel 43 and the driven wheel 44. The supporting bracket 42 is arranged at an inclination angle with the chassis 41. The supporting bracket 42 is fixedly connected with the chassis 41 through a plurality of supporting rods. The inclination angle between the supporting bracket 42 and the chassis 41 is 5-30 degrees. After the photovoltaic panel and the material bracket 60 are placed on the supporting bracket 42, the photovoltaic panel is in a backward inclination state, so that the photovoltaic panel can be prevented from being overturned.

[0041] Further, the top of the material transport vehicle 40 is provided with a material rack base 610, the material rack 60 is placed on the material rack base 610, and the material rack 60 is magnetically connected with the material rack base 610. Preferably, the material rack base 610 is provided with limiting baffle plates 612 on both sides in the width direction, and the upper end of the limiting baffle plate 612 is a trumpet mouth, which facilitates the material rack 60 to be placed from the top. Specifically, the top of the supporting rack 42 is provided with rack guide rails 45 on both sides, the material rack base 610 is provided with sliding block assemblies 611 on both sides, the sliding block assemblies 611 are slidingly connected with the rack guide rails 45, and the end of the lower side of the supporting rack 42 is provided with a stop block to prevent the sliding block assembly 610 from falling off the rack guide rail 45. The top of the material transport vehicle 40 is also provided with a pushing assembly below the material rack base 610, the pushing assembly includes a lead screw 491, a connecting seat 492 and a speed reducer motor 493, the lead screw 491 is arranged along the length direction of the supporting rack 42, one end is rotatably connected with the material transport vehicle 40, the other end is connected with the speed reducer motor 493, the connecting seat 492 is rotatably connected with the lead screw 491, and the connecting seat 492 is connected with the material rack base 610 above; under the driving of the speed reducer motor 493, the lead screw 491 rotates to drive the connecting seat 492 to move linearly along the lead screw 491, so as to drive the material rack base 610 and the material rack 60 to move relative to the supporting rack 42.

[0042] The bottom frame 41 is provided with at least two limiting blocks 46 on both sides in the width direction, the bottom frame 41 is arranged on the derrick 20, the driving wheel 43 and the driven wheel 44 are in contact with the main beam 211 of the derrick 20, the limiting block 46 limits the movement of the bottom frame 41 in the width direction, and the material transport vehicle 40 is prevented from sliding off the derrick 20. The limiting block 46 is detachably connected with the bottom frame 41. The bottom frame 41 is provided with at least one second electromagnet 47 on both sides in the width direction; when the material transport vehicle 40 needs to be parked, the second electromagnet 47 is powered to generate magnetic attraction on the derrick 20, so that the material transport vehicle 40 can be parked firmly in place. The bottom frame 41 is provided with a second iron block 48 close to the mechanical hand moving vehicle 50, which can be connected with the mechanical hand moving vehicle 50 and moved together by the mechanical hand moving vehicle 50.

[0043] The mechanical arm moving vehicle 50 comprises a mounting seat 51, a mechanical arm mounting position is arranged at the upper middle portion of the mounting seat 51, rollers 52 are arranged at four corners of the mounting seat 51, the rollers 52 are connected with a walking mechanism 53, the walking mechanism 53 drives the mounting seat 51 to walk through the rollers 52; at least one end of the mounting seat 51 is provided with a connecting mechanism, and the connecting mechanism is used for connecting the material carrying vehicle 40. The connecting mechanism is a third electromagnet 54, and at least one third electromagnet 54 is arranged at one end of the mounting seat 51. An approaching sensor 55 is arranged beside the third electromagnet 54. In working, the mechanical arm moving vehicle 50 drives to one end of the material carrying vehicle 40, the approaching sensor 55 can detect the distance between the mechanical arm moving vehicle 50 and the material carrying vehicle 40, when the detection distance reaches the set distance, the third electromagnet 54 is powered on, and the second iron block 48 at one end of the material carrying vehicle 40 is firmly sucked, thereafter the third electromagnet 54 is always powered on, when the mechanical arm moving vehicle moves forward, the material carrying vehicle also moves, thereby avoiding the mechanical arm moving vehicle moving back and forth between the mounting position and the material carrying vehicle to pick up the photovoltaic panel, and the installation efficiency of the photovoltaic panel is greatly improved.

[0044] The working process of the intelligent installation equipment for installing the photovoltaic panel is as follows:

[0045] S1, the photovoltaic panel material transport vehicle / ship carries the photovoltaic panel material to the lower side of the end of the derrick, and the most front photovoltaic panel material of the photovoltaic panel material transport vehicle / ship is aligned with the overhead travelling crane;

[0046] S2, the photovoltaic panel material carrying vehicle moves to the middle of the derrick to leave out the space below the overhead travelling crane, the winch on the overhead travelling crane lowers the lifting tool to the photovoltaic panel material of the photovoltaic panel material transport vehicle / ship below, the first electromagnet on the lifting tool is aligned with the iron block on the material bracket to suck, and then the winch hoists up the material bracket with the photovoltaic panel;

[0047] S3, when the material bracket is hoisted to the highest position, the winch on the overhead travelling crane stops; the material carrying vehicle moves from the middle of the derrick to the end face of the derrick and is located directly below the overhead travelling crane hoisting the material bracket, the overhead travelling crane lowers the material bracket to the material carrying vehicle, and then releases the first electromagnet to release the material bracket on the material carrying vehicle, and the winch retracts the lifting tool upward;

[0048] S4, after the first time of feeding, the mechanical arm moving vehicle moves to the front of the material carrying vehicle under the action of the walking mechanism; the mechanical arm rotates from the initial position, automatically identifies the photovoltaic panel on the right material carrying vehicle through the laser acquisition equipment provided by the mechanical arm, the mechanical arm moving vehicle automatically adjusts the position by moving left and right after identifying the position of the photovoltaic panel, the mechanical arm also automatically adjusts the position, after the position is adjusted, the suction cup provided by the mechanical arm automatically sucks the photovoltaic panel to take down one photovoltaic panel from the material carrying vehicle (at this time, it is the first photovoltaic panel on the right side that is sucked);

[0049] S5, after a photovoltaic panel is taken off the material carrier, the material carrier is moved by a pushing assembly of the material carrier a distance of a thickness of the photovoltaic panel in a direction close to the manipulator parallel to a supporting frame of the material carrier, so as to ensure that a next photovoltaic panel sucked by the manipulator is always kept at a position of the first photovoltaic panel (after every photovoltaic panel is taken, the material carrier will be moved once) ;

[0050] S6, the manipulator with the first photovoltaic panel is moved a distance to the middle of the derrick, the manipulator rotates to pass the photovoltaic panel through the derrick to above the flexible support of the assembly, the manipulator rotates 90° clockwise, at this time, the photovoltaic panel is parallel to the ground; the laser acquisition device on the manipulator automatically identifies the position of the steel wire rope, after identification, the manipulator rotates the photovoltaic panel by a certain angle (forms a certain angle with the ground), parallel to the two installation ropes; after the photovoltaic panel is aligned with the installation ropes of the flexible support of the assembly, the manipulator slowly presses the photovoltaic panel on the installation ropes in a direction perpendicular to the photovoltaic panel, the suction cup of the manipulator is released, and the manipulator rotates back to the initial position;

[0051] S7, at this time, the manipulator moving vehicle is moved to the front of the material carrier under the action of the walking mechanism of the manipulator moving vehicle; the manipulator rotates, and the laser acquisition device provided by the manipulator automatically identifies the photovoltaic panel on the material carrier; the manipulator moving vehicle automatically moves left and right to adjust the position after identifying the position of the photovoltaic panel, and the manipulator also automatically adjusts the position; after the position is adjusted, the suction cup provided by the manipulator automatically sucks the photovoltaic panel, and a photovoltaic panel is taken off from the photovoltaic panel material carrier (at this time, the second photovoltaic panel on the right is sucked) ;

[0052] S8, the second photovoltaic panel on the right is installed by repeating steps S5 and S6;

[0053] S9, the manipulator moving vehicle continues to move to the material carrier, and the proximity sensor of the manipulator moving vehicle can detect the distance between the manipulator moving vehicle and the material carrier; when the detected distance reaches a set distance, the third electromagnet is electrified to firmly suck the second iron block at one end of the material carrier; at this time, the manipulator moving vehicle moves to the middle of the derrick, and the material carrier moves together;

[0054] S10, after the manipulator moving vehicle moves a certain distance to the middle of the derrick, the laser acquisition device provided by the manipulator automatically identifies the photovoltaic panel on the right-side material carrier; the manipulator moves to adjust the position after identifying the position of the photovoltaic panel, and the position is adjusted; after the position is adjusted, the suction cup provided by the manipulator automatically sucks the photovoltaic panel, and a photovoltaic panel is taken off from the photovoltaic panel material carrier (at this time, the third photovoltaic panel on the right is sucked) ; and then steps S5 and S6 are repeated;

[0055] S11, thereafter, steps S9 and S10 are repeated, and the photovoltaic panels on the material carrier are installed, that is, the first row of photovoltaic panels are installed from right to left;

[0056] S12, after the last photovoltaic panel is installed from right to left, the third electromagnet of the mechanical arm moving vehicle is released; meanwhile, the whole truss vehicle moves to the top of the flexible support of the component without photovoltaic panel, and is ready for installation of the second row of photovoltaic panel;

[0057] S13, during the installation of the first row of photovoltaic panel, the cantilever crane on the left side of the truss vehicle completes the operations of steps S1-S3;

[0058] S14, the mechanical arm moving vehicle and the material vehicle complete the similar operation of steps S4-S11 from the left side, and the photovoltaic panel on the material vehicle is installed, i.e. the second row of photovoltaic panel is installed from left to right;

[0059] S15, when the mechanical arm is in step S14, the right side material vehicle is in the following steps;

[0060] S16, the right side material vehicle is driven by the motor to return to the bottom of the cantilever crane, the cantilever crane releases the lifting tool to the material support on the material vehicle, lifts the material support, and moves to the middle of the truss vehicle under the action of the power device at the right end of the truss vehicle to make space below the cantilever crane; then the cantilever crane releases the lifting tool, and the lifting tool is lifted to a certain height; the photovoltaic panel material transport vehicle / ships moves to align the second group of photovoltaic panel material with the cantilever crane, the lifting tool is released downward, the first electromagnet on the lifting tool is aligned with the iron block on the material support, and then the material support with photovoltaic panel is lifted, and then the step 3) is repeated to place the material support on the material vehicle, and the following steps of lifting photovoltaic panel material are the same as this step;

[0061] S17, when the installation of the photovoltaic panel of the left side material vehicle is completed, the mechanical arm will grab the right side photovoltaic panel material of step S16; meanwhile, the left side material vehicle and the cantilever crane complete the operation of S16, and the cycle is repeated.

[0062] The above is one cycle of the left and right material vehicles each lifting photovoltaic panel material and installation (two rows of photovoltaic panels are installed on the flexible support), and the cycle is repeated to complete the installation of photovoltaic panel of the whole photovoltaic power station.

[0063] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications should belong to the protection scope of the claims attached to the present application.

Claims

1. A photovoltaic panel intelligent installation device, characterized in that: The invention relates to a photovoltaic module assembly line, which comprises at least two columns (10), a crossbeam (11) is arranged above the columns (10) in the same column, and a flexible support assembly (12) is arranged between the two columns (10); a truss guide rail (13) is arranged on the top of the crossbeam (11), a double-beam truss trolley (20) is arranged on the two truss guide rails (13), at least one end of the truss trolley (20) is provided with a cantilever crane (30), a material trolley (40) and a mechanical arm moving trolley (50) are movably arranged between the two beams of the truss trolley (20), a mechanical arm is arranged on the mechanical arm moving trolley (50), the material trolley (40) is arranged between the cantilever crane (30) and the mechanical arm moving trolley (50); the cantilever crane (30) lifts a material bracket (60) provided with a photovoltaic panel (0) and places the material bracket (60) on the material trolley (40), the mechanical arm moving trolley (50) and the material trolley (40) move on the truss trolley (20), the mechanical arm sucks the photovoltaic panel (0) and installs the photovoltaic panel (0) on the flexible support assembly (12); The truss trolley (20) comprises a truss assembly, the truss assembly is composed of a first truss (21) and a second truss (22), the first truss (21) and the second truss (22) are symmetrically arranged at intervals, the two ends of the first truss (21) and the second truss (22) are respectively connected through a short beam (23), a plurality of connecting mechanisms (24) are further connected between the first truss (21) and the second truss (22), and the connecting mechanisms (24) are arranged below the first truss (21) and the second truss (22); walking trolleys (25) are arranged below the two ends of the truss assembly, the walking trolleys (25) are provided with driving motors, the walking trolleys (25) are matched with the truss guide rails (13) on the short beams (23), and the driving motors drive the walking trolleys (25) to drive the truss assembly to run on the truss guide rails (13). The material transport vehicle (40) comprises a chassis (41) provided with a supporting frame (42); both sides of one end of the chassis (41) in the length direction are provided with driving wheels (43), and both sides of the other end are provided with driven wheels (44); the driving wheels (43) are connected with a motor through a shaft coupling; the motor drives the chassis (41) to move through the driving wheels (43) and the driven wheels (44); the supporting frame (42) is arranged at an angle with the chassis (41); the top of the material transport vehicle (40) is provided with a material rack base (610), and a material supporting frame (60) is placed on the material rack base (610); both sides of the top of the supporting frame (42) are provided with supporting frame guide rails (45); both sides of the material rack base (610) are provided with sliding block assemblies (611); the sliding block assemblies (611) are slidingly connected with the supporting frame guide rails (45); the top of the material transport vehicle (40) is further provided with a pushing assembly below the material rack base (610); the pushing assembly comprises a lead screw (491), a connecting seat (492) and a speed reducer motor (493); the lead screw (491) is arranged along the length direction of the supporting frame (42); one end is rotatably connected with the material transport vehicle (40), and the other end is connected with the speed reducer motor (493); the connecting seat (492) is rotatably connected with the lead screw (491); and the connecting seat (492) is connected with the material rack base (610) above.

2. The photovoltaic panel intelligent installation apparatus according to claim 1, wherein: One of the walking trolleys (25) is an adjustable structure, and the walking trolley (25) comprises a sliding plate (251) and a walking frame (252); a fixed plate (253) is arranged between the sliding plate (251) and the truss assembly; the fixed plate (253) is fixedly connected with the truss assembly; a linear slide rail (254) is arranged at the bottom of the fixed plate (253) along the length direction of the truss assembly; a sliding block (255) matched with the linear slide rail (254) is arranged above the sliding plate (251); the sliding plate (251) is movable along the linear slide rail (254) relative to the truss assembly; and the linear slide rail (254) of the fixed plate (253) is provided with a stop block (257) at both ends; the sliding plate (251) is connected with the walking frame (252) through a rotary support (256) at the middle below; and a driving motor is connected with the walking frame (252).

3. The photovoltaic panel intelligent installation apparatus of claim 1, wherein: The first truss (21) and the second truss (22) are identical in structure and each include two main beams (211) and a plurality of vertical beams (212), the two main beams (211) are arranged in an upper and lower spaced manner, the vertical beams (212) are connected to the two main beams (211) at two ends respectively, and the two main beams (211) are further connected with an inclined beam (213) arranged in an inclined manner, the inclined beam (213), the vertical beam (212) and the main beam (211) form a triangular support structure; the first truss (21) and the second truss (22) further include a reinforcing beam (214), the reinforcing beam (214) is arranged in parallel with the main beam (211), the reinforcing beam (214) and the two main beams (211) are fixed by a pull rod respectively, and the reinforcing beam (214) and the two main beams (211) form a triangular structure; the connecting mechanism (24) includes a fixed part (241) and a cross rod part (242), the fixed part (241) is in two pieces and in an "L" shape, one end of the fixed part (241) is fixed to the outside of the lower main beam (211), the other end of the fixed part (241) is directed towards the inside of the truss assembly and connected with the cross rod part (242), and the cross rod part (242) is located below the main beam (211) and connects the two fixed parts (241) into one body.

4. The photovoltaic panel intelligent installation apparatus of claim 1, wherein: The cantilever crane (30) includes a hoisting frame (31), the hoisting frame (31) is arranged above the end of the truss trolley (20), the top of the hoisting frame (31) is provided with a cantilever (32), the cantilever (32) is connected with a winch (34) below, the winch (34) is connected with a lifting device (33) below, and the bottom of the lifting device (33) is provided with a first electromagnet (35).

5. The photovoltaic panel intelligent installation apparatus according to claim 4, characterized in that: The lifting device (33) includes a lifting rope (331), a lifting beam (332) and a lifting arm (333), one end of the lifting rope (331) is connected with the winch (34), one end of the lifting rope (331) is connected with the lifting beam (332), two groups of lifting arms (333) are arranged side by side below the lifting beam (332), and the first electromagnet (35) is arranged at the bottom of the lifting arm (333).

6. The photovoltaic panel intelligent installation apparatus according to claim 1, wherein: The material bracket (60) includes a bottom support (61), a baffle (62) and a guardrail (63), the baffle (62) is connected to one end of the bottom support (61) perpendicularly, the guardrail (63) is arranged on the two sides of the bottom support (61), and the iron block (64) is arranged above the guardrail (63).

7. The photovoltaic panel intelligent installation apparatus according to claim 1, wherein: The mechanical hand moving vehicle (50) includes a mounting seat (51), the top of the mounting seat (51) is provided with a mechanical hand mounting position in the middle, the mounting seat (51) is provided with a plurality of rollers (52) at four corners, the rollers (52) are connected with a walking mechanism (53), and the walking mechanism (53) drives the mounting seat (51) to walk through the rollers (52); at least one end of the mounting seat (51) is provided with a connecting mechanism, and the connecting mechanism is used for connecting the material conveying vehicle (40).

8. The photovoltaic panel intelligent installation apparatus according to claim 7, wherein: The connecting mechanism is a third electromagnet (54), at least one third electromagnet (54) is arranged at one end of the mounting seat (51), and a proximity sensor (55) is arranged beside the third electromagnet (54); one end of the material conveying vehicle (40) close to the mechanical hand moving vehicle (50) is provided with a second iron block (48).

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