A mounting device for a photovoltaic module

Abstract

The application discloses a kind of installation devices of photovoltaic module, including main frame, traction power unit and handling unit, main frame includes gantry walking frame and component mounting unit, gantry walking frame can cross the two sides of photovoltaic matrix unit and walk, component mounting unit is used to carry photovoltaic module;Traction power unit is movably connected with gantry walking frame and can be locked;Handling unit is used to grab and carry photovoltaic module carried by component mounting unit;And when traction power unit is in the locked state, traction power unit can drive gantry walking frame to walk;When traction power unit is in the active state, traction power unit can drive handling unit to walk in gantry walking frame.In the installation device, the artificial workload can be greatly reduced, the precision requirement of equipment is greatly reduced, and there is no need to configure RV\harmonic and other precision components, which helps to improve the positioning effect during installation.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module technology, and more specifically, to a photovoltaic module installation device. Background Technology

[0002] With the rapid development of photovoltaic technology, the number of photovoltaic modules installed both domestically and internationally has shown a significant growth trend, with large-scale power plants at the GW level becoming increasingly common. During the installation of photovoltaic modules, the handling and positioning of these modules has always been a crucial factor affecting delivery time and quality. In actual project sites, this process is typically carried out manually with the assistance of cranes, usually requiring 3-4 people. This workload is enormous, and when the photovoltaic modules are relatively tall, there are also numerous potential hazards such as difficulty in handling and poor safety.

[0003] In existing technologies, to solve this problem, multi-axis robotic arms mounted on mobile vehicles are often used to assist in the installation of photovoltaic modules. However, photovoltaic modules are generally installed in harsh outdoor environments such as deserts, Gobi, and water surfaces. On the one hand, the uncertainty of the environment makes the posture of the vehicle (base) change frequently and is unknown, and the positioning coordinate system of the multi-axis robotic arm is greatly offset, making positioning difficult. On the other hand, the precision components of the multi-axis robotic arm, such as RV and harmonic components, are easily affected by sand and dust and salt spray environments, which can lead to a rapid decrease in accuracy and affect the positioning effect.

[0004] In summary, how to solve the problems of high workload and poor positioning effect during photovoltaic module installation has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides an installation device for photovoltaic modules to solve the problems of large workload and poor positioning effect during photovoltaic module installation.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A photovoltaic module installation device, comprising:

[0008] The main frame includes a gantry frame and a component mounting unit disposed on the gantry frame. The gantry frame can travel across both sides of the photovoltaic matrix unit, and the component mounting unit is used to mount photovoltaic modules.

[0009] The traction power unit is movably connected to the gantry frame and can be locked.

[0010] A transport unit, disposed in the traction power unit, is used to grab and transport the photovoltaic modules mounted on the module mounting unit;

[0011] When the traction power unit is in the locked state, it can drive the gantry traveling frame to move; when the traction power unit is in the active state, it can drive the transport unit to move within the gantry traveling frame.

[0012] Optionally, the component mounting unit includes an infeed conveying mechanism and a buffer conveying mechanism. The infeed conveying mechanism is used to convey the photovoltaic module to the gripping position of the handling unit. The handling unit can place the photovoltaic module conveyed by the infeed conveying mechanism to the buffer conveying mechanism. The buffer conveying mechanism is set on the gantry frame and is used to mount the photovoltaic module. The buffer conveying mechanism can drive the photovoltaic module to move in a preset direction.

[0013] When the buffer conveying mechanism is in the storage mode, the preset direction is configured to be away from the transport unit; when the buffer conveying mechanism is in the picking mode, the preset direction is configured to be towards the transport unit.

[0014] Optionally, the buffer conveying mechanism includes at least one conveying platform, on which the photovoltaic modules are stacked or laid flat.

[0015] Optionally, the conveying platform includes multiple conveyor belts arranged side by side in a horizontal plane, each conveyor belt capable of loading the photovoltaic module, wherein the direction in which the conveyor belts are arranged side by side in the horizontal plane is configured to be parallel to the horizontal plane and perpendicular to the front-back direction of the gantry frame.

[0016] Optionally, the buffer conveying mechanism is disposed on the side near the conveying unit at the material picking limit block, and the buffer conveying mechanism is disposed on the side away from the conveying unit at the material storage limit block.

[0017] Optionally, the gantry frame is provided with a buffer mounting bracket for mounting and fixing the component mounting unit.

[0018] Optionally, a set of traveling wheels is provided below the gantry traveling frame, and a wheel brake mechanism is provided on the traveling wheel set.

[0019] Optionally, the traction power unit includes a traction mechanism with walking and steering functions. The number of traction mechanisms is two, and they are arranged symmetrically on the two inner side walls of the gantry frame. The transport unit is located between the two traction mechanisms.

[0020] Optionally, the traction mechanism includes a column and an active walking part disposed at the lower end of the column. The column is slidably connected to the corresponding inner side wall of the gantry traveling frame along the front-rear direction of the gantry traveling frame and can be locked. The active walking part includes a drive wheel and a driver for driving the drive wheel to walk and turn.

[0021] Optionally, the inner sidewall of the gantry traveling frame is provided with a positioning slide rail arranged along the front-rear direction of the gantry traveling frame. A first locking mechanism is provided on the positioning slide rail. The column is provided with a sliding part that is slidably connected to the positioning slide rail. A second locking mechanism that is adapted to the first locking mechanism is provided on the sliding part.

[0022] Optionally, the first locking mechanism is configured as a positioning hole, and the second locking mechanism includes an elastic ball assembly for positioning and adapting to the positioning hole, and a pusher for pushing out a locking ball of the elastic ball assembly.

[0023] Optionally, the inner sidewall of the gantry frame is provided with a plurality of positioning slides, each of which is provided with a plurality of positioning holes and is arranged sequentially at intervals along the extension direction of the positioning slide.

[0024] Optionally, the sliding part is configured as a positioning wheel set, the positioning wheel set including at least a pair of clamping rollers arranged opposite each other, and the positioning slide is clamped between the clamping rollers.

[0025] Optionally, the conveying unit includes a longitudinal slide, an adjusting plate group, and a gripper disposed on the adjusting plate group. The longitudinal slide is two in number and is vertically slidably connected and lockable to the two columns. The two ends of the adjusting plate group are respectively connected to the two longitudinal slides. The gripper is adjustable in lateral position on the adjusting plate group and is used to grip photovoltaic modules.

[0026] Optionally, the adjustment plate assembly includes a first slide plate and a second slide plate, the first slide plate being hinged to one of the longitudinal slide plates, the second slide plate being hinged to the other longitudinal slide plate, and the first slide plate and the second slide plate overlapping each other and being able to slide relative to each other.

[0027] Optionally, the gripper includes a pair of opposing clamping mechanisms disposed on the adjustment plate assembly and a first power component disposed on the clamping mechanisms. The clamping mechanisms are slidably connected to the adjustment plate assembly in a lateral direction. The first power component is used to drive the clamping mechanisms to slide in order to realize the gripping action of the photovoltaic module.

[0028] Optionally, the gripper includes an adsorption mechanism disposed on the adjustment plate group and a second power component disposed on the adsorption mechanism. The adsorption mechanism is slidably connected to the adjustment plate group in a lateral direction. The adsorption mechanism is capable of gripping the photovoltaic module by adsorption. The second power component is used to drive the adsorption mechanism to slide.

[0029] Compared to the background description, the aforementioned photovoltaic module installation device includes a main frame, a traction power unit, and a transport unit. The main frame includes a gantry frame and a module mounting unit mounted on the gantry frame. The gantry frame can travel across both sides of the photovoltaic matrix unit, and the module mounting unit is used to mount the photovoltaic modules. The traction power unit is movably connected to the gantry frame and can be locked. The transport unit is mounted on the traction power unit and is used to grab and transport the photovoltaic modules mounted on the module mounting unit. When the traction power unit is locked, it can drive the gantry frame to move. When the traction power unit is active, it can drive the transport unit to move within the gantry frame. In practical applications, this photovoltaic module installation device, when the traction power unit is active, can drive the transport unit to move within the gantry frame, thereby adjusting the position of the transport unit. The transport unit then places the delivered photovoltaic modules into the designated positions on the module mounting units, thus achieving photovoltaic module storage. When installation is required, the traction power unit can be locked to the gantry frame, and the traction power unit drives the gantry frame to move across both sides of the photovoltaic matrix unit. Then, the lock between the traction power unit and the gantry frame is released, creating a movable connection. The transport unit can then remove the photovoltaic modules from the module mounting units and transport them to the designated installation positions on the photovoltaic matrix unit for manual installation. The entire operation is largely assisted by the mechanical installation device, significantly reducing manual labor. Furthermore, the weak coupling between the moving parts of the installation device reduces error accumulation, thus greatly lowering the precision requirements of the equipment. It eliminates the need for precision components such as RV and harmonic sensors, contributing to improved positioning during installation. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A schematic diagram of the overall structure of the photovoltaic module installation device provided in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the main frame provided in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of a component mounting unit disposed on the main frame according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the traction power unit and the transport unit provided in the embodiments of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the second locking mechanism designed on the column according to an embodiment of the present invention;

[0036] Figure 6 for Figure 5 A partially enlarged structural diagram of section A in the middle;

[0037] Figure 7 This is a schematic diagram of a first structure of the handling unit provided in an embodiment of the present invention;

[0038] Figure 8 This is a schematic diagram of a second structure of the handling unit provided in an embodiment of the present invention;

[0039] Figure 9 This is a schematic diagram of the adsorption mechanism provided in an embodiment of the present invention;

[0040] Figure 10 This is a schematic diagram of the second locking mechanism and the first locking mechanism in a locked state, as provided in an embodiment of the present invention.

[0041] Figure 11 This is a schematic diagram of the structure of the second locking mechanism and the first locking mechanism in the active state of being unlocked, according to an embodiment of the present invention.

[0042] Figure 12 A schematic diagram of the structure of the photovoltaic module installation device provided in the embodiment of the present invention for removing the photovoltaic module;

[0043] Figure 13 This is a schematic diagram of the structure of the photovoltaic module installation device provided in an embodiment of the present invention for performing photovoltaic module installation.

[0044] in, Figures 1-13 middle:

[0045] Main frame 1, walking wheel set 101, gantry walking frame 102, buffer fixing frame 103, positioning slide rail 104, first locking mechanism 105, wheel set braking mechanism 106;

[0046] Component mounting unit 2, feeding conveyor 201, buffer conveyor 202, storage limit block 203, and picking limit block 204;

[0047] Traction power unit 3, active walking part 301, column 302, longitudinal slide rail 303, longitudinal positioning mounting plate 304, positioning wheel set 305, clamping roller 3051, roller frame 3052, wheel set mounting plate 3053, second locking mechanism 306, push rod mounting bracket 3061, push rod 3062, locking ball limit block 3063, bushing 3064, locking ball 3065, spring 3066, push block 3067;

[0048] The conveying unit 4 includes: longitudinal slide plate 401, hinge support 402, limiting block 403, first slide plate 404, bottom slide rail 405, second slide plate 406, clamping mechanism 407, top plate power source 4071, clamping protection strip 4072, clamping block 4073, power source adapter plate 4074, sliding sub-plate 4075, top plate positioning slider 4076, rack 408, top guide rail 409, adsorption mechanism 410, adsorption base plate 4101, adsorption sub-plate 4102, and suction cup 4103.

[0049] Photovoltaic matrix unit 5, photovoltaic module 51;

[0050] The locking ball is in the pop-out state M1;

[0051] The locking ball is in the locked state M2. Detailed Implementation

[0052] The core of this invention is to provide an installation device for photovoltaic modules to solve the problems of large workload and poor positioning effect during photovoltaic module installation.

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Reference Figures 1-13As shown, the present invention specifically provides a photovoltaic module installation device, including a main frame 1, a traction power unit 3, and a transport unit 4. The main frame 1 includes a gantry frame 102 and a module mounting unit 2 disposed on the gantry frame 102. The gantry frame 102 can travel across both sides of the photovoltaic matrix unit 5. The module mounting unit 2 is used to carry photovoltaic modules 51. The traction power unit 3 is movably connected to the gantry frame 102 and can be locked. The transport unit 4 is disposed on the traction power unit 3 and is used to grab and transport the photovoltaic modules 51 mounted on the module mounting unit 2. When the traction power unit 3 is in the locked state, the traction power unit 3 can drive the gantry frame 102 to move. When the traction power unit 3 is in the active state, the traction power unit 3 can drive the transport unit 4 to move within the gantry frame 102.

[0055] In practical application, when the traction power unit 3 is active, it can drive the transport unit 4 to move within the gantry frame 102, thereby adjusting the position of the transport unit 4. The transport unit 4 can then place the delivered photovoltaic module 51 to the designated position on the module mounting unit 2, thus storing the photovoltaic module 51. When it is necessary to install the photovoltaic module 51, the traction power unit 3 can be locked to the gantry frame 102, and then the traction power unit 3 can drive the gantry frame 102 to move across the photovoltaic matrix unit. On both sides of element 5, the locking of traction power unit 3 and gantry traveling frame 102 is opened to become movable connection. The photovoltaic module 51 on the component mounting unit 2 can be taken away by the transport unit 4 and transported to the designated installation position of photovoltaic matrix unit 5. Then, manual installation can be performed. The entire operation process is basically completed with the mechanical assistance of the installation device, which greatly reduces the amount of manual work. In addition, the coupling relationship between the moving parts of the entire installation device is weak, which reduces the accumulation of errors. Therefore, the precision requirements of the equipment are greatly reduced, and there is no need to configure precision components such as RV and harmonics, which helps to improve the positioning effect during installation.

[0056] It should be noted that, referring to Figure 2In addition to the gantry frame 102, the main frame 1 may also include a set of traveling wheels 101, a buffer fixing frame 103, a positioning slide rail 104, a first locking mechanism 105, and a wheel brake mechanism 106. Multiple sets of traveling wheels 101 are connected below the gantry frame 102 and can passively move the main frame 1 under the drive of an external power source. The gantry frame 102 is the support and positioning foundation of the entire system. It has a buffer fixing frame 103 fixed on it for connecting the component mounting unit 2, a positioning slide rail 104 for positioning the traction power unit 3, and a first locking mechanism 105 for locking and positioning the traction power unit 3. Furthermore, the traveling wheels 101 are equipped with a wheel brake mechanism 106, which can stop and prevent slippage by clamping the traveling wheels 101.

[0057] In some specific implementation plans, refer to Figure 3 The aforementioned component mounting unit 2 may specifically include a feeding conveying mechanism 201 and a buffer conveying mechanism 202. The feeding conveying mechanism 201 is used to convey the photovoltaic module 51 to the graspable position of the handling unit 4. The handling unit 4 can place the photovoltaic module 51 conveyed by the feeding conveying mechanism 201 onto the buffer conveying mechanism 202. The buffer conveying mechanism 202 is set on the gantry frame 102 and is used to mount the photovoltaic module 51. The buffer conveying mechanism 202 can drive the photovoltaic module 51 to move in a preset direction. When the buffer conveying mechanism 202 is in the storage mode, the preset direction is configured to be away from the direction of the handling unit 4. When the buffer conveying mechanism 202 is in the picking mode, the preset direction is configured to be towards the direction of the handling unit 4. By designing the component mounting unit 2 with the above-described structure, when the feeding conveyor 201 delivers the photovoltaic module 51 to the corresponding position on one of the conveyor lines in the buffer conveyor 202, the traction power unit 3 can drive the transport unit 4 to the required position. The transport unit 4 grabs the photovoltaic module 51 on the feeding conveyor 201 and places it on the buffer conveyor 202. At this time, the buffer conveyor 202 can drive the photovoltaic module 51 to move away from the transport unit 4, thereby continuously storing photovoltaic modules on the buffer conveyor 202. When the buffer conveyor 202 is in the material picking mode, after the transport unit 4 takes away a photovoltaic module from the buffer conveyor 202, the buffer conveyor 202 can drive the photovoltaic module 51 on it to move towards the transport unit 4 until it moves to the grabbable position of the transport unit 4. At this time, the transport unit 4 can grab the photovoltaic module 51 again. This can be repeated until all photovoltaic modules 51 are grabbed. The flow of photovoltaic modules 51 in the buffer conveyor 202 is jointly realized by the traction power unit 3 and the transport unit 4. This structural design enables a perfect process connection and smooth operation between the component mounting unit 2 and the transport unit 4.

[0058] It should be noted that the aforementioned buffer conveying mechanism 202 may specifically include at least one conveying platform. The photovoltaic modules 51 can be placed on the conveying platform in a stacked manner or in a flat manner. For example, if the conveying platform is configured as a single layer, the photovoltaic modules 51 are preferably placed on the conveying platform in a stacked manner. The advantage of this arrangement is that more photovoltaic modules can be stored in the same space. Alternatively, if the conveying platform is configured as a multi-layered structure with preset intervals, the photovoltaic modules 51 are preferably placed on the conveying platform in a flat manner. The advantage of this structural form is that the handling unit 4 is more convenient to operate when performing the grasping action. Of course, stacking is also an option.

[0059] It should also be noted that the conveying platform may specifically include multiple conveyor belts arranged side by side in a horizontal plane, each conveyor belt capable of carrying photovoltaic modules 51. The conveyor belts are arranged side by side in a direction parallel to the horizontal plane and perpendicular to the front-back direction of the gantry frame 102. The front-back direction of the gantry frame 102 refers to the orientation of the gantry gate of the gantry frame 102. It is understood that the above-described design of the conveying platform with multiple conveyor belts arranged side by side is merely an example of an embodiment of the present invention; in actual applications, it can also be designed with a single conveyor belt.

[0060] In some other specific implementation schemes, refer to Figure 3 The buffer conveying mechanism 202, located near the transport unit 4, can be positioned at the material retrieval limit block 203, while the side of the buffer conveying mechanism 202 away from the transport unit 4 can be positioned at the material storage limit block 204. Since the buffer conveying mechanism 202 can store multiple sets of photovoltaic modules 51 through its own conveying action, specifically, during storage, it conveys the photovoltaic modules 51 towards the material storage limit block 203 and limits the photovoltaic modules to prevent them from falling; during retrieval, it conveys them towards the material retrieval limit block 204 and limits them thereto.

[0061] In some other specific implementation schemes, refer to Figure 1 , Figure 2 and Figure 4The aforementioned traction power unit 3 may specifically include a traction mechanism with walking and steering functions. Two traction mechanisms are symmetrically arranged on the two inner sidewalls of the gantry frame 102, and the transport unit 4 is disposed between the two traction mechanisms. By designing the traction power unit 3 into the aforementioned symmetrically arranged traction mechanism structure, the traction force of the traction power unit 3 is made more stable. Specifically, the aforementioned traction mechanism may include a column 302 and an active walking part 301 disposed at the lower end of the column 302. The column 302 and the corresponding inner sidewall of the gantry frame 102 are slidably connected along the front-rear direction of the gantry frame 102 and can be locked. The active walking part 301 includes a drive wheel and a driver for driving the drive wheel to walk and steer. The driver may include two or more sets of drive motors, at least one set of drive motors for walking drive motion, and at least one set of drive motors for steering drive motion, including both walking and steering directions.

[0062] In a further implementation plan, refer to Figure 2 and Figure 4 Specifically, the inner wall of the aforementioned gantry frame 102 can be provided with a positioning slide 104 arranged along the front-rear direction of the gantry frame 102. A first locking mechanism 105 is provided on the positioning slide 104, and a sliding part is provided on the column 302 that is slidably connected to the positioning slide 104. A second locking mechanism 306 adapted to the first locking mechanism 105 is provided on the sliding part. By designing the above structural form, the sliding connection and locking function between the traction power unit 3 and the gantry frame 102 can be realized with only a simple structure. The sliding part can be designed as a positioning wheel assembly 305. The positioning wheel assembly 305 is fixed to the column 302 via a longitudinal positioning mounting plate 304. Specifically, the positioning wheel assembly 305 may include at least one pair of opposing clamping rollers 3051. The positioning slide rail 104 is clamped between the clamping rollers 3051. This structural design of the positioning wheel assembly 305 makes the sliding between the sliding part and the positioning slide rail 104 smoother and reduces frictional resistance. The positioning wheel assembly 305 may include clamping rollers 3051, roller frames 3052, and wheel mounting plates 3053. In the arrangement, the clamping rollers 3051 are generally arranged in multiple symmetrical sets, fixed to the wheel mounting plates 3053 via the roller frames 3052. During sliding positioning, the wheel mounting plates 3053 of the multiple positioning wheel assemblies 305 are fixed to the column 302 via an adapter block 304.

[0063] It should be noted that, referring to Figure 5 and Figure 6 , combined Figure 2 , Figure 10 and Figure 11The first locking mechanism 105 can be specifically configured as a positioning hole, and the second locking mechanism 306 can include an elastic ball assembly for positioning and fitting into the positioning hole, and a pusher 3062 for pushing out the locking ball 3065 of the elastic ball assembly. When a locking action is required, the pusher 3062 pushes out the locking ball 3065 of the elastic ball assembly and engages it with the positioning hole to achieve locking. When a locking operation is required, the pusher 3062 retracts, and the locking ball 3065 of the elastic ball assembly also retracts accordingly, making the operation very convenient. Specifically, refer to... Figure 5 and Figure 6 The traction system 3 contains multiple sets of second locking mechanisms 306. Each second locking mechanism 306 consists of a push rod mounting bracket 3061, a push rod 3062, a locking ball limiting block 3063, a bushing 3064, a locking ball 3065, a spring 3066, and a push block 3067. The push rod mounting bracket 3061 is mounted on the column 302, and the push rod 3062 is fixed on it. The push rod 3062 can push the push block 3067 and the spring 3066 forward, thereby pushing the locking ball 3065 partially out of the locking ball limiting block 3063. During the pushing, the bushing installed between the locking ball limiting block 3063 and the push block 3067 provides positioning. When the locking ball 3065 is pushed out, if it is near the first locking mechanism 105 (such as the aforementioned positioning hole), it will be locked by engaging with the positioning hole under the pressure of the spring 3066. If it comes into contact with the plane, the locking ball 3065 can continue to roll along the plane under the drive of the traction system 3 until it enters the positioning hole.

[0064] When multiple sets of locking balls 3065 are locked with the positioning holes, the main frame 1 and the traction power unit 3 are relatively stationary, and can move or turn as a whole under its drive. When the cylinder of the pusher 3062 retracts, the locking balls 3065 disengage from the positioning holes or only contact them with a small force, and the traction power unit 3 can move back and forth along the gantry frame 102 of the main frame 1, and cooperate with the handling unit 4 to realize the functions of storing, retrieving and handling positioning of photovoltaic modules 51.

[0065] In a further implementation plan, refer to Figure 2 Multiple positioning slides 104 can be provided on the inner sidewall of the aforementioned gantry traveling frame 102. Each positioning slide 104 can be provided with multiple positioning holes, which are arranged sequentially at intervals along the extension direction of the positioning slide 104. By designing the structure of multiple positioning slides 104, the movement of the traction power unit 3 is more stable and precise. Furthermore, the multiple positioning holes on each positioning slide 104 provide more locking positions between the traction power unit 3 and the gantry traveling frame 102, making it easier to position it to the required location.

[0066] In some other specific implementation schemes, refer to Figure 7 Combination Figure 4The aforementioned handling unit 4 specifically includes two longitudinal sliding plates 401, an adjusting plate assembly, and a gripper mounted on the adjusting plate assembly. The longitudinal sliding plates 401 are vertically slidably connected and lockable to two columns 302, and can move longitudinally along the columns 302 under the drive of a power source. The two ends of the adjusting plate assembly are connected to the two longitudinal sliding plates 401 respectively. The lateral position of the gripper on the adjusting plate assembly is adjustable, and the gripper is used to grip the photovoltaic module 51. By designing the structure as described above, the handling unit 4 can slide vertically relative to the columns 302 to adjust the height of the gripper. Simultaneously, the gripper's lateral displacement on the adjusting plate allows for planar movement within the vertical plane, thus making the gripper's position adjustment more flexible. It should be noted that the column 302 should also be designed with a longitudinal slide rail 303 that is compatible with the longitudinal slide plate 401. Specifically, the longitudinal slide rail 303 can be designed on both sides of the column 302. The longitudinal slide plate 401 can be equipped with the aforementioned positioning wheel set 305 structure. The longitudinal movement positioning is achieved by the positioning wheel set 305 cooperating with the longitudinal slide rail 303.

[0067] In a further implementation plan, refer to Figure 7 The aforementioned adjusting plate assembly may specifically include a first sliding plate 404 and a second sliding plate 406. The first sliding plate 404 is hinged to one of the longitudinal sliding discs 401, and the second sliding plate 406 is hinged to the other longitudinal sliding disc 401. Both the first sliding plate 404 and the second sliding plate 406 can be hinged to their respective corresponding longitudinal sliding discs 401 via hinge supports 402. The first sliding plate 404 and the second sliding plate 406 overlap and can slide relative to each other. With this structural design, when the two longitudinal sliding discs 401 move asynchronously, the first sliding plate 404 and the second sliding plate 406 can passively slide relative to each other, resulting in a change in their angle of inclination relative to the longitudinal sliding discs 401. This sliding is positioned by a bottom slide rail 405 between the first sliding plate 404 and the second sliding plate 406. Specifically, the first sliding plate 404 and the second sliding plate 406 can be slidably connected via the bottom slide rail 405 and limited by a limiting block 403 to prevent them from disengaging. Since the two longitudinal sliding plates 401 can move vertically to different heights relative to their respective columns 302, the corresponding adjustment plate group can be in an inclined position, which in turn makes the photovoltaic module 51 grasped by the gripper on the adjustment plate group also in an inclined state, that is, it can meet the gripping action of the photovoltaic module 51 in various postures, making it more convenient for the inclined installation of the photovoltaic module 51.

[0068] In some other specific implementation schemes, refer to Figure 7The aforementioned gripper may include a pair of opposing clamping mechanisms 407 disposed on an adjusting plate assembly and a first power component disposed on the clamping mechanisms 407. The clamping mechanisms 407 are slidably connected to the adjusting plate assembly laterally, and the first power component is used to drive the clamping mechanisms 407 to slide to realize the gripping action of the photovoltaic module 51. By designing the gripper in the structural form of the aforementioned clamping mechanisms 407, the gripper can pick up and put down the photovoltaic module 51 by clamping both sides of the photovoltaic module 51. Specifically, the clamping mechanism 407 may include a top plate power source 4071, a clamping protective strip 4072, a clamping block 4073, a power source adapter plate 4074, a sliding sub-plate 4075, and a top plate positioning slider 4076. The top plate power source 4071 is fixed to the top sliding plate 4075 through the power source adapter plate 4074, and drives the sliding sub-plate 4075 to move along the adjusting plate group through the cooperation of gears and racks 408. This movement is positioned by the top plate positioning slider 4076 and the top guide rail 409. The two sets of clamping mechanisms 407 can move to different spans under the drive of their respective power sources. The clamping action of different photovoltaic modules 51 is realized by the clamping block 4073 connected on the sliding sub-plate 4075. In order to avoid damage to the photovoltaic modules 51, the clamping block 4073 is generally also provided with a clamping protective strip 4072.

[0069] It is understandable that the above-described clamping, grasping, and transporting structure is merely an example of the gripper structure in this invention. In actual applications, when multiple photovoltaic modules are installed close together, the clamping block 4073 may lack clamping space, and other structural forms can be designed, such as those described above. Figure 8 and Figure 9 The gripper may include an adsorption mechanism 410 mounted on an adjustment plate assembly and a second power component mounted on the adsorption mechanism 410. The adsorption mechanism 410 is slidably connected to the adjustment plate assembly laterally. The adsorption mechanism 410 can grip the photovoltaic module 51 by adsorption. The second power component is used to drive the adsorption mechanism 410 to slide. The photovoltaic module 51 is adsorbed and installed through the adsorption mechanism 410. Specifically, the adsorption device 410 may consist of an adsorption base plate 4101, adsorption sub-plates 4102, and suction cups 4103. The adsorption sub-plates 4102 are arranged in groups on the adsorption base plate 4101. Each group of adsorption sub-plates 4102 is equipped with multiple groups of suction cups 4103, which are controlled by a valve body and can be opened and closed individually. This can reduce vacuum leakage when adsorbing photovoltaic modules of different sizes.

[0070] To help those skilled in the art better understand the photovoltaic module installation device provided by this invention, a brief description is given below in conjunction with a specific usage process:

[0071] Reference Figure 12As shown, when performing the retrieval action, the traction power unit 3 and the main frame 1 are in an unlocked (i.e., active) state. During retrieval, the buffer conveying mechanism 202 will transport the photovoltaic module to the side close to the traction power unit 3. The two sets of longitudinal sliding plates 401 in the transport unit 4 are controlled to be at the same height and move up and down synchronously. When the two sets of clamping mechanisms 407 are aligned with the bottom of the photovoltaic module to be stored, the traction power unit 3 is controlled to slide along the gantry frame 102 of the main frame 1 towards the buffer conveying mechanism 202 until the clamping mechanism 407 extends into the buffer conveying mechanism 202. After that, the photovoltaic module 51 can be lifted by clamping or adsorption. Finally, the two sets of longitudinal sliding plates 401 are controlled to be slightly raised and the traction power unit 3 is controlled to slide along the main frame 1 away from the buffer conveying mechanism 202, so that the stored photovoltaic module can be retrieved.

[0072] If storage is required, the photovoltaic module 51 is first removed from the conveyor line of the row where the feeding conveyor mechanism 201 is located, and the removal action is performed in reverse at other conveyor line positions.

[0073] Reference Figure 13 As shown, when performing the installation action, the traction power unit 3 and the main frame 1 are locked. During installation, the traction power unit 3 is first controlled to move the main frame 1 to a reasonable position. After that, the traction power unit 3 and the main frame 1 are unlocked. According to the tilt angle and position of the photovoltaic module, the two sets of longitudinal sliding plates 401 are controlled to be at different heights, and the clamping mechanism 407 is controlled to move to a reasonable position, so that the photovoltaic module can be sent to the designated installation and the positioning can be achieved.

[0074] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0075] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0076] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0077] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0078] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An installation device for photovoltaic modules, characterized in that, include: The main frame (1) includes a gantry walking frame (102) and a component mounting unit (2) disposed on the gantry walking frame (102). The gantry walking frame (102) can travel across both sides of the photovoltaic matrix unit (5). The component mounting unit (2) is used to mount photovoltaic modules (51). The traction power unit (3) is movably connected to the gantry frame (102) and can be locked; The transport unit (4) is located in the traction power unit (3) and is used to grab and transport the photovoltaic module (51) mounted on the component mounting unit (2). When the traction power unit (3) is in the locked state, the traction power unit (3) can drive the gantry traveling frame (102) to move; when the traction power unit (3) is in the active state, the traction power unit (3) can drive the transport unit (4) to move inside the gantry traveling frame (102). The traction power unit (3) includes a traction mechanism with walking and steering functions. There are two traction mechanisms arranged symmetrically on the two inner side walls of the gantry frame (102). The transport unit (4) is located between the two traction mechanisms. The traction mechanism includes a column (302) and an active walking part (301) disposed at the lower end of the column (302). The column (302) is slidably connected to the corresponding inner side wall of the gantry walking frame (102) along the front-back direction of the gantry walking frame (102) and can be locked. The active walking part (301) includes a drive wheel and a driver for driving the drive wheel to walk and turn. The transport unit (4) includes a longitudinal slide (401), an adjustment plate group, and a gripper disposed on the adjustment plate group. There are two longitudinal slides (401) which are vertically slidably connected and lockable to the two columns (302). The two ends of the adjustment plate group are respectively connected to the two longitudinal slides (401). The lateral position of the gripper on the adjustment plate group is adjustable. The gripper is used to grip the photovoltaic module (51).

2. The photovoltaic module installation device as described in claim 1, characterized in that, The component mounting unit (2) includes a feeding conveying mechanism (201) and a buffer conveying mechanism (202). The feeding conveying mechanism (201) is used to convey the photovoltaic module (51) to the gripping position of the handling unit (4). The handling unit (4) can place the photovoltaic module (51) conveyed by the feeding conveying mechanism (201) to the buffer conveying mechanism (202). The buffer conveying mechanism (202) is set on the gantry walking frame (102) and is used to mount the photovoltaic module (51). The buffer conveying mechanism (202) can drive the photovoltaic module (51) to move in a preset direction. When the buffer conveying mechanism (202) is in the storage mode, the preset direction is configured to be away from the transport unit (4); when the buffer conveying mechanism (202) is in the picking mode, the preset direction is configured to be towards the transport unit (4).

3. The photovoltaic module installation device as described in claim 2, characterized in that, The buffer conveying mechanism (202) includes at least one conveying platform, on which the photovoltaic modules (51) are stacked or laid flat.

4. The photovoltaic module installation apparatus as described in claim 3, characterized in that, The conveying platform includes multiple conveyor belts arranged side by side in a horizontal plane, each of which can be loaded with the photovoltaic module (51). The direction in which the conveyor belts are arranged side by side in the horizontal plane is configured to be parallel to the horizontal plane and perpendicular to the front-back direction of the gantry frame (102).

5. The photovoltaic module installation apparatus as described in claim 2, characterized in that, The buffer conveying mechanism (202) is located on the side of the conveying unit (4) near the material picking limit block (203), and the buffer conveying mechanism (202) is located on the side of the material storage limit block (204) away from the conveying unit (4).

6. The photovoltaic module installation apparatus as described in claim 1, characterized in that, The gantry walking frame (102) is provided with a buffer fixing frame (103) for installing and fixing the component mounting unit (2).

7. The photovoltaic module installation apparatus as described in claim 1, characterized in that, The gantry traveling frame (102) is provided with a traveling wheel set (101) below it, and the traveling wheel set (101) is provided with a wheel set brake mechanism (106).

8. The photovoltaic module installation apparatus as described in claim 1, characterized in that, The inner side wall of the gantry traveling frame (102) is provided with a positioning slide (104) arranged in the front and rear direction of the gantry traveling frame (102). A first locking mechanism (105) is provided on the positioning slide (104). A sliding part is provided on the column (302) that is slidably connected to the positioning slide (104). A second locking mechanism (306) adapted to the first locking mechanism (105) is provided on the sliding part.

9. The photovoltaic module installation apparatus as described in claim 8, characterized in that, The first locking mechanism (105) is configured as a positioning hole, and the second locking mechanism (306) includes an elastic ball assembly for positioning in accordance with the positioning hole and a pusher (3062) for pushing out a locking ball (3065) of the elastic ball assembly.

10. The photovoltaic module installation apparatus as described in claim 9, characterized in that, The inner sidewall of the gantry traveling frame (102) is provided with a plurality of positioning slides (104), and each positioning slide (104) is provided with a plurality of positioning holes arranged sequentially at intervals along the extension direction of the positioning slide (104).

11. The photovoltaic module installation apparatus as described in claim 8, characterized in that, The sliding part is configured as a positioning wheel set (305), the positioning wheel set (305) includes at least a pair of clamping rollers (3051) arranged opposite to each other, and the positioning slide (104) is clamped between the clamping rollers (3051).

12. The photovoltaic module installation apparatus as described in claim 1, characterized in that, The adjustment plate assembly includes a first sliding plate (404) and a second sliding plate (406). The first sliding plate (404) is hinged to one of the longitudinal sliding plates (401), and the second sliding plate (406) is hinged to the other longitudinal sliding plate (401). The first sliding plate (404) and the second sliding plate (406) overlap each other and can slide relative to each other.

13. The photovoltaic module installation apparatus as described in claim 1, characterized in that, The gripper includes a pair of clamping mechanisms (407) arranged opposite to each other on the adjustment plate group and a first power component disposed on the clamping mechanism (407). The clamping mechanism (407) is slidably connected to the adjustment plate group in a lateral direction. The first power component is used to drive the clamping mechanism (407) to slide so as to realize the gripping action of the photovoltaic module (51).

14. The photovoltaic module installation apparatus as described in claim 1, characterized in that, The gripper includes an adsorption mechanism (410) disposed on the adjustment plate group and a second power component disposed on the adsorption mechanism (410). The adsorption mechanism (410) is slidably connected to the adjustment plate group in a lateral direction. The adsorption mechanism (410) can grip the photovoltaic module (51) in an adsorption manner. The second power component is used to drive the adsorption mechanism to slide.

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