A photovoltaic panel auxiliary positioning and assembly device

Abstract

The application relates to a photovoltaic panel auxiliary positioning and assembling device which comprises a walking assembly, a hanging arm assembly, an anti-swing assembly and a taking and placing assembly. The walking assembly is composed of a vehicle frame and a caterpillar wheel, a bearing table is arranged on the vehicle frame and rotationally connected with the vehicle frame. The hanging arm assembly comprises a telescopic arm and a lifting hydraulic cylinder for adjusting the pitching angle of the telescopic arm, one end of the telescopic arm is hingedly connected with the bearing table, and the other end of the telescopic arm suspends the anti-swing assembly. The taking and placing assembly comprises a mounting frame for mounting a vacuum chuck, and the mounting frame is connected with the lower end of the anti-swing assembly through a wrist joint. According to the above technical scheme, the photovoltaic panel can be prevented from being damaged due to swinging and twisting during the carrying process, the positioning and mounting operation of the photovoltaic panel can be completely controlled by people, and the mounting efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic installation engineering, and specifically to a photovoltaic panel auxiliary positioning and assembly device. Background Technology

[0002] The installation of photovoltaic (PV) panels is the core work of PV installation projects. Currently, PV panel installation is mostly done manually. However, standard PV panels are heavy and large, generally requiring multiple people to install them properly. Furthermore, PV panels are easily damaged during manual handling. Especially for installations of higher-mounted PV panels, scaffolding and ladders are needed, requiring workers to perform the work at heights. This presents significant challenges for workers, as carrying heavy loads is difficult and increases the risk of falls and other accidents. Another approach combines simple hoisting machines with manual operation. However, this method has two drawbacks: firstly, positioning the hoisting machines is difficult, resulting in low overall installation efficiency and low labor utilization; secondly, the PV panels are directly hoisted using hooks, which can cause significant swaying during crane rotation, easily damaging the panels and posing a certain degree of danger. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned drawbacks and provide a photovoltaic panel auxiliary positioning and assembly device. This device can prevent photovoltaic panels from being damaged by bumps and twists during transportation, making the positioning and installation of photovoltaic panels completely controllable by humans and improving installation efficiency.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: It includes a walking assembly, a boom assembly, an anti-sway assembly, and a pick-and-place assembly; the walking assembly consists of a frame and track wheels, and the frame is provided with a support platform rotatably connected to it; the boom assembly includes a telescopic boom and a lifting hydraulic cylinder for adjusting the pitch angle of the telescopic boom, one end of the telescopic boom is hinged to the support platform, and the other end of the telescopic boom is suspended from the anti-sway assembly; the pick-and-place assembly includes a mounting bracket for installing a vacuum suction cup, and the mounting bracket is connected to the lower end of the anti-sway assembly via a wrist joint; The anti-sway assembly includes a first anti-sway wheel, a first anti-sway wheel bracket, a second anti-sway wheel, and a second anti-sway wheel bracket. The first and second anti-sway wheels are arranged vertically in the up-down direction, and the wheel axles of the first and second anti-sway wheels are located in the same vertical plane. It also includes a first flexible cable, one end of which is connected to a first roller mounted on a support platform. The other end of the first flexible cable passes sequentially around a transition wheel, the first anti-sway wheel, and the second anti-sway wheel before being fixed to the end of the telescopic arm. The first roller is driven by a power component to move the first flexible cable to raise and lower the second anti-sway wheel. A centering wheel assembly is also provided between the first and second anti-sway wheels to prevent the photovoltaic panel from swaying and twisting during the transfer process. The transition wheel is located at the end of the telescopic arm. A fine-tuning component is also provided between the anti-sway component and the pick-and-place component. The fine-tuning component includes a second roller fixed on the roller bracket, a first ratchet and a second ratchet coaxially arranged with the second roller and located on both sides of the second roller, a first pawl and a second pawl respectively cooperating with the first ratchet and the second ratchet, a cooperating positioning sleeve and a positioning platform. The second roller is provided with a spring-loaded spring inside. The first ratchet and the second ratchet rotate in opposite directions. The upper and lower ends of the roller bracket are respectively connected to the anti-sway component and the positioning sleeve. The positioning platform is provided with a hook. The fine-tuning component also includes a second flexible cable. One end of the second flexible cable is fixed to the bottom of the second anti-sway wheel bracket, and the other end of the second flexible cable is guided by the second roller and then passes through the hook and is wound and fixed to the second roller. The second flexible cable drives the positioning platform to rise and fall to achieve connection or separation with the bottom end of the positioning sleeve. The positioning sleeve and the positioning platform are both square.

[0005] The concentric wheel assembly includes a first concentric wheel group, a second concentric wheel group, a first sleeve, and a third concentric wheel group, and also includes a fourth concentric wheel group, a second sleeve, a fifth concentric wheel group, and a sixth concentric wheel group. The first anti-sway wheel bracket is also provided with an end guide wheel. The first flexible cable coming out of the transition wheel first passes around the first anti-sway wheel, then passes through the first concentric wheel group, the second concentric wheel group, the first sleeve, and the third concentric wheel group in sequence, and then passes around the second anti-sway wheel. The first flexible cable coming out of the second anti-sway wheel then passes through the fourth concentric wheel group, the second sleeve, the fifth concentric wheel group, and the sixth concentric wheel group in sequence, and then passes around the end guide wheel and is fixed to the end of the telescopic arm.

[0006] The first, third, fourth, and sixth pairs of central pulleys have the same structure, each including a central pulley mounting plate and first pulleys evenly arranged circumferentially on the central pulley mounting plate. The first pulleys are provided in three sets, and the wheel surfaces of the three sets of first pulleys form a channel for clamping the first flexible cable. The second and fifth sets of central wheel groups have the same structure, each including a sleeve. The sleeve is composed of a cylindrical sleeve and a trumpet-shaped sleeve connected together. The top of the cylindrical sleeve is fixed to the base plate of the first anti-sway wheel bracket, and the other end of the cylindrical sleeve is connected to the small-diameter end of the trumpet-shaped sleeve. The inner wall of the trumpet-shaped sleeve is evenly arranged with second pulleys along its circumference. There are three sets of second pulleys. The wheel surfaces of the three sets of second pulleys form a channel for clamping the first flexible cable. The three sets of second pulleys are respectively hinged to the inner wall of the trumpet-shaped sleeve through pulley brackets. A tension spring is provided between the pulley brackets and the inner wall of the trumpet-shaped sleeve to connect the two. In the initial state, the three sets of second pulleys are in a horizontal state. When the first flexible cable contracts and drives the second anti-sway wheel to rise, the first sleeve and the second sleeve enter the second and fifth sets of central wheel groups respectively, push the second pulleys upward, and enter the interior of the cylindrical sleeve under the clamping of the second pulleys to realize anti-sway and anti-torsion during the transfer of the photovoltaic panel.

[0007] The first and sixth pair of central wheel sets are disposed on the upper surface of the base plate of the first anti-sway wheel bracket, the second and fifth pair of central wheel sets are disposed on the lower surface of the base plate of the first anti-sway wheel bracket, the first and second sleeves are disposed on the upper surface of the top plate of the second anti-sway wheel bracket, and the third and fourth pair of central wheel sets are disposed on the lower surface of the top plate of the second anti-sway wheel bracket.

[0008] The wrist joint includes a top plate fixed to the bottom surface of the positioning platform and a bottom plate fixed to the mounting bracket. An elastic linkage assembly connecting the top plate and the bottom plate, and a synchronous belt drive mechanism for driving the elastic linkage assembly to rotate, are provided between them. The synchronous belt drive mechanism is fixed to the bottom surface of the top plate and includes a first drive motor, a first pulley connected to the output shaft of the first drive motor, and a second pulley connected to the first pulley via a synchronous belt. The elastic linkage assembly includes a connecting rod and a spring fixed to the lower end of the connecting rod. The upper end of the connecting rod is connected to the second pulley via a first universal joint, and the lower end of the spring is connected to the base via a second universal joint. The base is fixed at the center of the bottom plate. The wrist joint also includes a third flexible cable and a flexible cable drive unit for driving the third flexible cable to extend and retract. The flexible cable drive unit is located on the upper surface of the top plate and includes a second drive motor and a drum. One end of the third flexible cable is connected to the drum, and the other end of the third flexible cable passes around the universal rotation device and is connected to the base. The third flexible cable is evenly arranged in three groups along the circumference of the base, and each group includes two flexible cables arranged in parallel.

[0009] The universal rotating device is located on the lower surface of the top plate and includes a ball seat and a steering ball forming a spherical lower pair mechanism. The ball seat contains a fixed pulley, and the steering ball contains a movable pulley. The ball seat has a flexible cable inlet hole, and the steering ball has a flexible cable outlet hole. Both the steering ball and the ball seat are hollow structures. The fixed shaft of the fixed pulley is fixedly connected to the inner surface of the ball seat. The two ends of the fixed shaft of the movable pulley are slidably connected to symmetrically arranged arc-shaped grooves on the inner surface of the steering ball. The arc-shaped grooves are semi-circular, and their radius matches the radius of the movable pulley. The end of the steering ball away from the flexible cable outlet hole is an open end. The plane of this open end is perpendicular to the center line of the flexible cable outlet hole, and the open end has a symmetrically arranged inlet groove along the spherical surface that cooperates with a third flexible cable. The width of the inlet groove is greater than the diameter of the third flexible cable. The center line of the inlet groove and the center line of the movable pulley raceway are located on the same plane, and this plane is perpendicular to the wheel axle of the movable pulley. One end of the third flexible cable is fixed to the drum, and the other end of the third flexible cable passes through the top plate and enters the ball seat through the cable inlet hole. It then passes through the fixed pulley and the movable pulley in sequence and exits through the cable outlet hole before being fixed to the base. The third flexible cable between the fixed pulley and the movable pulley is always in a horizontal direction.

[0010] The frame is also equipped with outrigger assemblies, which include outriggers, outrigger lifting cylinders for driving the outriggers to rise and fall, and outrigger connecting arms. The outrigger connecting arms include a fixed arm hinged to the frame and a telescopic movable arm connected within the fixed arm. The outrigger lifting cylinders are fixed to the end of the movable arm. Four sets of outrigger assemblies are provided, and the four sets of outrigger assemblies are symmetrically arranged in pairs on both sides of the frame.

[0011] The telescopic boom includes a first arm, a second arm, a third arm, and a fourth arm nested from the outside in. The end of the first arm is hinged to the support platform, and the end of the fourth arm is provided with a fixed bracket connecting the transition wheel and the first anti-sway wheel. The cylinder end of the lifting hydraulic cylinder is hinged to the support platform, and the rod end of the lifting hydraulic cylinder is hinged to the lug provided on the first arm.

[0012] The mounting frame includes a square frame and connecting rods on both sides of the frame. The vacuum suction cups are evenly fixed to the bottom surface of the frame, and the connecting rods are fixed to the base plate of the wrist joint.

[0013] The beneficial effects of this invention are as follows: (1) The present invention uses anti-sway components, which play a role in preventing swaying and twisting during the handling process, thereby achieving stability during the handling of photovoltaic panels and avoiding collisions with photovoltaic panels.

[0014] (2) The present invention uses a fine-tuning component (ratchet and pawl structure), which can control the precise position of the pick-up and place component by rotating the ratchet after coarse adjustment, and achieve precise positioning under the joint adjustment of the elastic linkage component in the pick-up and place component.

[0015] (3) The present invention uses a multi-rope traction device, which can change the position of the photovoltaic panel mounting frame when picking up and placing photovoltaic panels, thereby achieving precise picking up or installation of photovoltaic panels. It also has the advantages of simple parts, convenient processing, smooth transmission, no noise, no vibration and impact.

[0016] (4) The steering ball in the universal rotating device in the wrist joint of the present invention can be rotated to any desired position so that the cable outlet hole is always concentric with the third cable, making the movement of the third cable smoother, the working space larger, and without singularities. Therefore, when the master robot is moving continuously, the cable universal transmission device of the present invention has many advantages such as smooth transmission, good cable guiding performance, and large movement space, thus improving the stability of the cable transmission. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the frame structure of the present invention; Figure 4 This is a schematic diagram of the support leg assembly of the present invention; Figure 5 This is a schematic diagram of the anti-sway component of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the anti-sway component of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the anti-sway component of the present invention. Figure 3 ; Figure 8 This is a schematic diagram of the structure of the first pair of central gear sets of the present invention; Figure 9 This is a schematic diagram of the structure of the third pair of central gear sets of the present invention; Figure 10 This is a schematic diagram of the structure of the second pair of central gear sets of the present invention; Figure 11 This is a schematic diagram of the structure of the fine-tuning component of the present invention. Figure 1 ; Figure 12 This is a schematic diagram of the structure of the fine-tuning component of the present invention. Figure 2 ; Figure 13This is a schematic diagram of the structure of the fine-tuning component of the present invention. Figure 3 ; Figure 14 This is a schematic diagram showing the connection between the wrist joint and the pick-and-place component of the present invention; Figure 15 This is a schematic diagram of the wrist joint structure of the present invention. Figure 1 ; Figure 16 This is a schematic diagram of the wrist joint structure of the present invention. Figure 2 ; Figure 17 This is a schematic diagram of the external structure of the universal rotating device of the present invention; Figure 18 This is a schematic diagram of the internal structure of the universal rotating device of the present invention.

[0018] The labels in the above figures are as follows: Walking assembly 1, frame 11, track wheel 12, support platform 13, first roller 14, outrigger assembly 15, outrigger 151, outrigger lifting cylinder 152, fixed arm 153, movable arm 154, boom assembly 2, first arm 21, second arm 22, third arm 23, fourth arm 24, transition wheel 241, fixed bracket 242, lifting hydraulic cylinder 25, anti-sway assembly 3, first anti-sway wheel 31, first anti-sway wheel bracket 32, second anti-sway wheel 33, second anti-sway wheel bracket 34, pick-and-place assembly 4, vacuum suction cup 41, mounting bracket 42, frame 421, connecting rod 422, fine-tuning assembly 5, roller bracket 51, second roller 52, first ratchet 53, second ratchet 54, first pawl 55, second pawl 56, positioning sleeve 57, positioning platform 58, hook 581, first flexible cable 6, second flexible cable 7, and so on. A pair of central wheel assemblies 81, a central wheel mounting plate 811, a first pulley 812, a second pair of central wheel assemblies 82, a cylindrical sleeve 821, a trumpet-shaped sleeve 822, a second pulley 823, a pulley bracket 824, a tension spring 825, a third pair of central wheel assemblies 83, a fourth pair of central wheel assemblies 84, a fifth pair of central wheel assemblies 85, a sixth pair of central wheel assemblies 86, a first sleeve 87, a second sleeve 88, an end guide wheel 89, a wrist joint 9, a top plate 91, and a bottom plate 98. Plate 92, first drive motor 911, synchronous belt 912, second pulley 913, connecting rod 93, spring 94, first universal joint 931, second universal joint 941, base 95, third flexible cable 96, second drive motor 914, drum 915, ball seat 97, steering ball 98, fixed pulley 971, movable pulley 981, flexible cable inlet hole 972, flexible cable outlet hole 982, arc-shaped groove 983, cable inlet groove 984. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings: like Figure 1 , Figure 2The photovoltaic panel auxiliary positioning and assembly equipment shown includes a walking component 1, a boom component 2, an anti-sway component 3, and a pick-and-place component 4.

[0020] Furthermore, such as Figure 3 , Figure 4 As shown, the traveling assembly 1 consists of a frame 11 and track wheels 12. The frame 11 has a support platform 13 rotatably connected to it. The frame 11 also has outrigger assemblies 15, which include outriggers 151, outrigger lifting cylinders 152 for driving the outriggers 151 to rise and fall, and outrigger connecting arms. The outrigger connecting arms include a fixed arm 153 hinged to the frame 11 and a telescopic movable arm 154 connected within the fixed arm 153. The outrigger lifting cylinder 152 is fixed to the end of the movable arm 154. Four sets of outrigger assemblies 15 are arranged symmetrically in pairs on both sides of the frame 11. When the traveling assembly 1 is traveling, the outrigger assemblies 15 are in a retracted state towards the frame side, i.e., flush with the side of the frame. At this time, the outrigger assemblies 15 are not working, and the traveling assembly 1 travels normally. When the traveling assembly 1 moves to the designated position, the outrigger connecting arm rotates, and the outrigger lifting cylinder 152 drives the outrigger 151 to descend to the ground, providing support. The outrigger assembly 15 provides stable support for the entire equipment, increases the stability and load-bearing capacity of the frame, and ensures that construction work can be carried out safely and smoothly.

[0021] Furthermore, the boom assembly 2 includes a telescopic boom and a lifting hydraulic cylinder 25 for adjusting the pitch angle of the telescopic boom. One end of the telescopic boom is hinged to the support platform 13, and the other end of the telescopic boom is suspended by an anti-sway component 3. Specifically, the telescopic boom includes a first arm 21, a second arm 22, a third arm 23, and a fourth arm 24 nested from the outside in. The end of the first arm 21 is hinged to the support platform 13, and the end of the fourth arm 24 is provided with a fixed bracket 242 connecting the transition wheel 241 and the first anti-sway wheel 31. The cylinder end of the lifting hydraulic cylinder 25 is hinged to the support platform 13, and the rod end of the lifting hydraulic cylinder 25 is hinged to the lug provided on the first arm 21. Through trajectory planning, the boom assembly 2 can reach a designated position.

[0022] Furthermore, such as Figure 5 , Figure 6 , Figure 7As shown, the anti-sway assembly 3 includes a first anti-sway wheel 31, a first anti-sway wheel bracket 32, a second anti-sway wheel 33, and a second anti-sway wheel bracket 34. The first anti-sway wheel 31 and the first anti-sway wheel bracket 32 ​​form the first anti-sway wheel assembly, and the second anti-sway wheel 33 and the second anti-sway wheel bracket 34 form the second anti-sway wheel assembly. The first anti-sway wheel 31 and the second anti-sway wheel 33 are arranged vertically in the up-down direction, and the axles of the first anti-sway wheel 31 and the second anti-sway wheel 33 are located in the same vertical plane. The anti-sway assembly 3 also includes a first flexible cable 6. One end of the first flexible cable 6 is connected to a first roller 14 set on the support platform 13, and the other end of the first flexible cable 6 is sequentially wound around a transition wheel 241, the first anti-sway wheel 31, and the second anti-sway wheel 33 before being fixed to the end of the telescopic arm. The first roller 14 is driven by a power component to move the first flexible cable 6 to achieve the raising and lowering of the second anti-sway wheel 33. The transition wheel 241 is set at the end of the telescopic arm.

[0023] Furthermore, a centering wheel assembly is provided between the first anti-sway wheel 31 and the second anti-sway wheel 33 to prevent the photovoltaic panel from swaying and twisting during the transfer process. The centering wheel assembly includes a first centering wheel group 81, a second centering wheel group 82, a first sleeve 87, and a third centering wheel group 83 arranged concentrically, as well as a fourth centering wheel group 84, a second sleeve 88, a fifth centering wheel group 85, and a sixth centering wheel group 86 arranged concentrically. The first centering wheel group 81 and the sixth centering wheel group 86 are located on the upper plate surface of the base plate of the first anti-sway wheel bracket 32, the second centering wheel group 82 and the fifth centering wheel group 85 are located on the lower plate surface of the base plate of the first anti-sway wheel bracket 32, the first sleeve 87 and the second sleeve 88 are located on the upper plate surface of the top plate of the second anti-sway wheel bracket 34, and the third centering wheel group 83 and the fourth centering wheel group 84 are located on the lower plate surface of the top plate of the second anti-sway wheel bracket 34. The first anti-sway wheel bracket 32 ​​is also provided with an end guide wheel 89. The first flexible cable 6, which comes out of the transition wheel 241, first passes around the first anti-sway wheel 31, then passes through the first pair of central wheel group 81, the second pair of central wheel group 82, the first sleeve 87, and the third pair of central wheel group 83 in sequence, and then passes around the second anti-sway wheel 33. After coming out of the second anti-sway wheel 33, the first flexible cable 6 passes through the fourth pair of central wheel group 84, the second sleeve 88, the fifth pair of central wheel group 85, and the sixth pair of central wheel group 86 in sequence, and then passes around the end guide wheel 89 and is fixed to the end of the telescopic arm.

[0024] Specifically, such as Figure 8 , Figure 9As shown, the first pair of central pulley groups 81, 83, 84, and 86 have the same structure, each including a central pulley mounting plate 811 and first pulleys 812 evenly arranged circumferentially on the mounting plate 811. Three sets of first pulleys 812 are provided, and the surfaces of the three sets of first pulleys 812 form a channel for clamping the first flexible cable 6. That is, the first pair of central pulley groups 81, 83, 84, and 86 are fixed central pulleys; the fixing frame of the first pulley 812 is fixedly connected to the mounting plate 811, and the position of the first pulley 812 cannot be changed. Figure 10 As shown, the second pair of central wheel sets 82 and the fifth pair of central wheel sets 85 have the same structure, each including a sleeve. The sleeve is formed by connecting a columnar sleeve 821 and a trumpet-shaped sleeve 822. The top of the columnar sleeve 821 is fixed to the bottom plate of the first anti-sway wheel bracket 32, and the other end of the columnar sleeve 821 is connected to the small-diameter end of the trumpet-shaped sleeve 822. The inner wall of the trumpet-shaped sleeve 822 is evenly arranged with second pulleys 823 along its circumference. There are three sets of second pulleys 823. The wheel surfaces of the three sets of second pulleys 823 form a channel for clamping the first flexible cable 6. The three sets of second pulleys 823 are respectively hinged to the inner wall of the trumpet-shaped sleeve 822 through pulley brackets 824, and a tension spring 825 is provided between the pulley brackets 824 and the inner wall of the trumpet-shaped sleeve 822 to connect the two. Initially, the three sets of second pulleys 823 are horizontal, meaning that the tension applied by the three sets of tension springs 825 to the three sets of second pulleys 823 keeps them in the same plane. When the first flexible cable 6 retracts and drives the second anti-sway wheel 33 upward, the first sleeve 87 and the second sleeve 88 respectively enter the second pair of centering wheel groups 82 and the fifth pair of centering wheel groups 85, pushing the second pulley 823 upward and entering the cylindrical sleeve 821 under the clamping of the second pulley 823 to achieve anti-sway and anti-torsion during the transfer of the photovoltaic panel. The second pair of centering wheels 82 and the fifth pair of centering wheels 85 are foldable centering wheels. After the first sleeve 87 and the second sleeve 88 gradually rise into the trumpet-shaped sleeve 822, they will drive the second pulley 823 to fold upward. That is, the pulley bracket 824 rotates upward around its hinge point with the trumpet-shaped sleeve 822. During the upward folding process, the second pulley 823 is still attached to the surface of the first sleeve 87 and the second sleeve 88 under the action of the tension spring 825. When the first sleeve 87 and the second sleeve 88 descend, the second pulley 823 will return to its initial position under the action of the tension spring 825.

[0025] In this embodiment, two sets of the first flexible rope 6 are arranged side by side. Correspondingly, two sets of the first pair of center wheels 81, the second pair of center wheels 82, the third pair of center wheels 83, the fourth pair of center wheels 84, the fifth pair of center wheels 85, the sixth pair of center wheels 86, the first sleeve 87, the second sleeve 88, and the end guide wheel 89 are also arranged.

[0026] The main function of the anti-sway component is to prevent swaying and twisting during the transport of photovoltaic panels. The following explanation uses the first sleeve as an example: When the first roller reverses, it drives the first flexible cable to retract, thereby lifting the second anti-sway wheel assembly upwards. Under the action of the first and third pair of central wheels, the first flexible cable is always centered in the first sleeve when it enters. Under the action of the second pair of central wheels, the first flexible cable is also always centered in the trumpet-shaped sleeve. This ensures that the centers of the first sleeve and the trumpet-shaped sleeve always coincide with the center of the first flexible cable when the second anti-sway wheel assembly rises. Thus, the first sleeve can ultimately precisely engage with the trumpet-shaped sleeve along the first flexible cable. During engagement, when the first sleeve enters the trumpet-shaped sleeve, it pushes open the second pulley and remains centered within the trumpet-shaped sleeve under the clamping of the second pulley, compressing the tension spring on the second pulley. The engagement of the first sleeve and the trumpet-shaped sleeve achieves the functions of anti-swaying and anti-twist.

[0027] The arrangement of each concentric wheel assembly ensures that the anti-sway component can quickly align with the first sleeve and the trumpet-shaped sleeve to achieve the anti-sway function. Furthermore, when the first flexible cable extends, i.e., when the second anti-sway wheel assembly is lowered, the second concentric wheel assembly will return to its original position under the action of the tension spring, and the first flexible cable will still be located at the center of the trumpet-shaped sleeve.

[0028] Furthermore, such as Figure 14 As shown, the pick-and-place assembly 4 includes a mounting bracket 42 for mounting the vacuum suction cup 41. The mounting bracket 42 is connected to the lower end of the anti-sway assembly 3 via a wrist joint 9. The angle of the mounting bracket 42 can be adjusted via the wrist joint 9, allowing the vacuum suction cup 41 to pick up photovoltaic panels placed in different postures. The vacuum suction cup 41 can control the picking up and releasing of photovoltaic panels via an air pump. Specifically, the mounting bracket 42 includes a square frame 421 and connecting rods 422 on both sides of the frame 421. The vacuum suction cup 41 is evenly fixed to the bottom surface of the frame 421, and the connecting rods 422 are fixed to the base plate 92 of the wrist joint 9.

[0029] Specifically, such as Figure 14 , Figure 15 , Figure 16As shown, the wrist joint 9 includes a top plate 91 fixed to the bottom surface of the positioning platform 58 and a bottom plate 92 fixed to the mounting bracket 42. An elastic link assembly connecting the top plate 91 and the bottom plate 92 and a synchronous belt drive mechanism for driving the elastic link assembly to rotate are provided. The synchronous belt drive mechanism is fixed to the bottom surface of the top plate 91 and includes a first drive motor 911, a first pulley connected to the output shaft of the first drive motor 911, and a second pulley 913 connected to the first pulley through a synchronous belt 912. The elastic link assembly includes a link 93 and a spring 94 fixed to the lower end of the link 93. The upper end of the link 93 is connected to the second pulley 913 through a first universal joint 931, and the lower end of the spring 94 is connected to the base 95 through a second universal joint 941. The base 95 is fixed at the center of the bottom plate 92. The spring 94 here is always compressed, so it constantly applies a downward force to the base 95 through the second universal joint 941, thus keeping the third flexible cable 96 taut and ensuring the accuracy of the cable mechanism's movement. Simultaneously, the third flexible cable 96 is released via the second drive motor 914, causing the spring 94 to extend under elastic force, allowing the wrist joint's cable mechanism and fine-tuning components to work together to adjust the position.

[0030] The wrist joint 9 also includes a third flexible cable 96 and a flexible cable drive unit for driving the third flexible cable 96 to extend and retract. The flexible cable drive unit is located on the upper surface of the top plate 91 and includes a second drive motor 914 and a drum 915. One end of the third flexible cable 96 is connected to the drum 915, and the other end of the third flexible cable 96 is connected to the base 95 after passing around the universal rotation device.

[0031] In this embodiment, three groups of the third flexible cable 96 are evenly arranged along the circumference of the base 95, each group including two flexible cables arranged side by side. That is, a total of six flexible cables are arranged, in pairs. The second drive motor 914 drives the drum 915 to rotate forward or backward, thereby driving the winding and unwinding of the third flexible cable 96. This can control the pitch angle of the pick-and-place component 4 below. The first drive motor 911 can drive the pick-and-place component 4 to rotate around the vertical Z-axis through the synchronous belt transmission mechanism.

[0032] Furthermore, such as Figure 17 , Figure 18 As shown, the universal rotating device is located on the lower surface of the top plate 91, including a ball seat 97 and a steering ball 98 forming a spherical lower pair mechanism. The steering ball 98 is equivalent to the moving part of the spherical lower pair, and the ball seat 97 is equivalent to the fixed part of the spherical lower pair. A fixed pulley 971 is provided inside the ball seat 97, and a movable pulley 981 is provided inside the steering ball 98. A flexible cable inlet hole 972 is provided on the ball seat 97, and a flexible cable outlet hole 982 is provided on the steering ball 98. The steering ball 98 in the universal rotating device can be rotated to any desired position so that the flexible cable outlet hole 982 always remains concentric with the third flexible cable 96, making the movement of the third flexible cable 96 smoother, providing a larger working space, and eliminating singularities.

[0033] In this embodiment, both the steering ball 98 and the ball seat 97 are hollow structures. The fixed shaft of the fixed pulley 971 is fixedly connected to the inner surface of the ball seat 97. The two ends of the fixed shaft of the movable pulley 981 are slidably connected to the arc-shaped grooves 983 symmetrically arranged on the inner surface of the steering ball 98. The arc-shaped grooves 983 are semi-circular, and the radius of the arc-shaped grooves 983 matches the radius of the movable pulley 981. That is, the fixed shaft of the movable pulley 981 can move within the trajectory defined by the arc-shaped grooves 983, so as to ensure that no matter how the steering ball 98 rotates, the third flexible cable 96 between the fixed pulley 971 and the movable pulley 981 is always horizontal. Therefore, only one cable inlet groove 984 is needed for the steering ball 98 to enter the cable.

[0034] In this embodiment, the end of the steering ball 98 that is far from the cable outlet hole 982 is an open end. The plane of the open end is perpendicular to the center line of the cable outlet hole 982, and the open end is symmetrically provided with an inlet groove 984 that cooperates with the third flexible cable 96. The width of the inlet groove 984 is greater than the diameter of the third flexible cable 96. The center line of the inlet groove 984 and the center line of the raceway of the movable pulley 981 are located on the same plane, and the plane is perpendicular to the axle of the movable pulley 981. In this way, no matter how the steering ball 98 rotates, the third flexible cable 96 will not touch the inlet groove 984, that is, the two do not interfere with each other.

[0035] One end of the third flexible cable 96 is fixed to the drum 915, and the other end of the third flexible cable 96 passes through the top plate 91 and enters the ball seat 97 through the flexible cable inlet hole 972. It then passes through the fixed pulley 971 and the movable pulley 981 in sequence and exits through the flexible cable outlet hole 982 before being fixed to the base 95. The third flexible cable 96 between the fixed pulley 971 and the movable pulley 981 is always in a horizontal direction.

[0036] In this embodiment, the outer circle of the movable pulley 981, which is the wheel surface that mates with the third flexible cable 96, passes through the center of the steering ball 98. When the steering ball 98 rotates with the third flexible cable 96, the third flexible cable 96 is always taut. The third flexible cable 96 adjusts the position of the steering ball 98, so that the direction of the rope output is always the radial direction of the steering ball 98, avoiding problems of inaccurate guidance and unstable transmission caused by interference between the device and the third flexible cable 96. At the same time, the arc-shaped groove 983 is semi-circular, and the radius of the arc-shaped groove 983 matches the radius of the movable pulley 981, thereby ensuring that no matter how the flexible cable exiting from the flexible cable outlet hole 982 moves, the section of the third flexible cable 96 between the fixed pulley 971 and the movable pulley 981 is always perpendicular to the open plane of the ball seat 97.

[0037] Furthermore, such as Figure 1 , Figure 2 As shown, a fine-tuning component 5 is also provided between the anti-sway component 3 and the pick-and-place component 4, such as... Figure 11 , Figure 12 , Figure 13 As shown, the fine-tuning component 5 includes a second roller 52 fixed on a roller bracket 51, a first ratchet 53 and a second ratchet 54 coaxially arranged with the second roller 52 and located on both sides of the second roller 52, a first pawl 55 and a second pawl 56 respectively cooperating with the first ratchet 53 and the second ratchet 54, a cooperating positioning sleeve 57 and a positioning platform 58. A spring is installed inside the second roller 52. The first ratchet 53 and the second ratchet 54 rotate in opposite directions. The upper and lower ends of the roller bracket 51 are connected to the anti-sway component 3 and the positioning sleeve 57 respectively. A hook 581 is provided on the positioning platform 58. The first ratchet 53 and the first pawl 55, and the second ratchet 54 and the second pawl 56 respectively form ratchet and pawl mechanisms. When the second pawl 56 disengages from the second ratchet 54 and the first pawl 55 engages with the first ratchet 53, the second roller 52 can rotate counterclockwise under the weight of the photovoltaic panel. At this time, the pick-and-place assembly 4 descends. The engagement of the first pawl 55 and the first ratchet 53 allows for step-by-step control of the pick-and-place assembly 4 to descend in stages to achieve a precise movement position. When the first pawl 55 disengages from the first ratchet 53 and the second pawl 56 disengages from the second ratchet 54, the second roller 52 can rotate clockwise under the action of the spring to retract the second flexible cable 7, thereby raising the positioning platform 58.

[0038] The fine-tuning component 5 also includes a second flexible cable 7. One end of the second flexible cable 7 is fixed to the bottom of the second anti-sway wheel bracket 34. The other end of the second flexible cable 7 is guided by the second roller 52 and passes through the hook 581 and is wound and fixed to the second roller 52. The second flexible cable 7 drives the positioning platform 58 to rise and fall to achieve connection or separation with the bottom end of the positioning sleeve 57. Both the positioning sleeve 57 and the positioning platform 58 are square.

[0039] The first ratchet 53 and the second ratchet 54 form a pair of ratchet mechanisms with opposite functions. When the position of the fine-tuning component 5 needs to be adjusted during the installation of the photovoltaic panel, the second pawl 56, which prevents the lowering, is opened. The second roller 52 rotates counterclockwise under the weight of the photovoltaic panel, thereby lowering the pick-and-place component 4 and compressing the spring inside the second roller 52. After the photovoltaic panel is lowered, the first pawl 55, which prevents the rising, is opened again. Under the action of the spring, the second roller 52 rotates clockwise to retract the second flexible cable 7, thereby realizing the upward movement of the positioning platform 58. When the positioning platform 58 rises to a certain extent, it enters the positioning sleeve 57 and cooperates with the positioning sleeve 57 for positioning, so as to ensure the relative stability of the end pick-and-place component 4 and the fine-tuning component 5 during the no-load return process.

[0040] During operation, the fine-tuning component 5 and the wrist joint 9 work together to displace the end-effector 4 to the designated position. Specifically, to prevent damage to the photovoltaic panel from collisions or other accidents during rapid descent, a three-stage descent is implemented. Under real-time dynamic measurement (RTK) technology, the position of the photovoltaic panel mounting bracket 42 at the end of the effector 4 can be monitored in real time. First, the first roller 14 is driven to rotate forward by the power component, causing the photovoltaic panel to descend relatively quickly into the adjustment stroke of the fine-tuning component 5. Then, the second pawl 56, which prevents descent, opens, and the second roller 52 rotates counterclockwise under the weight of the photovoltaic panel, allowing the effector to descend. Controlling the opening and closing of the second pawl 56 allows the fine-tuning component 5 to slowly adjust its height to within the adjustment stroke of the elastic linkage assembly in the effector 4. Then, the six drive motors above the top plate of the effector 4 drive the wrist joint 9 to control the descent of the elastic linkage assembly, thereby accurately placing the photovoltaic panel on the installation surface. The vacuum suction cup is then released, completing the installation.

[0041] The working process of this invention is as follows: First, the traveling assembly moves to the target position and lowers the outrigger assembly. Then, the height and angle of the boom are adjusted so that the pick-up and place assembly is above the photovoltaic panel to be picked up. Next, the second drive motor in the wrist joint drives the drum to adjust the length of the third flexible cable to adjust the pitch angle of the pick-up and place assembly, that is, the rotation around the horizontal x-axis. The first drive motor in the wrist joint adjusts the yaw angle of the wrist joint, that is, the rotation around the vertical Z-axis, so that the mounting frame is parallel to the surface of the photovoltaic panel to be picked up. Then, the power component drives the first roller to rotate forward, the first flexible cable extends, and the second anti-sway wheel assembly drives the lower fine-tuning assembly and the pick-up and place assembly to move down synchronously. When the distance between the pick-up and place assembly and the surface of the photovoltaic panel to be picked up is within the adjustment stroke of the elastic linkage assembly in the wrist joint, the first roller stops rotating.

[0042] The wrist joint drives the drum via a second drive motor, causing the spring in the elastic link to extend and lower the mounting frame at a constant speed to the desired position, where it adheres to the photovoltaic panel, while maintaining the mounting frame's posture. The air pump is then activated to allow the vacuum suction cup to adhere the photovoltaic panel.

[0043] After the photovoltaic panel is adsorbed, the wrist joint 9 adjusts its angle via the first and second drive motors to bring the mounting frame to its initial horizontal position. Then, the power unit drives the first roller to rotate in the opposite direction, causing the first flexible cable to retract. During the retraction of the first flexible cable, the second anti-sway wheel assembly and the lower fine-tuning and pick-and-place components move upwards synchronously until the first and second sleeves enter the corresponding cylindrical sleeves of the second and fifth alignment wheel sets. This prevents the second anti-sway wheel assembly, fine-tuning assembly, and pick-and-place components from swaying or twisting, meaning the photovoltaic panel will not sway in the forward, backward, left, or right directions or rotate around the Z-axis during transport.

[0044] Next, the outrigger assembly is retracted, and the traveling assembly moves to the target position for installing the photovoltaic panel. The outrigger assembly is then lowered, and the boom position is adjusted so that the photovoltaic panel is above the installation position. The angle of the wrist joint is then adjusted so that the photovoltaic panel is parallel to the surface to be installed. To avoid damage to the photovoltaic panel due to collisions or other accidents during rapid descent, a three-stage descent is implemented. First, the power component drives the first roller to rotate forward, causing the photovoltaic panel to descend relatively quickly into the adjustment range of the fine-tuning assembly. Then, the fine-tuning assembly slowly adjusts the height to within the adjustment range of the elastic linkage assembly in the pick-and-place assembly. Finally, the six drive motors above the top plate of the pick-and-place assembly drive the universal flexible cable transmission device to precisely place the photovoltaic panel on the surface to be installed. The vacuum suction cup is then released, completing the installation.

[0045] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A photovoltaic panel auxiliary positioning and assembly device, characterized in that: The system includes a walking assembly (1), a boom assembly (2), an anti-sway assembly (3), and a pick-and-place assembly (4). The walking assembly (1) consists of a frame (11) and track wheels (12). The frame (11) is provided with a support platform (13) that is rotatably connected to it. The boom assembly (2) includes a telescopic boom and a lifting hydraulic cylinder (25) for adjusting the pitch angle of the telescopic boom. One end of the telescopic boom is hinged to the support platform (13), and the other end of the telescopic boom is suspended from the anti-sway assembly (3). The pick-and-place assembly (4) includes a mounting bracket (42) for installing a vacuum suction cup (41). The mounting bracket (42) is connected to the lower end of the anti-sway assembly (3) through a wrist joint (9). The anti-sway assembly (3) includes a first anti-sway wheel (31), a first anti-sway wheel bracket (32), a second anti-sway wheel (33), and a second anti-sway wheel bracket (34). The first anti-sway wheel (31) and the second anti-sway wheel (33) are arranged vertically in the up-down direction, and the axles of the first anti-sway wheel (31) and the second anti-sway wheel (33) are located in the same vertical plane. It also includes a first flexible cable (6), one end of which is connected to a first roller (14) set on the support platform (13). The other end of the cable (6) passes through the transition wheel (241), the first anti-sway wheel (31), and the second anti-sway wheel (33) in sequence and is then fixed to the end of the telescopic arm. The first roller (14) is driven by a power component to drive the first flexible cable (6) to raise and lower the second anti-sway wheel (33). A centering wheel assembly is also provided between the first anti-sway wheel (31) and the second anti-sway wheel (33) to prevent the photovoltaic panel from swaying and twisting during the transfer process. The transition wheel (241) is located at the end of the telescopic arm. A fine-tuning component (5) is provided between the anti-sway component (3) and the pick-and-place component (4). The fine-tuning component (5) includes a second roller (52) fixed on the roller bracket (51), a first ratchet (53) and a second ratchet (54) coaxially arranged with the second roller (52) and located on both sides of the second roller (52), a first pawl (55) and a second pawl (56) respectively cooperating with the first ratchet (53) and the second ratchet (54), a positioning sleeve (57) and a positioning platform (58) cooperating with each other. The second roller (52) is provided with a spring spring inside. The first ratchet (53) and the second ratchet (54) rotate in opposite directions. The upper and lower ends of the roller bracket (51) are respectively connected to the anti-sway component (3) and the positioning sleeve (57). The positioning platform (58) is provided with a hook (581). The fine-tuning component (5) also includes a second flexible cable (7). One end of the second flexible cable (7) is fixed to the bottom of the second anti-sway wheel bracket (34). The other end of the second flexible cable (7) is guided by the second roller (52) and passes through the hook (581) and is wound and fixed to the second roller (52). The second flexible cable (7) drives the positioning platform (58) to rise and fall to achieve connection or separation with the bottom end of the positioning sleeve (57). The positioning sleeve (57) and the positioning platform (58) are both square.

2. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 1, characterized in that: The concentric wheel assembly includes a first concentric wheel group (81), a second concentric wheel group (82), a first sleeve (87), and a third concentric wheel group (83) arranged concentrically, and also includes a fourth concentric wheel group (84), a second sleeve (88), a fifth concentric wheel group (85), and a sixth concentric wheel group (86) arranged concentrically. The first anti-sway wheel bracket (32) is also provided with an end guide wheel (89). The first flexible cable (6) coming out from the transition wheel (241) first passes through the first An anti-sway wheel (31) then passes through the first pair of central wheel groups (81), the second pair of central wheel groups (82), the first sleeve (87), and the third pair of central wheel groups (83) in sequence, and then around the second anti-sway wheel (33). The first flexible cable (6) after exiting the second anti-sway wheel (33) then passes through the fourth pair of central wheel groups (84), the second sleeve (88), the fifth pair of central wheel groups (85), and the sixth pair of central wheel groups (86) in sequence, and then around the end guide wheel (89) and is fixed to the end of the telescopic arm.

3. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 2, characterized in that: The first pair of central wheel groups (81), the third pair of central wheel groups (83), the fourth pair of central wheel groups (84) and the sixth pair of central wheel groups (86) have the same structure. Each of them includes a central wheel mounting plate (811) and a first pulley (812) evenly arranged on the central wheel mounting plate (811) along the circumference. The first pulley (812) is provided in three sets, and the wheel surfaces of the three sets of first pulleys (812) form a channel for clamping the first flexible cable (6). The second pair of central wheel sets (82) and the fifth pair of central wheel sets (85) have the same structure, each including a sleeve. The sleeve is formed by connecting a columnar sleeve (821) and a trumpet-shaped sleeve (822). The top of the columnar sleeve (821) is fixed to the bottom plate of the first anti-sway wheel bracket (32), and the other end of the columnar sleeve (821) is connected to the small-diameter end of the trumpet-shaped sleeve (822). The inner wall of the trumpet-shaped sleeve (822) is evenly arranged with second pulleys (823) along its circumference. There are three sets of second pulleys (823). The wheel surfaces of the three sets of second pulleys (823) form a channel for clamping the first flexible cable (6). 23) The pulley brackets (824) are respectively hinged to the inner wall of the trumpet-shaped sleeve (822), and a tension spring (825) is provided between the pulley brackets (824) and the inner wall of the trumpet-shaped sleeve (822) to connect the two. In the initial state, the three sets of second pulleys (823) are in a horizontal state. When the first flexible cable (6) contracts and drives the second anti-sway wheel (33) to rise, the first sleeve (87) and the second sleeve (88) enter the second pair of central wheel group (82) and the fifth pair of central wheel group (85) respectively, push the second pulley (823) upward and enter the interior of the columnar sleeve (821) under the clamping of the second pulley (823) to realize anti-sway and anti-torsion during the transfer of photovoltaic panels.

4. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 2, characterized in that: The first pair of central wheel sets (81) and the sixth pair of central wheel sets (86) are located on the upper surface of the base plate of the first anti-sway wheel bracket (32), the second pair of central wheel sets (82) and the fifth pair of central wheel sets (85) are located on the lower surface of the base plate of the first anti-sway wheel bracket (32), the first sleeve (87) and the second sleeve (88) are located on the upper surface of the top plate of the second anti-sway wheel bracket (34), and the third pair of central wheel sets (83) and the fourth pair of central wheel sets (84) are located on the lower surface of the top plate of the second anti-sway wheel bracket (34).

5. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 1, characterized in that: The wrist joint (9) includes a top plate (91) fixed to the bottom surface of the positioning platform (58) and a bottom plate (92) fixed to the mounting bracket (42). An elastic link assembly connecting the top plate (91) and the bottom plate (92) and a synchronous belt drive mechanism for driving the elastic link assembly to rotate are provided between them. The synchronous belt drive mechanism is fixed to the bottom surface of the top plate (91) and includes a first drive motor (911), a first pulley connected to the output shaft of the first drive motor (911), and a second pulley (913) connected to the first pulley through a synchronous belt (912). The elastic link assembly includes a link (93) and a spring (94) fixed to the lower end of the link (93). The upper end of the link (93) is connected to the second pulley (913) through a first universal joint (931), and the lower end of the spring (94) is connected to the base (95) through a second universal joint (941). The base (95) is fixed at the center of the bottom plate (92). The wrist joint (9) also includes a third flexible cable (96) and a flexible cable drive for driving the third flexible cable (96) to extend and retract. The flexible cable drive is located on the upper surface of the top plate (91) and includes a second drive motor (914) and a drum (915). One end of the third flexible cable (96) is connected to the drum (915), and the other end of the third flexible cable (96) is connected to the base (95) after passing through the universal rotation device. The third flexible cable (96) is evenly arranged in three groups along the circumference of the base (95), and each group includes two flexible cables arranged in parallel.

6. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 5, characterized in that: The universal rotating device is located on the lower surface of the top plate (91) and includes a ball seat (97) and a steering ball (98) forming a spherical lower pair mechanism. The ball seat (97) is provided with a fixed pulley (971), and the steering ball (98) is provided with a movable pulley (981). The ball seat (97) is provided with a flexible cable inlet hole (972), and the steering ball (98) is provided with a flexible cable outlet hole (982). Both the steering ball (98) and the ball seat (97) are hollow structures. The fixed shaft of the fixed pulley (971) is fixedly connected to the inner surface of the ball seat (97). The two ends of the fixed shaft of the movable pulley (981) are respectively provided with arc-shaped grooves symmetrically arranged with the inner surface of the steering ball (98). (983) Sliding connection, wherein the arc groove (983) is semi-circular, and the radius of the arc groove (983) matches the radius of the movable pulley (981); the end of the steering ball (98) that is far from the cable outlet hole (982) is an open end, the plane of which the open end is perpendicular to the center line of the cable outlet hole (982), and the open end is symmetrically provided with an inlet groove (984) that cooperates with the third flexible cable (96) along the spherical surface, the width of the inlet groove (984) is greater than the diameter of the third flexible cable (96), the center line of the inlet groove (984) and the center line of the raceway of the movable pulley (981) are located on the same plane, and the plane is perpendicular to the wheel axle of the movable pulley (981); One end of the third flexible cable (96) is fixed to the drum (915), and the other end of the third flexible cable (96) passes through the top plate (91) and enters the ball seat (97) through the cable inlet hole (972). It then passes through the fixed pulley (971) and the movable pulley (981) in sequence and exits through the cable outlet hole (982). It is then fixed to the base (95). The third flexible cable (96) between the fixed pulley (971) and the movable pulley (981) is always in a horizontal direction.

7. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 1, characterized in that: The frame (11) is also provided with a support leg assembly (15). The support leg assembly (15) includes a support leg (151), a support leg lifting cylinder (152) for driving the support leg (151) to lift, and a support leg connecting arm. The support leg connecting arm includes a fixed arm (153) hinged to the frame (11) and a movable arm (154) that can be telescopically connected in the fixed arm (153). The support leg lifting cylinder (152) is fixed to the end of the movable arm (154). The support leg assembly (15) is provided in four sets, and the four sets of support leg assemblies (15) are symmetrically arranged on both sides of the frame (11).

8. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 1, characterized in that: The telescopic arm includes a first arm (21), a second arm (22), a third arm (23), and a fourth arm (24) nested from the outside to the inside. The end of the first arm (21) is hinged to the support platform (13), and the end of the fourth arm (24) is provided with a fixed bracket (242) connecting the transition wheel (241) and the first anti-sway wheel (31). The cylinder end of the lifting hydraulic cylinder (25) is hinged to the support platform (13), and the rod end of the lifting hydraulic cylinder (25) is hinged to the ear seat provided on the first arm (21).

9. The photovoltaic panel auxiliary positioning and assembly equipment according to claim 1, characterized in that: The mounting bracket (42) includes a square frame (421) and connecting rods (422) on both sides of the frame (421). The vacuum suction cup (41) is evenly fixed on the bottom surface of the frame (421), and the connecting rods (422) are fixed to the base plate (92) of the wrist joint (9).

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