A robot for installing photovoltaic panels by means of a manipulator

Abstract

The present invention relates to the technical field of installation robots, and discloses an installation robot for installing photovoltaic panels by a manipulator, comprising a manipulator arm and an acquisition mechanism arranged at the output end of the manipulator arm, wherein the acquisition mechanism comprises a fixed bracket and an acquisition unit, wherein the acquisition unit comprises a central acquisition component and a plurality of peripheral acquisition components, wherein the central acquisition component comprises a central disk, and the peripheral acquisition component comprises at least one peripheral disk. The present invention can adjust the distance between the peripheral disk and the central disk of each peripheral acquisition component according to the size of the photovoltaic panel to be installed, so that when the central disk is aligned with the geometric center of the photovoltaic panel, the peripheral disk farthest from the central disk in each peripheral acquisition component can be located close to the edge of the photovoltaic panel, thereby realizing reliable grasping of the photovoltaic panel. At the same time, since the distance between the peripheral disk and the central disk of each peripheral acquisition component can be adjusted, the acquisition mechanism can reliably grasp photovoltaic panels of various sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of installation robots, and in particular to an installation robot with a manipulator, and in particular to an installation robot for installing photovoltaic panels by means of the manipulator. Background Art

[0002] The contents in this section merely provide background information related to the present invention and may not constitute prior art.

[0003] Mounting robots with manipulators have been widely used in many fields such as automated production, automobile manufacturing and food processing, playing an important role by improving production efficiency, reducing production costs, improving product quality and solving problems such as labor shortage. For example, in the field of automated production, mounting robots can perform repetitive, tedious, dangerous or high-precision work and increase the efficiency of the production line.

[0004] At present, installation robots have also been used in the construction of photovoltaic power stations. In the early days, the installation of photovoltaic panels was mainly done manually. This method has the problems of low automation, low installation efficiency and high cost. In addition, since photovoltaic panels generally need to be installed on brackets 2-3 meters above the ground, there is a high operational risk in the manual installation of photovoltaic panels.

[0005] To this end, the patent document with application number 202320333683.7, publication number CN219275852U and IPC classification number B25J 11 / 00 discloses an installation robot that can adapt to photovoltaic panels of multiple sizes to assist manual installation of photovoltaic panels. This type of robot is equipped with an acquisition mechanism with a suction cup at the output end of the robotic arm, so as to use the acquisition mechanism to grab the photovoltaic panel to be installed, and cooperate with the robotic arm to transfer the photovoltaic panel grabbed by the acquisition mechanism to the target installation position, in order to improve the degree of automation and installation efficiency of the photovoltaic panel installation, and reduce the installation cost and risk of the photovoltaic panels. Summary of the invention

[0006] Generally, photovoltaic panels have a roughly rectangular shape. In order to improve the stability of the photovoltaic panels grasped by the acquisition mechanism, at least the geometric center of the photovoltaic panel and multiple positions near the edge of the photovoltaic panel should be grasped. However, with regard to the solutions disclosed in the above-mentioned patent documents, although there are multiple suction cups arranged on the acquisition mechanism, the positions of the suction cups on the acquisition mechanism are fixed, so that the acquisition mechanism of this structure can often only reliably grasp photovoltaic panels of a single size or fewer specifications, and cannot be effectively applied to photovoltaic panels of different sizes. When the size of the photovoltaic panel changes, the only way to reliably grasp the photovoltaic panel of the corresponding size is to replace the acquisition mechanism.

[0007] In view of this, an object of the present invention is to provide an installation robot with a manipulator that can reliably grasp photovoltaic panels of various sizes.

[0008] The purpose of the present invention is achieved through the following technical solutions:

[0009] The present invention discloses an installation robot for installing photovoltaic panels by a manipulator, comprising a manipulator arm and an acquisition mechanism arranged at an output end of the manipulator arm, wherein the acquisition mechanism comprises:

[0010] Fixed bracket;

[0011] An acquisition unit, comprising a central acquisition component and a plurality of peripheral acquisition components; the central acquisition component comprises a central disk disposed on the fixed bracket, and the plurality of peripheral acquisition components are arranged on the same circumference with the central disk as the center;

[0012] The peripheral acquisition component includes at least one peripheral disk, and the peripheral disk of each peripheral acquisition component is in the same plane as the central disk; and the peripheral disk of each peripheral acquisition component is configured to be able to make a linear motion along the radial direction of the circumference towards or away from the central disk.

[0013] In some possible embodiments, the acquisition mechanism further includes a driving unit, and the driving unit is used to drive the peripheral disks of each of the peripheral acquisition components to synchronously approach or move away from the central disk.

[0014] In some possible embodiments, the driving unit includes:

[0015] Drive motor;

[0016] A driving shaft is rotatably disposed on the fixed bracket; the driving shaft is transmission-connected to the driving motor;

[0017] A main bevel gear, coaxially sleeved on the outer wall of the driving shaft;

[0018] A transmission assembly corresponding to the peripheral acquisition assembly one by one; the transmission assembly includes a driven shaft, a secondary bevel gear, and a transmission component corresponding to the peripheral disk of a single peripheral acquisition assembly one by one; the driven shaft is rotatably arranged on a fixed bracket, the axis of the driven shaft extends radially along the circumference, the secondary bevel gear is coaxially sleeved on the outer wall of the driven shaft, and the secondary bevel gear is meshed with the main bevel gear;

[0019] The transmission component includes a transmission screw and a movable seat. The transmission screw is rotatably arranged on the fixed bracket. The axis of the transmission screw is parallel to the axis of the driven shaft, and the transmission screw is transmission-connected to the driven shaft. The movable seat is sleeved on the outer wall of the transmission screw and is threadedly connected to the transmission screw. The movable seat is slidably matched with the fixed bracket, and the movable seat is connected to the corresponding outer disk.

[0020] In some possible embodiments, the peripheral acquisition component includes a plurality of peripheral disks, and the plurality of peripheral disks are sequentially arranged along the radial direction of the circumference in a direction away from the central disk;

[0021] The pitch of the transmission screw corresponding to the multiple peripheral disks of a single peripheral acquisition component which are arranged sequentially along the radial direction of the circumference away from the center disk increases sequentially, so that the peripheral disks of the peripheral acquisition component can be separated at equal distances when making a linear motion approaching or away from the center disk.

[0022] In some possible embodiments, the driving shaft is a hollow shaft;

[0023] The acquisition mechanism further includes a vacuum generating unit, which includes a vacuum generating device, a first rotating joint, a second rotating joint, and a multi-way joint, wherein the first rotating joint is disposed at an opening at the top end of the driving shaft, and the first rotating joint is connected to the vacuum generating device through a main pipe;

[0024] The second rotary joint is provided at the opening at the bottom end of the driving shaft, the multi-way joint has a common flow path and a plurality of branch flow paths, the common flow path is connected to the second rotary joint, one of the plurality of branch flow paths is connected to the central disk, and the remaining branch flow paths correspond to the plurality of peripheral acquisition components one by one;

[0025] The peripheral acquisition component also includes branch pipes corresponding to the peripheral disks one by one, wherein the peripheral disk close to the central disk and the corresponding branch flow path, and two adjacent peripheral disks are connected through the corresponding branch pipes.

[0026] In some possible embodiments, the acquisition unit further includes a pipeline retracting assembly corresponding one-to-one to the peripheral acquisition assembly, and the pipeline retracting assembly includes a fixed rack and a retracting component corresponding one-to-one to the peripheral disk of the peripheral acquisition assembly;

[0027] The fixed rack is fixedly arranged and extends along the movement path of the peripheral disk;

[0028] The retractable component includes a retractable roller and a retractable gear; the retractable roller can rotate freely around its own axis and can move synchronously with the corresponding outer disk; a tube-penetrating channel is provided inside the retractable roller, a first end of the tube-penetrating channel is connected to the circumferential outer wall of the retractable roller, and a second end of the tube-penetrating channel is connected to the center of one end of the retractable roller;

[0029] The retractable gear is coaxially sleeved on the retractable roller and meshes with the fixed rack;

[0030] Among them, the branch pipe corresponding to a single outer disk is wound around the retracting roller of the corresponding retracting component, and one end of the branch pipe used to connect to the corresponding outer disk first extends from the first end of the pipe passage into the pipe passage and then extends out from the second end of the pipe passage to connect to the corresponding outer disk.

[0031] In some possible embodiments, the retracting component further includes two limit plates, which are arranged on two sides of the retracting roller opposite to each other, and the branch pipeline wound around the retracting roller is located between the two limit plates.

[0032] In some possible embodiments, the fixing bracket includes a main body and a plurality of extension arms corresponding to the peripheral acquisition components one by one, the central disk is arranged at the bottom of the main body, the main body defines a receiving cavity, and the driving motor, the driving shaft and the main bevel gear are all received in the receiving cavity;

[0033] The plurality of extension arms extend radially along the circumference, and the peripheral disk of the peripheral acquisition component is arranged at the bottom of the corresponding extension arm; a protective cavity is defined inside the extension arm, and the transmission component corresponding to the peripheral acquisition component is accommodated in the protective cavity of the corresponding extension arm.

[0034] In some possible embodiments, a reinforcement column is provided between two adjacent extension arms, and a reinforcement rib is provided between each extension arm and the main body.

[0035] In some possible embodiments, the acquisition mechanism further includes a linear drive device, and the linear drive device is disposed at an output end of the robotic arm, and the fixed bracket is disposed at the output end of the linear drive device.

[0036] The technical solution of the embodiment of the present invention has at least the following advantages and beneficial effects:

[0037] The installation robot for installing photovoltaic panels by means of a manipulator disclosed in the present invention can adjust the distance between the peripheral disk and the central disk of each peripheral acquisition component according to the size of the photovoltaic panel to be installed, so that when the central disk is aligned with the geometric center of the photovoltaic panel, the peripheral disk farthest from the central disk in each peripheral acquisition component can be located close to the edge of the photovoltaic panel, thereby achieving reliable grasping of the photovoltaic panel. At the same time, since the distance between the peripheral disk and the central disk of each peripheral acquisition component can be adjusted, even if the size of the photovoltaic panel to be installed changes, the change in the size of the photovoltaic panel can be adapted by adjusting the distance between the peripheral disk and the central disk of each peripheral acquisition component, so that the acquisition mechanism can reliably grasp photovoltaic panels of various sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of an installation robot for installing photovoltaic panels by means of a manipulator provided in an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the structure of an acquisition mechanism provided by an embodiment of the present invention;

[0040] Figure 3 for Figure 2 A top view of the acquisition mechanism shown in FIG.

[0041] Figure 4 for Figure 3 Sectional view along AA direction;

[0042] Figure 5 for Figure 2 The schematic diagram of the structure of the acquisition mechanism shown in FIG. 1 after the linear drive device and the fixed bracket are removed;

[0043] Figure 6 for Figure 5 A schematic diagram of the partial structure of the central acquisition component, a single peripheral acquisition component and a drive unit shown in FIG.

[0044] Figure 7 for Figure 6 A magnified view of the local structure at B in the middle;

[0045] Figure 8 A schematic diagram of the structure of a central acquisition component provided by an embodiment of the present invention;

[0046] Fig. 9 A schematic diagram of the structure of a single peripheral disk and its corresponding moving seat provided by an embodiment of the present invention;

[0047] Fig.10 for Figure 4 A magnified view of the local structure at C in the middle;

[0048] Fig.11 for Fig.10 A magnified view of the local structure at D in the middle;

[0049] Fig.12 A schematic diagram of the structure of a fixing bracket provided in an embodiment of the present invention;

[0050] Fig.13 for Figure 7 A magnified view of the local structure at E in the middle;

[0051] Fig.14 A cross-sectional view of a single retractable component provided for an embodiment of the present invention;

[0052] Fig.15 It is a schematic diagram of using the acquisition mechanism disclosed in the embodiment of the present invention to grab a photovoltaic panel with a smaller size;

[0053] Fig.16 It is a schematic diagram of using the acquisition mechanism disclosed in the embodiment of the present invention to grab a photovoltaic panel with a larger size;

[0054] Icons: 100-walking mechanism, 200-lifting mechanism, 300-movable platform, 400-mechanical arm, 500-acquisition mechanism, 600-storage area, 700-operating table, 10-linear drive device, 20-fixed bracket, 21-main body, 211-accommodating chamber, 22-extension arm, 221-protection chamber, 23-reinforcement column, 24-reinforcement rib, 30-acquisition unit, 31-central acquisition component, 311-central disk, 312-mounting bracket, 32-peripheral acquisition component, 321-peripheral disk, 322-branch pipeline, 33-pipeline retractable assembly, 331-fixed rack, 332-retractable component, 3321-retractable roller, 3322-retractable gear, 3323-pipe passage, 3324-limiting plate, 40-driving unit, 41-driving motor, 42-driving shaft, 43-main bevel gear, 44-transmission assembly, 441-driven shaft, 442-secondary bevel gear, 443-transmission component, 4431-transmission screw, 4432-moving seat, 4433-first driven gear, 444-first driving gear, 45-second driving gear, 46-second driven gear, 50-vacuum generating unit, 51-first rotary joint, 52-second rotary joint, 53-multi-way joint, 531-common flow path, 532-branch flow path, 54-main flow path, s-circumference, a-disc, b-connecting part, 800-photovoltaic panel. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described in conjunction with specific implementation methods below. The same figure marks in the accompanying drawings represent the same components. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Compared to the embodiments shown in the drawings, feasible embodiments within the scope of the present invention may have fewer components, other components not shown in the drawings, different components, differently arranged components, or differently connected components, etc. In addition, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0057] Unless otherwise defined, the technical or scientific terms used herein shall have the common meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present specification and claims do not indicate any order, quantity or importance, but are only used to distinguish different components.

[0058] Example 1

[0059] like Figure 1 , which shows the general structure of the installation robot for installing photovoltaic panels by a manipulator disclosed in an embodiment of the present invention. In general, the installation robot for installing photovoltaic panels by a manipulator disclosed in an embodiment of the present invention may include a walking mechanism 100, a lifting mechanism 200, a movable platform 300, a mechanical arm 400 and an acquisition mechanism 500.

[0060] In this embodiment, the walking mechanism 100 is used to provide a moving function, so that the installation robot that installs the photovoltaic panel by means of a manipulator can move freely on the ground. Figure 1 As shown, the traveling mechanism 100 may be, but is not limited to, a crawler chassis, so that the traveling mechanism 100 has good load-bearing capacity, gradeability, stability and other characteristics while providing a mobile function.

[0061] The lifting mechanism 200 is arranged on the walking mechanism 100, such as the top of the crawler chassis. The lifting mechanism 200 is used to output reciprocating linear motion in the vertical direction, and the movable platform 300 is arranged at the output end of the lifting mechanism 200, so as to drive the movable platform 300 to reciprocate in the vertical direction through the lifting mechanism 200, thereby realizing the lifting and lowering of the movable platform 300, and then adjusting the position of the photovoltaic panel 800 captured by the acquisition mechanism 500 in the vertical direction through the lifting and lowering of the movable platform 300, so that the captured photovoltaic panel 800 can reach the target installation position of the predetermined height. The lifting mechanism 200 can be, but is not limited to, a scissor-type lifting bracket.

[0062] Continue to refer to Figure 1 , the robot arm 400 is arranged on the movable platform 300, for example, on one side of the top of the movable platform 300. Among them, the robot arm 400 can be a multi-axis robot arm known in the prior art. In addition, a plurality of storage areas 600 for storing photovoltaic panels 800 can be arranged at the top of the movable platform 300 adjacent to the robot arm 400, and different storage areas 600 in the plurality of storage areas 600 are used to store photovoltaic panels 800 of different sizes, so that the installation robot that installs photovoltaic panels by the robot arm has the ability to carry photovoltaic panels 800 of various sizes at the same time. Among them, the photovoltaic panel 800 to be installed has a roughly rectangular shape. At the same time, an operating table 700 for manipulating the movement of the robot arm 400 and the movement of the entire installation robot can be arranged on the top of the movable platform 300 to optimize the structural design of the installation robot.

[0063] The acquisition mechanism 500 for acquiring the photovoltaic panel 800 is arranged at the output end of the robotic arm 400, so that the acquisition mechanism 500 can move to the corresponding storage area 600 under the drive of the robotic arm 400 to grab the photovoltaic panel 800 of the target size, and transfer the grabbed photovoltaic panel 800 to the target installation position under the coordinated cooperation of the robotic arm 400, thereby improving the degree of automation when installing the photovoltaic panel 800.

[0064] Specifically, combined Figure 2 As shown, the acquisition mechanism 500 may include a linear drive device 10, a fixed bracket 20, and an acquisition unit 30 for grabbing the photovoltaic panel 800. The linear drive device 10 is arranged at the output end of the robot arm 400, and the linear drive device 10 is used to output reciprocating linear motion in one direction, the fixed bracket 20 is arranged at the output end of the linear drive device 10, and the acquisition unit 30 is arranged on the fixed bracket 20. The linear drive device 10 may be a conventional linear drive such as a cylinder, a hydraulic cylinder or an electric push rod.

[0065] Thus, when the photovoltaic panel 800 needs to be installed, the entire acquisition mechanism 500 is first driven by the robot 400 to move to the corresponding storage area 600, and the acquisition unit 30 provided on the fixed bracket 20 is aligned with the photovoltaic panel 800 in the storage area 600, and then the fixed bracket 20 can be driven by the linear drive device 10 to synchronously make a linear motion close to the photovoltaic panel 800 in the storage area 600 together with the acquisition unit 30, so as to use the acquisition unit 30 to grab the photovoltaic panel 800 placed in the storage area 600. Secondly, the robot 400 drives the acquisition mechanism 500 to move to the target installation position where the photovoltaic panel 800 needs to be installed, and the photovoltaic panel 800 grabbed by the acquisition unit 30 is facing the target installation position, and then the fixed bracket 20 can be driven by the linear drive device 10 together with the acquisition unit 30 to synchronously make a linear motion close to the target installation position, so as to deliver the photovoltaic panel 800 to the target installation position, and then the photovoltaic panel 800 only needs to be fixed at the target installation position.

[0066] On this basis, in order to enable the acquisition unit 30 disposed on the fixed bracket 20 to reliably grasp photovoltaic panels 800 of various sizes, thereby improving the practicality and flexibility of the installation robot, the embodiment of the present invention further improves the structure of the acquisition mechanism 500.

[0067] Combination Figure 4 and Figure 5 As shown in the figure, the acquisition unit 30 may include a center acquisition component 31. The center acquisition component 31 may include a center disk 311 suitable for grasping the geometric center of the photovoltaic panel 800, and the center disk 311 may be arranged at the bottom of the fixed bracket 20. It is worth noting that the structure of the center disk 311 in the embodiment of the present invention and the peripheral disk 321 to be described below are basically the same, and both can be vacuum suction cups known in the prior art. Figure 8 and Fig. 9 As shown, such a suction cup may include a disc body a for generating negative pressure and a connection part b for conveying gas, wherein the connection part b is connected to the disc body a and has a gas delivery channel connected to the inside of the disc body a. Generally speaking, the outer wall of the connection part b has an external thread, so that the suction cup can be installed at the target position for use. In this way, when the disc body a contacts the target object to be grasped, it is only necessary to extract the gas inside the disc body a through the gas delivery channel of the connection part b to form a negative pressure inside the disc body a, thereby realizing the use of the disc body a to grasp the target object in an adsorption manner; correspondingly, it is only necessary to convey gas to the inside of the disc body a through the gas delivery channel of the connection part b to break the negative pressure state inside the disc body a, so that the disc body a cancels the grasping of the target object.

[0068] Furthermore, the center plate 311 can be fixedly arranged at the center of the bottom of the fixed bracket 20 to optimize the structural design of the acquisition mechanism 500. Figure 7 and Figure 8 As shown in the figure, the center acquisition component 31 may also include a mounting bracket 312 for mounting the center disk 311 to the center of the bottom of the fixing bracket 20. The mounting bracket 312 may have a generally U-shaped structure and be connected to the center of the bottom of the fixing bracket 20. At the same time, the mounting bracket 312 is provided with a connection hole (not shown in the figure) adapted to the connection part b of the center disk 311. In this way, the center disk 311 can be temporarily fixed to the mounting bracket 312 by only passing the connection part b of the center disk 311 through the connection hole of the mounting bracket 312 and locking the connection part b of the center disk 311 through the connection hole with a fastener such as a locking nut. This method helps to quickly replace the center disk 311 as needed.

[0069] Combination Figure 5 As shown in the figure, the acquisition unit 30 may further include a plurality of peripheral acquisition components 32, and the plurality of peripheral acquisition components 32 are arranged on the same circumference s (ie, Figure 3 By way of example, the embodiment of the present invention shows a situation where four peripheral acquisition components 32 are provided, and the four peripheral acquisition components 32 are arranged on the same circumference s with the central disk 311 as the center.

[0070] Further, see Figure 6 As shown, each peripheral acquisition component 32 includes an outer disk 321 disposed at the bottom of the fixed bracket 20, and the outer disk 321 of each peripheral acquisition component 32 is in the same plane as the center disk 311. In addition, the outer disk 321 of each peripheral acquisition component 32 is configured to be able to make a linear motion close to or away from the center disk 311 along the radial direction of the circumference s, thereby changing the distance between the outer disk 321 of each peripheral acquisition component 32 and the center disk 311. There can be one or more outer disks 321 of each peripheral acquisition component 32. When there are multiple outer disks 321 of the peripheral acquisition component 32, the multiple outer disks 321 are arranged in sequence along the radial direction of the circumference s in a direction away from the center disk 311.

[0071] Through the above arrangement, when it is necessary to obtain the photovoltaic panel 800 to be installed, the distance between the peripheral disk 321 and the central disk 311 of each peripheral acquisition component 32 is first adjusted according to the size of the photovoltaic panel 800, so that when the central disk 311 is aligned with the geometric center of the photovoltaic panel 800, the peripheral disk 321 of each peripheral acquisition component 32 that is farthest from the central disk 311 can be located close to the edge of the photovoltaic panel 800. Fig.15 or Fig.16As shown, the geometric center of the photovoltaic panel 800 can be grasped by the central disk 311, and the portion of the photovoltaic panel 800 close to its edge can be grasped by the peripheral disk 321 farthest from the central disk 311 in each peripheral acquisition component 32, thereby realizing reliable grasping of the photovoltaic panel 800. At the same time, since the distance between the peripheral disk 321 of each peripheral acquisition component 32 and the central disk 311 can be adjusted, even if the size of the photovoltaic panel 800 to be installed changes, the change in the size of the photovoltaic panel 800 can be adapted by adjusting the distance between the peripheral disk 321 of each peripheral acquisition component 32 and the central disk 311, so that the acquisition mechanism 500 can reliably grasp photovoltaic panels 800 of various sizes, thereby improving the practicality and flexibility of the acquisition mechanism 500.

[0072] It can be understood that, when there are four peripheral acquisition components 32, the four peripheral acquisition components 32 can be divided into two groups, and the two peripheral acquisition components 32 in the same group are distributed on the same straight line, and the two groups of peripheral acquisition components 32 can be arranged on two diagonal lines of the photovoltaic panel 800 respectively. Fig.15 As shown in or 16, when grabbing the photovoltaic panel 800, the geometric center of the photovoltaic panel 800 is grabbed by the central disk 311, and the outer disk 321 farthest from the central disk 311 among the four peripheral acquisition components 32 can grab the parts of the photovoltaic panel 800 close to its four corners respectively. This grabbing method helps to further improve the stability of the photovoltaic panel 800 after grabbing.

[0073] Moreover, compared to each peripheral acquisition component 32 including only one peripheral disk 321, by providing each peripheral acquisition component 32 with multiple peripheral disks 321, it is helpful to grasp more areas of the photovoltaic panel 800, so as to increase the grasping force acting on the photovoltaic panel 800, thereby further improving the grasping effect. For example, the embodiment of the present invention shows a situation where each peripheral acquisition component 32 is provided with two peripheral disks 321.

[0074] In order to enable the peripheral disk 321 of each peripheral acquisition component 32 to make a linear movement close to or away from the central disk 311, as shown in FIG. Figure 4 As shown, the acquisition mechanism 500 may further include a driving unit 40. The driving unit 40 is used to drive the peripheral disks 321 of each peripheral acquisition component 32 to synchronously move closer to or away from the central disk 311. It can be understood that by using one driving unit 40 to simultaneously drive the peripheral disks 321 of each peripheral acquisition component 32 to move synchronously, it is helpful to reduce the manufacturing and use costs of the acquisition mechanism 500.

[0075] Combination Figure 6 and Figure 7As shown, the driving unit 40 may include a driving motor 41, a driving shaft 42, a main bevel gear 43, and a plurality of transmission components 44 corresponding to the peripheral acquisition components 32. The driving shaft 42 is rotatably disposed on the fixed bracket 20, and the axis of the driving shaft 42 may be on the same straight line as the axis of the center disk 311. In addition, the driving shaft 42 is transmission-connected to the driving motor 41 so as to drive the driving shaft 42 to rotate through the driving motor 41. The main bevel gear 43 is coaxially sleeved on the outer wall of the driving shaft 42 so as to coaxially rotate with the driving shaft 42.

[0076] The transmission assembly 44 may include a driven shaft 441, a secondary bevel gear 442, and a transmission component 443 corresponding to the peripheral disk 321 of a single peripheral acquisition assembly 32. The driven shaft 441 is rotatably arranged on the fixed bracket 20, and the axis of the driven shaft 441 is perpendicular to the axis of the driving shaft 42, that is, the axis of the driven shaft 441 extends radially along the circumference s. The secondary bevel gear 442 is coaxially sleeved on the outer wall of the driven shaft 441 and meshes with the main bevel gear 43. In this way, when the driving shaft 42 drives the main bevel gear 43 to rotate under the drive of the driving motor 41, the driven shaft 441 can be driven to rotate through the transmission cooperation of the main bevel gear 43 and the secondary bevel gear 442.

[0077] The transmission component 443 may include a transmission screw 4431 and a movable seat 4432. For a single transmission component 443, the transmission screw 4431 is also rotatably disposed on the fixed bracket 20, and the axis of the transmission screw 4431 is parallel to the axis of the driven shaft 441. At the same time, the transmission screw 4431 is transmission-connected to the driven shaft 441, so that the transmission screw 4431 can rotate synchronously with the driven shaft 441. For example, when each peripheral acquisition component 32 has only one peripheral disk 321, each transmission component 44 includes only one transmission component 443. In this case, the transmission screw 4431 of the transmission component 443 can be directly connected to the driven shaft 441 to achieve transmission connection between the two. Correspondingly, when each peripheral acquisition component 32 has multiple peripheral disks 321, each transmission component 44 includes multiple transmission components 443. In this case, the transmission screws 4431 of the multiple transmission components 443 can be simultaneously connected to the driven shaft 441 by means of a gear transmission mechanism, that is, Figure 7As shown, a first driving gear 444 may be provided on the driven shaft 441, and a first driven gear 4433 meshing with the first driving gear 444 may be provided on the driving screw 4431 of each transmission component 443 so that the driving screws 4431 of multiple transmission components 443 can be simultaneously connected to the driven shaft 441, so that the driving screws 4431 of multiple transmission components 443 can rotate synchronously with the driven shaft 441. For example, in the case where each peripheral acquisition component 32 shown in the embodiment of the present invention includes two peripheral disks 321, the transmission component 44 corresponding to a single peripheral acquisition component 32 includes two transmission components 443. At this time, the driving screws 4431 of the two transmission components 443 can be simultaneously connected to the corresponding driven shaft 441 through a gear transmission mechanism, so that when the driven shaft 441 rotates, the driving screws 4431 of the two transmission components 443 can rotate synchronously with the driven shaft 441.

[0078] Secondly, for a single transmission component 443, the moving seat 4432 is sleeved on the outer wall of the corresponding transmission screw 4431 and is threadedly connected to the transmission screw 4431. At the same time, the moving seat 4432 is slidably matched with the fixed bracket 20, and the sliding path of the moving seat 4432 is parallel to the axial direction of the transmission screw 4431. In addition, the moving seat 4432 is also connected to the corresponding outer disk 321. For example. Fig. 9 As shown, the connection between the outer disk 321 and the movable seat 4432 can be realized by the connection method between the central disk 311 and the mounting bracket 312, so as to facilitate the rapid replacement of the outer disk 321 as needed. Specifically, the movable seat 4432 can have a mounting groove, and the mounting groove is provided with a mounting hole (not shown in the figure) adapted to the connecting portion b of the outer disk 321. In this way, the outer disk 321 can be temporarily fixed to the corresponding movable seat 4432 by only allowing the connecting portion b of the outer disk 321 to pass through the mounting hole on the movable seat 4432, and locking the connecting portion b of the outer disk 321 passing through the mounting hole with the help of a fastener such as a locking nut.

[0079] Based on the above arrangement, when the driving motor 41 drives the driving shaft 42 to rotate, the driven shaft 441 of the transmission assembly 44 corresponding to each peripheral acquisition assembly 32 can rotate synchronously under the transmission cooperation of the main bevel gear 43 and the corresponding secondary bevel gear 442. At this time, for a single transmission assembly 44, the driven shaft 441 of the transmission assembly 44 will drive the transmission screw 4431 of each transmission component 443 to rotate synchronously. In this process, based on the principle of threaded transmission, the moving seat 4432 of each transmission component 443 will synchronously move along the axial direction of the corresponding transmission screw 4431, so as to drive the corresponding peripheral disk 321 to make a linear motion close to or away from the center disk 311 through the moving seat 4432 of each transmission component 443.

[0080] It is worth noting that, when there are multiple (for example, two) peripheral disks 321 of each peripheral acquisition component 32, in order to further improve the grasping effect when grasping the photovoltaic panel 800, the transmission components 443 of each transmission component 44 can also be constructed in this way.

[0081] Specifically, refer to Figure 6 As shown, the pitches of the transmission screws 4431 corresponding to the plurality of peripheral disks 321 of the single peripheral acquisition component 32 arranged in sequence along the radial direction of the circumference s in a direction away from the center disk 311 increase in sequence. That is to say, specifically in the embodiment shown in the present invention where each peripheral acquisition component 32 includes two peripheral disks 321, the pitches of the transmission screws 4431 corresponding to the two peripheral disks 321 of the single peripheral acquisition component 32 arranged in sequence along the radial direction of the circumference s in a direction away from the center disk 311 increase in sequence, that is, the pitch of the transmission screw 4431 corresponding to the peripheral disk 321 close to the center disk 311 is smaller than the pitch of the transmission screw 4431 corresponding to the peripheral disk 321 away from the center disk 311. In this way, for the transmission component 44 corresponding to the single peripheral acquisition component 32, when the transmission screws 4431 of the two transmission components 443 rotate synchronously so that the moving seats 4432 of the two transmission components 443 respectively drive the two outer disks 321 to approach or move away from the center disk 311 synchronously, since the pitch of the transmission screw 4431 corresponding to the outer disk 321 close to the center disk 311 is smaller, the driven shaft 441 drives each transmission screw 4431 to rotate one circle, and the outer disk 321 close to the center disk 311 moves along the corresponding transmission screw 4431. The distance of the axial movement of the corresponding transmission screw 4431 is smaller, and the distance of the axial movement of the outer disk 321 away from the center disk 311 along the corresponding transmission screw 4431 is larger. On this basis, it is only necessary to reasonably control the pitch ratio of the transmission screw 4431 of each transmission component 443, so that the outer disks 321 of the single peripheral acquisition component 32 can be separated at equal distances when making a linear motion close to or away from the center disk 311. Specifically, in the embodiment shown in the present invention, each peripheral acquisition component 32 includes two peripheral disks 321, assuming that the initial state is as follows: Fig.15 As shown, in the initial state, two adjacent peripheral disks 321 in the peripheral acquisition component 32 have the same spacing, and the distance between the peripheral disk 321 close to the center disk 311 in the peripheral acquisition component 32 is equal to the distance between the two adjacent peripheral disks 321. On this basis, when the two peripheral disks 321 of the peripheral acquisition component 32 synchronously make a linear motion close to or away from the center disk 311, as shown in FIG. Fig.16 As shown, the spacing between two adjacent outer disks 321 and between the outer disk 321 close to the center disk 311 and the center disk 311 will remain equal.

[0082] For example, in the embodiment shown in the present invention where each peripheral acquisition component 32 includes two peripheral disks 321, the pitch ratio of the transmission screw 4431 corresponding to the two peripheral disks 321 of the single peripheral acquisition component 32 which are arranged sequentially along the radial direction of the circle s away from the center disk 311 is 1:3.

[0083] It can be understood that by allowing the transmission components 443 of each transmission assembly 44 to drive the peripheral disks 321 of the corresponding peripheral acquisition assembly 32 to be equidistantly separated, when grabbing photovoltaic panels 800 of different sizes, even if the positions of the peripheral disks 321 of each peripheral acquisition assembly 32 are changed, the grabbing force acting on the photovoltaic panel 800 can be as uniform as possible, thereby facilitating the improvement of the reliability of grabbing the photovoltaic panel 800 when a single peripheral acquisition assembly 32 includes only a small number of peripheral disks 321. For example, in the embodiment of the present invention in which each peripheral acquisition assembly 32 includes two peripheral disks 321, for the two peripheral disks 321 of a single peripheral acquisition assembly 32, when the two peripheral disks 321 synchronously move in a straight line toward or away from the center disk 311 along the radial direction of the circumference s, the peripheral disk 321 close to the center disk 311 can always be located at the exact center between the center disk 311 and the peripheral disk 321 away from the center disk 311.

[0084] In addition, in order to make the central disk 311 of the central acquisition component 31 and the peripheral disks 321 of each peripheral acquisition component 32 have negative pressure grasping capabilities, such as Figure 4 As shown, the acquisition mechanism 500 may further include a vacuum generating unit 50. The vacuum generating unit 50 may include a vacuum generating device (not shown in the figure), which may be a conventional vacuum generating device such as a vacuum pump disposed on the movable platform 300, and the vacuum generating device is connected to the central disk 311 and the peripheral disks 321 of each peripheral acquisition assembly 32 through pipelines.

[0085] However, if the vacuum generating device is directly connected to the central disk 311 and the peripheral disks 321 of each peripheral acquisition assembly 32 through pipelines, there may be too many pipelines that are not conducive to management. Therefore, the embodiment of the present invention further improves the structure of the vacuum generating unit 50 and the driving unit 40 to further optimize the structural design of the entire acquisition mechanism 500.

[0086] Specifically, combined Figure 7 , Fig.10 and Fig.11As shown in the figure, the aforementioned driving shaft 42 may be a hollow shaft, so that a gas flow channel with openings at both ends is defined inside the driving shaft 42. In this case, the driving shaft 42 may be connected to the driving motor 41 by means of a conventional transmission mechanism (such as a gear transmission mechanism or a belt transmission mechanism), so that the driving shaft 42 can expose the openings at both ends. Figure 7 As shown, a second driven gear 46 can be coaxially sleeved on the outer wall of the driving shaft 42, and the output end of the driving motor 41 is transmission-connected with the second driving gear 45, and the second driving gear 45 and the second driven gear 46 are meshed and transmitted, so that the driving motor 41 can drive the driving shaft 42 to rotate and expose the openings at both ends of the driving shaft 42.

[0087] On this basis, the vacuum generating unit 50 may further include a first rotary joint 51, a second rotary joint 52 and a multi-way joint 53. The first rotary joint 51 is disposed at the opening at the top end of the driving shaft 42, and the first rotary joint 51 is connected to the vacuum generating device through the main pipe 54. The second rotary joint 52 is disposed at the opening at the bottom end of the driving shaft 42.

[0088] like Fig.11 As described, the multi-way joint 53 includes a common flow path 531 and a plurality of branch flow paths 532, wherein the common flow path 531 is connected to the second rotary joint 52, one of the plurality of branch flow paths 532 is connected to the central disk 311, and the remaining branch flow paths 532 correspond one-to-one to the plurality of peripheral acquisition components 32. At this time, each peripheral acquisition component 32 may also include a branch pipe 322 corresponding one-to-one to the peripheral disk 321, wherein the peripheral disk 321 close to the central disk 311 and the corresponding branch flow path 532, and the two adjacent peripheral disks 321 are connected via the corresponding branch pipe 322. For example, in the embodiment of the present invention in which each peripheral acquisition component 32 includes two peripheral disks 321, refer to Fig. 9 As shown, by providing a three-way joint on the connection portion b of the outer disk 321 close to the center disk 311, the outer disk 321 close to the center disk 311 can be connected to the corresponding branch flow path 532 by means of the corresponding branch pipeline 322, and the outer disk 321 away from the center disk 311 can be connected to the outer disk 321 close to the center disk 311 by means of the corresponding branch pipeline 322. In addition, the branch pipeline 322 corresponding to each outer disk 321 is reserved with sufficient length to accommodate the linear movement of each outer disk 321 close to or away from the center disk 311.

[0089] In this way, when it is necessary to grab the photovoltaic panel 800, it is only necessary to start the vacuum generating device to simultaneously form negative pressure in the central disk 311 and the peripheral disks 321 of each peripheral acquisition assembly 32 to grab the photovoltaic panel 800. It can be understood that this method helps to avoid unnecessary pipeline routing, optimize the pipeline design of the vacuum generating unit 50, and facilitate the later reasonable management of various pipelines in the vacuum generating unit 50. At the same time, since both ends of the driving shaft 42 are provided with rotary joints, even if the driving shaft 42 is used to transport gas, it will not affect the normal rotation of the driving shaft 42.

[0090] On the other hand, in order to further optimize the structural design of the acquisition mechanism 500, the fixing bracket 20 may be constructed in the following manner.

[0091] Combination Figure 4 and Fig.12 As shown, the fixed bracket 20 may include a main body 21 and a plurality of extension arms 22. The plurality of extension arms 22 extend radially along the circumference s and correspond one by one to each peripheral acquisition component 32. The center disk 311 may be arranged at the bottom center of the main body 21, and a receiving chamber 211 is defined inside the main body 21. At this time, the drive motor 41, the driving shaft 42, the main bevel gear 43 and other components of the drive unit 40 may be accommodated in the receiving chamber 211 of the main body 21, thereby providing protection for the drive motor 41, the driving shaft 42, the main bevel gear 43 and other components of the drive unit 40. The main pipe 54 connected to the first rotary joint 51 at the top of the driving shaft 42 extends outside the receiving chamber 211 and is connected to the vacuum generating device. The output end of the aforementioned linear drive device 10 may be connected to the top of the main body 21.

[0092] At the same time, the peripheral disk 321 of each peripheral acquisition component 32 is arranged at the bottom of the corresponding extension arm 22. A protective cavity 221 is defined inside the extension arm 22, and the relevant components of the transmission component 44 corresponding to each peripheral acquisition component 32 can be accommodated in the protective cavity 221 of the corresponding extension arm 22, so as to provide protection for the relevant components of the transmission component 44. At this time, a clearance groove (not shown in the figure) adapted to the moving seat 4432 of the transmission component 443 of each transmission component 44 can be provided at the bottom of the protective cavity 221 of the extension arm 22, so that the moving seat 4432 can pass through the clearance groove and connect with the corresponding peripheral disk 321, so that the moving seat 4432 can make reciprocating linear motion along the axial direction of the corresponding transmission screw 4431 without interfering with the extension arm 22.

[0093] Furthermore, a reinforcing column 23 may be disposed between two adjacent extension arms 22 , and a reinforcing rib 24 may be disposed between each extension arm 22 and the main body 21 , so as to further enhance the structural strength of the fixing bracket 20 .

[0094] Example 2

[0095] On the basis of Example 1, for a single peripheral acquisition component 32, although the linear movement of each peripheral disk 321 approaching or moving away from the central disk 311 can be accommodated by reserving a sufficient length for the branch pipe 322 corresponding to each peripheral disk 321, in actual application, when the peripheral disk 321 repeatedly approaches or moves away from the central disk 311, the branch pipe 322 corresponding to the peripheral disk 321 still has a greater risk of being entangled in the disk body or other components, thereby affecting the normal operation of the acquisition mechanism 500.

[0096] To this end, embodiment 2 of the present invention further improves the structure of the acquisition unit 30 in order to more reasonably manage the branch pipelines 322 corresponding to each peripheral disk 321 in each peripheral acquisition component 32.

[0097] Specifically, combined Figure 6 and Figure 7 As shown, the acquisition unit 30 may further include a pipeline retracting assembly 33 corresponding to each peripheral acquisition assembly 32. The pipeline retracting assembly 33 may include a fixed rack 331 and a retracting component 332 corresponding to the peripheral disk 321 of the peripheral acquisition assembly 32.

[0098] The fixed rack 331 is fixedly disposed on the fixed bracket 20 and extends along the movement path of the peripheral disk 321 . For example, the fixed rack 331 can be fixedly disposed on the extension arm 22 corresponding to the peripheral acquisition component 32 .

[0099] like Fig.13 and Fig.14 As shown, the retractable component 332 may include a retractable roller 3321 and a retractable gear 3322. The retractable roller 3321 can rotate freely around its own axis and can move synchronously with the corresponding outer disk 321. For example, the retractable roller 3321 can be rotatably arranged on the movable seat 4432 corresponding to the outer disk 321 by means of a bearing seat, so that when the movable seat 4432 drives the corresponding outer disk 321 to move, the retractable roller 3321 can move synchronously with the corresponding outer disk 321 under the drive of the movable seat 4432. At the same time, a pipe-through passage 3323 is provided inside the retractable roller 3321, and the first end of the pipe-through passage 3323 is connected to the circumferential outer wall of the retractable roller 3321, and the second end of the pipe-through passage 3323 is connected to the center of one end of the retractable roller 3321. The retractable gear 3322 is coaxially sleeved on the retractable roller 3321, and the retractable gear 3322 is meshed with the fixed rack 331.

[0100] At this time, the branch pipe 322 corresponding to the single outer disk 321 is wound around the retracting roller 3321 of the corresponding retracting component 332, and one end of the branch pipe 322 used to connect to the corresponding outer disk 321 first extends from the first end of the pipe passage 3323 into the pipe passage 3323 and then extends from the second end of the pipe passage 3323 to connect to the corresponding outer disk 321.

[0101] In this way, for a single outer disk 321 and its corresponding retractable component 332, when the outer disk 321 moves linearly away from the center disk 311 driven by the moving seat 4432, the retractable roller 3321 of the retractable component 332 can move synchronously with the outer disk 321 driven by the moving seat 4432. During this process, the retractable roller 3321 can rotate under the cooperation of the retractable gear 3322 and the fixed rack 331, so that the branch pipe wound on the retractable roller 3321 can rotate synchronously with the outer disk 321. The branch pipe 322 is lengthened, so that the length of the branch pipe 322 can adapt to the linear movement of the corresponding outer disk 321 away from the center disk 311; accordingly, when the outer disk 321 makes a linear movement close to the center disk 311 driven by the moving seat 4432, the retracting roller 3321 will rotate in the opposite direction under the cooperation of the retracting gear 3322 and the fixed rack 331, so that the branch pipe 322 is gradually wound around the retracting roller 3321 to realize the storage of the branch pipe 322.

[0102] It can be understood that, since one end of the branch pipe 322 wound on the retractable roller 3321 is connected to the corresponding outer disk 321 and extends from the second end of the pipe passage 3323 (i.e., the center of one end of the retractable roller 3321), the length of the branch pipe 322 between the retractable roller 3321 and the corresponding outer disk 321 will not change during the process of the retractable roller 3321 rotating to retract the branch pipe 322, i.e., the branch pipe 322 will not interfere with the retractable roller 3321. At the same time, in order to allow the branch pipe 322 to be wound on the corresponding retractable roller 3321 without causing the flow path in the branch pipe 322 to be closed due to the squeezing force during winding, the branch pipe 322 can be made of a composite pipe with elastic deformation ability and good structural strength, such as a flexible plastic composite pipe.

[0103] It can be seen that embodiment 2 of the present invention further adds a retracting component 332 that can retract the branch pipes 322 corresponding to each outer disk 321. This not only can automatically change the length of the branch pipes 322 to adapt to the movement of the outer disk 321 when the outer disk 321 moves closer to or away from the center disk 311, but also because the branch pipes 322 can be released or retracted by the retracting roller 3321, it can play the role of storing the branch pipes 322. When the outer disk 321 moves closer to or away from the center disk 311, the risk of the branch pipes 322 being entangled on the disk body or other components can be reduced as much as possible.

[0104] Secondly, if Fig.14 As shown, for a single retracting component 332, the retracting component 332 may further include two limit plates 3324, and the two limit plates 3324 are relatively arranged on both sides of the retracting roller 3321, and the branch pipe 322 wound on the retracting roller 3321 is located between the two limit plates 3324, so as to limit the branch pipe 322 wound on the retracting roller 3321 to the area between the two limit plates 3324, thereby preventing the branch pipe 322 wound on the retracting roller 3321 from detaching from the retracting roller 3321.

[0105] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot for installing photovoltaic panels by means of a manipulator, comprising a manipulator arm and a obtaining mechanism provided at an output end of the manipulator arm, characterized in that: The acquisition agencies include: Fixed bracket; An acquisition unit, comprising a central acquisition component and a plurality of peripheral acquisition components; the central acquisition component comprises a central disk disposed on the fixed bracket, and the plurality of peripheral acquisition components are arranged on the same circumference with the central disk as the center; The peripheral acquisition assembly includes at least one peripheral disk, and the peripheral disk of each peripheral acquisition assembly is in the same plane as the central disk; and the peripheral disk of each peripheral acquisition assembly is configured to be able to make a linear motion close to or away from the central disk along the radial direction of the circumference; There are four peripheral acquisition components, and the four peripheral acquisition components are divided into two groups, two of which are grouped together. The two peripheral acquisition components in the same group are distributed on the same straight line, and the two groups of peripheral acquisition components are respectively arranged on two diagonal lines of the photovoltaic panel; The acquisition mechanism further comprises a driving unit, and the driving unit is used to drive the peripheral disks of each peripheral acquisition assembly to synchronously approach or move away from the central disk; The driving unit comprises: Drive motor; A driving shaft is rotatably disposed on the fixed bracket; the driving shaft is transmission-connected to the driving motor; A main bevel gear, coaxially sleeved on the outer wall of the driving shaft; A transmission assembly corresponding to the peripheral acquisition assembly one by one; the transmission assembly includes a driven shaft, a secondary bevel gear, and a transmission component corresponding to the peripheral disk of a single peripheral acquisition assembly one by one; the driven shaft is rotatably arranged on a fixed bracket, the axis of the driven shaft extends radially along the circumference, the secondary bevel gear is coaxially sleeved on the outer wall of the driven shaft, and the secondary bevel gear is meshed with the main bevel gear; The transmission component includes a transmission screw and a moving seat, the transmission screw is rotatably arranged on the fixed bracket, the axis of the transmission screw is parallel to the axis of the driven shaft, and the transmission screw is transmission-connected with the driven shaft, the moving seat is sleeved on the outer wall of the transmission screw and threadedly connected with the transmission screw, the moving seat is slidably matched with the fixed bracket, and the moving seat is connected to the corresponding outer disk; The peripheral acquisition assembly includes a plurality of peripheral disks, and the plurality of peripheral disks are sequentially arranged along the radial direction of the circumference in a direction away from the central disk; The pitch of the transmission screw corresponding to the plurality of peripheral disks of the single peripheral acquisition assembly arranged in sequence along the radial direction of the circumference in a direction away from the central disk is increased in sequence, so that the peripheral disks of the peripheral acquisition assembly can be separated at equal distances when making a linear motion close to or away from the central disk; The driving shaft is a hollow shaft; The acquisition mechanism further includes a vacuum generating unit, which includes a vacuum generating device, a first rotating joint, a second rotating joint, and a multi-way joint, wherein the first rotating joint is disposed at an opening at the top end of the driving shaft, and the first rotating joint is connected to the vacuum generating device through a main pipe; The second rotary joint is provided at the opening at the bottom end of the driving shaft, the multi-way joint has a common flow path and a plurality of branch flow paths, the common flow path is connected to the second rotary joint, one of the plurality of branch flow paths is connected to the central disk, and the remaining branch flow paths correspond to the plurality of peripheral acquisition components one by one; The peripheral acquisition component also includes branch pipes corresponding to the peripheral disks one by one, wherein the peripheral disk close to the central disk and the corresponding branch pipes, and two adjacent peripheral disks are connected through the corresponding branch pipes; The acquisition unit further includes a pipeline retractable assembly corresponding to the peripheral acquisition assembly on a one-to-one basis, and the pipeline retractable assembly includes a fixed rack and a retractable component corresponding to the peripheral disk of the peripheral acquisition assembly on a one-to-one basis; The fixed rack is fixedly arranged and extends along the movement path of the peripheral disk; The retractable component includes a retractable roller and a retractable gear; the retractable roller can rotate freely around its own axis and can move synchronously with the corresponding outer disk; a tube-penetrating channel is provided inside the retractable roller, a first end of the tube-penetrating channel is connected to the circumferential outer wall of the retractable roller, and a second end of the tube-penetrating channel is connected to the center of one end of the retractable roller; The retractable gear is coaxially sleeved on the retractable roller and meshes with the fixed rack; Among them, the branch pipe corresponding to a single outer disk is wound around the retracting roller of the corresponding retracting component, and one end of the branch pipe used to connect to the corresponding outer disk first extends from the first end of the pipe passage into the pipe passage and then extends out from the second end of the pipe passage to connect to the corresponding outer disk.

2. The installation robot for installing photovoltaic panels by means of a manipulator according to claim 1, characterized in that: The retractable component further comprises two limit plates, which are arranged oppositely on two sides of the retractable roller, and the branch pipeline wound around the retractable roller is located between the two limit plates.

3. The installation robot for installing photovoltaic panels by a manipulator according to claim 1, characterized in that: The fixing bracket includes a main body and a plurality of extension arms corresponding to the peripheral acquisition components one by one, the central disk is arranged at the bottom of the main body, the main body defines a receiving cavity, and the driving motor, the driving shaft and the main bevel gear are all received in the receiving cavity; The plurality of extension arms extend radially along the circumference, and the peripheral disk of the peripheral acquisition component is arranged at the bottom of the corresponding extension arm; a protective cavity is defined inside the extension arm, and the transmission component corresponding to the peripheral acquisition component is accommodated in the protective cavity of the corresponding extension arm.

4. The installation robot for installing photovoltaic panels by means of a manipulator according to claim 3, characterized in that: A reinforcing column is arranged between two adjacent extension arms, and a reinforcing rib is arranged between each extension arm and the main body.

5. The installation robot for installing photovoltaic panels by means of a manipulator according to claim 1, characterized in that: The acquisition mechanism also includes a linear drive device, which is arranged at the output end of the mechanical arm, and the fixed bracket is arranged at the output end of the linear drive device.

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