A hoisting device for installing solar photovoltaic panels using a manipulator

Abstract

The present invention relates to the technical field of photovoltaic panel hoisting, and specifically to a hoisting device that utilizes a manipulator to install a solar photovoltaic panel, comprising a hoisting machine and a hoisting tool connected to a working end of the hoisting machine, the hoisting tool comprising a support frame and a sub-frame, the sub-frame being connected to the working end of the hoisting machine, the support frame comprising a main frame, a limit frame and a positioning rod, the limit frame being located above the main frame, the positioning rod being fixedly and vertically arranged between the limit frame and the main frame, the sub-frame being vertically slidably arranged on the positioning rod, a suction cup that can adsorb the photovoltaic panel is provided at the bottom of the main frame, a swing arm that can deflect to both sides of the main frame is provided on the main frame, a limiting hook is provided at the end of the swing arm, and the other end of the swing arm is transmission-connected to the sub-frame, the present application arranges the suction cup, the swing arm and the sub-frame on the main frame, so that the suction cup can adsorb the photovoltaic panel, and when the sub-frame is hoisted, the swing arm can deflect and enable the limiting hook to clamp both sides of the photovoltaic panel, so as to effectively prevent the photovoltaic panel from falling off due to accidents during transportation or installation.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic panel hoisting, and in particular to a hoisting device for installing a solar photovoltaic panel by using a manipulator. Background Art

[0002] In the context of global energy transformation and environmental protection, solar power generation, as a clean and renewable energy form, is gradually becoming an important part of the energy structure. Photovoltaic panels, as the core equipment of solar power generation, have a direct impact on the performance and life of the entire solar power generation system due to their installation efficiency and quality. However, traditional photovoltaic panel installation methods have many shortcomings, such as cumbersome installation process, low efficiency, high labor costs, and easy damage to photovoltaic panels during installation.

[0003] Traditional photovoltaic panel installation usually relies on manual handling and fixing, which not only requires workers to have high professional skills, but also easily causes photovoltaic panels to be damaged due to improper operation during the handling and installation process. At the same time, with the expansion of the scale of photovoltaic power stations, the number of photovoltaic panels has increased dramatically, and traditional manual installation methods can no longer meet the needs of large-scale and efficient installation.

[0004] In order to solve these problems, some photovoltaic panel hoisting and installation devices have gradually appeared on the market, but most of these devices have a single function and cannot adapt well to the complex and changing installation environment and needs. For example, some devices only have a simple transportation function and cannot effectively protect the photovoltaic panels during transportation; other devices are too complicated and cumbersome to operate, which not only increases the installation cost but also reduces the installation efficiency. Summary of the invention

[0005] In view of the above problems, the present invention provides a lifting device for installing solar photovoltaic panels using a manipulator, by arranging a suction cup, a swing arm and a sub-bracket on the main bracket, so that the suction cup can adsorb the photovoltaic panel, and when the lifting machine lifts the sub-bracket, the swing arm can deflect and allow the limiting hook to clamp the two sides of the photovoltaic panel, thereby solving the problem of the existing photovoltaic panel lifting and installation device that the photovoltaic panel is easy to fall off and cannot effectively protect the photovoltaic panel when being transported.

[0006] In order to solve the problems of the prior art, the technical solutions proposed by the present invention are as follows:

[0007] A lifting device for installing solar photovoltaic panels using a manipulator includes a lifting machine and a lifting tool connected to the working end of the lifting machine, the lifting tool includes a support frame and a sub-frame, the sub-frame is connected to the working end of the lifting machine, the support frame includes a main frame, a limit frame and a positioning rod, the limit frame is located above the main frame, the positioning rod is vertically arranged between the limit frame and the main frame, and the limit frame and the main frame are fixedly connected by the positioning rod; the sub-frame is vertically slid through the positioning rod, the bottom of the main frame is provided with a suction cup capable of adsorbing the photovoltaic panel, the main frame is provided with a swing arm capable of deflecting to both sides thereof, the end of the swing arm is provided with a limiting hook, the other end of the swing arm is connected to the sub-frame through a connecting rod transmission, when the sub-frame moves upward relative to the main frame, the swing arm deflects to both sides of the sub-frame and allows the limiting hook to clamp both sides of the photovoltaic panel.

[0008] Furthermore, one end of the connecting rod is rotatably connected to the auxiliary bracket through a first connecting shaft, and the other end of the connecting rod is hinged to the swing arm through a second connecting shaft; the limiting hook includes a side frame connected to the end of the swing arm, and a limiting block arranged on the inner side of the side frame, and the limiting block includes an inclined surface facing the side of the photovoltaic panel.

[0009] Furthermore, a telescopic arm and a telescopic actuator for driving the telescopic arm to move are provided in the swing arm, and a limiting hook is provided at the outer end of the telescopic arm; the sub-bracket includes a lower frame body and an upper frame body, the lower frame body is transmission-connected to the swing arm through a connecting rod, and the upper frame body is connected to the working end of the hoisting machine, and a telescopic trigger linked to the telescopic actuator is also provided on the lower frame body, and the telescopic trigger penetrates the lower frame body upward and is connected to the upper frame body, and when the upper frame body moves relative to the lower frame body, the telescopic trigger guides the telescopic arm to telescope relative to the swing arm through the linked telescopic actuator.

[0010] Preferably, a deflection elastic reset element is provided between the auxiliary bracket and the limiting frame, and when the auxiliary bracket moves upward relative to the limiting frame in the supporting frame, the auxiliary bracket and the limiting frame compress the deflection elastic reset element to store energy.

[0011] More preferably, a telescopic elastic reset element is also provided on the secondary bracket, and the telescopic elastic reset element is arranged between the upper frame and the lower frame. When the lower frame moves upward relative to the upper frame, the telescopic elastic reset element is compressed and stores energy; the elastic coefficient of the deflection elastic reset element is smaller than the elastic coefficient of the telescopic elastic reset element.

[0012] Furthermore, a positioning sleeve is provided on the lower frame body and is coaxially sleeved on the positioning rod. The inner cavity of the positioning sleeve is slidably connected to the outer periphery of the positioning rod. The lower end of the positioning sleeve is fixedly connected to the lower frame body, and the upper end of the positioning sleeve slides upward and passes through the upper frame body. A limiting ring is fixedly provided at the top end of the positioning sleeve. The deflection elastic reset element is passed through the positioning rod between the limiting frame and the limiting ring; the telescopic elastic reset element is passed through the positioning rod between the upper frame body and the limiting ring.

[0013] Furthermore, the telescopic actuator has an actuator rod extending outward from the inner cavity, the outer end of the actuator rod is connected to the telescopic arm, the telescopic trigger is arranged on the lower frame, the telescopic trigger has a trigger rod extending outward from the inner cavity, the trigger rod extends upward and is connected to the upper frame, and the inner cavity of the telescopic actuator is connected to the inner cavity of the telescopic trigger through a hose.

[0014] Preferably, an actuator piston is provided in the inner cavity of the telescopic actuator, the actuator rod is fixedly connected to one end of the actuator piston, and the actuator piston forms an actuator cavity relative to the inner cavity side wall of the telescopic actuator; a trigger piston is provided in the inner cavity of the telescopic trigger, the trigger rod extends outward from one end of the trigger piston, and the trigger piston forms a trigger cavity relative to the inner cavity bottom wall of the telescopic trigger, and the actuator cavity and the trigger cavity are connected by a hose.

[0015] More preferably, the positioning sleeve is fixedly connected to the lower frame through a base; a connecting seat is fixedly provided on the upper frame, the lower end of the telescopic elastic reset element abuts against the connecting seat, and the upper end of the telescopic elastic reset element abuts against the lower surface of the limit ring.

[0016] Furthermore, there are four positioning rods in total, and the limit frame and the main bracket are fixedly connected as a whole through the four positioning rods; a stand is also provided on the main bracket to limit the height of the auxiliary bracket relative to the main bracket.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] The present application arranges a suction cup, a swing arm and a sub-bracket on the main bracket so that the suction cup can adsorb the photovoltaic panel. When the sub-bracket is hoisted by a lifting machine, the swing arm can be deflected and the limiting hook can clamp the two sides of the photovoltaic panel, which can effectively prevent the photovoltaic panel from falling off due to unexpected circumstances during transportation or installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional diagram of a hoisting device for installing solar photovoltaic panels using a manipulator when hoisting photovoltaic panels;

[0020] Figure 2 It is a front view of a hoisting device for installing solar photovoltaic panels using a manipulator when hoisting the photovoltaic panels;

[0021] Figure 3 It is a cross-sectional view of a lifting device for installing solar photovoltaic panels using a manipulator, and a retractable trigger when lifting the photovoltaic panel;

[0022] Figure 4 yes Figure 3 A local enlarged view of point A in FIG.

[0023] Figure 5It is a cross-sectional view of the swing arm portion of a hoisting device for installing solar photovoltaic panels using a manipulator;

[0024] Figure 6 yes Figure 5 A local enlarged view of point B in FIG.

[0025] Figure 7 It is a three-dimensional diagram of a hoisting device for installing solar photovoltaic panels using a manipulator in an un-hoisted state.

[0026] The numbers in the figure are: 1. main bracket; 11. limit bracket; 12. positioning rod; 13. stand; 2. auxiliary bracket; 21. lower frame; 22. upper frame; 23. telescopic trigger; 231. trigger rod; 232. trigger piston; 233. trigger chamber; 24. positioning sleeve; 25. limit ring; 26. connecting seat; 3. suction cup; 4. swing arm; 41. telescopic arm; 42. telescopic actuator; 421. actuator rod; 422. actuator piston; 423. actuator chamber; 5. limiting hook; 51. side frame; 52. limiting block; 6. connecting rod; 7. deflection elastic reset element; 8. telescopic elastic reset element; 9. photovoltaic panel. DETAILED DESCRIPTION

[0027] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0028] like Figure 1 and Figure 7 As shown, the present application provides a hoisting device for installing solar photovoltaic panels using a manipulator, including a hoisting machine and a hoisting tool connected to the working end of the hoisting machine, the hoisting tool including a support frame and a secondary support 2, the support frame including a main support 1, a limit frame 11 and a positioning rod 12, the limit frame 11 is located above the main support 1, the positioning rod 12 is vertically arranged between the limit frame 11 and the main support 1, and the limit frame 11 and the main support 1 are fixedly connected by the positioning rod 12. In order to make the structure of the support frame more stable, a total of four positioning rods 12 are provided in this embodiment, and the limit frame 11 and the main support 1 are fixedly connected into one body by the four positioning rods 12.

[0029] The sub-bracket 2 is slidably disposed in the support frame, and specifically vertically slidably penetrates the positioning rod 12. The support frame, as the basic supporting structure of the entire device, firmly locks the sliding range of the sub-bracket 2 within the predetermined track. This design ensures that the sub-bracket 2 will not deviate from the predetermined path during the up and down movement, thereby avoiding damage or safety accidents that may be caused by uncontrolled movement.

[0030] The auxiliary bracket 2 is slidably arranged between the main bracket 1 and the limiting bracket 11. This sliding connection mode enables the auxiliary bracket 2 to be flexibly adjusted according to actual installation requirements to adapt to the installation of photovoltaic panels at different heights and angles. At the same time, the sliding movement of the auxiliary bracket 2 is also guided by the positioning rod 12 to become more stable and controllable.

[0031] The positioning rod 12, as an important component connecting the main bracket 1 and the limiting frame 11, extends vertically and slides through the auxiliary bracket 2. The positioning rod 12 not only plays a guiding role to ensure the stability and accuracy of the auxiliary bracket 2 during the sliding process, but also can achieve precise control of the position of the auxiliary bracket 2 through its internal locking mechanism. When the auxiliary bracket 2 moves to the desired position, the positioning rod 12 can quickly lock the auxiliary bracket 2 to prevent it from accidentally moving due to external force.

[0032] A suction cup 3 capable of adsorbing the photovoltaic panel 9 is arranged at the bottom of the main bracket 1, and a swing arm 4 capable of deflecting to both sides thereof is arranged on the main bracket 1. A limiting hook 5 is arranged at the end of the swing arm 4, and the other end of the swing arm 4 is connected to the auxiliary bracket 2 through a connecting rod 6. When the auxiliary bracket 2 moves upward relative to the main bracket 1, the swing arm 4 deflects to both sides of the auxiliary bracket 2 and enables the limiting hook 5 to clamp both sides of the photovoltaic panel 9, and the auxiliary bracket 2 is connected to the working end of the lifting machine.

[0033] The lifting tool also includes an exhaust mechanism and an air blowing mechanism arranged on the main support 1 and connected to the suction cup 3. The exhaust mechanism is mainly used to generate negative pressure during the lifting process, and to suck air into the space in the plate where the suction cup 3 contacts the photovoltaic panel 9, so as to form a local negative pressure, so as to ensure that the suction cup 3 can firmly adsorb the photovoltaic panel 9 being lifted. The air blowing mechanism is used to separate the suction cup 3 from the adsorbed photovoltaic panel 9 by blowing air into the suction cup 3 when the photovoltaic panel 9 is put down. In the actual structural setting, an air nozzle can be opened on the suction cup 3 for common use of suction and blowing. Since the structure for controlling suction and blowing of the suction cup is widely used in the field of automated handling with the suction cup as the adsorption structure, it is a mature prior art, and this application does not make actual improvements to the exhaust mechanism and the air blowing mechanism, so the specific structure of the exhaust mechanism and the air blowing mechanism will not be repeated in this application.

[0034] like Figure 1 , Figure 3 and Figure 7 As shown, a stand 13 is also provided in the support frame. Specifically, the stand 13 is provided on the main support 1 to limit the height of the auxiliary support 2 relative to the main support 1 to prevent the auxiliary support 2 from touching the main support 1 downward.

[0035] The lifting capacity of the hoisting machine as a power source ensures the stability and safety of the photovoltaic panels during transportation. A plurality of suction cups 3 are installed at the bottom of the main bracket 1, and these suction cups 3 use their adsorption force to adsorb the photovoltaic panels 9 under the main bracket 1, effectively preventing any accidental slipping of the photovoltaic panels 9 during transportation.

[0036] The main support 1 is also provided with a swing arm 4 that can be flexibly deflected. A limiting hook 5 is installed at the end of the swing arm 4, and the other end of the swing arm 4 is connected to the auxiliary support 2. When the auxiliary support 2 moves upward relative to the main support 1 under the drive of the hoist, this movement is converted into a deflection action of the swing arm 4 through the transmission mechanism. The swing arm 4 then deflects to both sides of the auxiliary support 2, and the limiting hook 5 at its end also accurately clamps the edges of both sides of the photovoltaic panel 9. This design not only enhances the stability of the photovoltaic panel 9 during transportation, but also further prevents the risk of the photovoltaic panel 9 falling off due to external factors. It should be noted that in order to set up more photovoltaic panels in a limited area, the photovoltaic panels in the same row are usually arranged closely, and the gap between two adjacent photovoltaic panels in the same row is very small. In this application, the edge of the photovoltaic panel perpendicular to the laying direction of the photovoltaic panels in the same row is defined as the "adjacent edge", and the edge of the photovoltaic panel parallel to the laying direction of the photovoltaic panels in the same row is defined as the "non-adjacent edge". Therefore, the limiting hook 5 clamps the "non-adjacent edge" of the photovoltaic panel.

[0037] As an important part of the entire lifting tooling, the auxiliary bracket 2 not only works with the main bracket 1 to support the photovoltaic panel 9, but is also directly connected to the working end of the lifting machine. This allows the entire device to be flexibly moved between different positions under the drive of the lifting machine, achieving accurate positioning and installation of the photovoltaic panel. At the same time, the design of the auxiliary bracket 2 also fully considers the size and shape of the photovoltaic panel to ensure that the photovoltaic panel 9 will not be damaged during the handling process.

[0038] The main support 1 serves as the basic support structure of the entire device, ensuring that it can firmly bear the weight of the photovoltaic panel 9 during the lifting process. A suction cup 3 is set at the bottom of the main support 1, and the suction cup 3 can fit tightly to the surface of the photovoltaic panel, effectively preventing the photovoltaic panel from slipping during transportation, thereby greatly enhancing the safety of the transportation process.

[0039] The swing arm 4 has flexible deflection capability. When the hoisting machine starts to install the auxiliary bracket 2 and is ready to install the photovoltaic panel 9 to the predetermined position, the swing arm 4 can respond quickly and automatically deflect to a suitable angle. At this time, the limiting hook 5 set on the swing arm 4 will accurately clamp the edges of the photovoltaic panel 9 on both sides, forming a solid defense line, further preventing the photovoltaic panel from falling off due to unexpected circumstances during transportation or installation.

[0040] The sub-bracket 2 is used as an auxiliary support structure, which works closely with the main bracket 1 and the swing arm 4 to form a complete handling and installation system. The design of the sub-bracket 2 fully considers the size and shape of the photovoltaic panel to ensure that it can provide additional support points for the photovoltaic panel during the lifting process, thereby enhancing its overall stability. At the same time, the sub-bracket 2 is also easy to connect with the fixed structure of the installation location, so as to achieve fast and accurate installation of the photovoltaic panel.

[0041] like Figure 2 and Figure 3 As shown, a connecting rod 6 is arranged between one end of the swing arm 4 away from the limiting hook 5 and the auxiliary bracket 2. When the auxiliary bracket 2 moves upward relative to the main bracket 1, the auxiliary bracket 2 drives the swing arm 4 to deflect to both sides relative to the main bracket 1 through the connecting rod 6.

[0042] One end of the connecting rod 6 is rotatably connected to the auxiliary bracket 2 through the first connecting shaft, and the other end of the connecting rod 6 is hinged to the swing arm 4 through the second connecting shaft. This connection method ensures that the connecting rod 6 can flexibly transmit the movement of the auxiliary bracket 2 to the swing arm 4 without causing any obstruction to the deflection movement of the swing arm 4.

[0043] When the hoist is started and drives the auxiliary support 2 to move upward relative to the main support 1, this vertical movement is converted into a horizontal deflection movement of the swing arm 4 through the connecting rod 6. The upward power of the auxiliary support 2 is transmitted to the swing arm 4 through the connecting rod 6, so that the swing arm 4 can smoothly deflect to both sides relative to the main support 1. In this process, the connecting rod 6 ensures the stability and accuracy of the movement and avoids vibration or impact caused by uncoordinated movement.

[0044] As the swing arm 4 deflects, the limiting hook 5 at its end also moves to a suitable position and accurately clamps the two side edges of the photovoltaic panel. This clamping action not only stabilizes the position of the photovoltaic panel 9 during the transportation process, but also further enhances the protection capability of the entire device for the photovoltaic panel.

[0045] like Figure 2 As shown, the limiting hook 5 includes a side frame 51 connected to the end of the swing arm 4, and a limiting block 52 arranged on the inner side of the side frame 51, and the limiting block 52 includes an inclined surface facing the side of the photovoltaic panel 9.

[0046] The limiting hook 5 is mainly composed of a side frame 51 and a limiting block 52. The side frame 51, as the main structure of the limiting hook 5, is connected to the end of the swing arm 4 through a connecting piece, ensuring that the limiting hook 5 can move flexibly with the deflection of the swing arm 4.

[0047] The limiting block 52 is arranged on the inner side of the side frame 51, directly facing the side of the photovoltaic panel 9. An inclined surface facing the side of the photovoltaic panel is adopted. This inclined surface design has two significant advantages:

[0048] First, the inclined surface design enables the limiting block 52 to play a certain guiding role when contacting the photovoltaic panel. When the swing arm 4 deflects and drives the limiting hook 5 to approach the photovoltaic panel, the existence of the inclined surface enables the limiting block 52 to gradually and smoothly contact the side of the photovoltaic panel, avoiding damage or vibration that may be caused by direct impact. This guiding effect not only protects the photovoltaic panel, but also improves the operating accuracy of the entire device.

[0049] Secondly, the inclined surface design also enhances the clamping effect of the limiting hook 5 on the photovoltaic panel 9. As the limiting block 52 gradually approaches the side of the photovoltaic panel 9, the pressure generated by the inclined surface gradually increases. This pressure and the gravity of the photovoltaic panel 9 act together to enable the limiting hook 5 to firmly clamp the photovoltaic panel 9 to prevent it from falling off or shaking during transportation. Even when encountering bumpy or inclined roads, this clamping effect can ensure the safety and stability of the photovoltaic panel 9.

[0050] Further, such as Figure 5 and Figure 6 As shown, a telescopic arm 41 and a telescopic actuator 42 for driving the telescopic arm 41 to move are arranged in the swing arm 4 , and a limiting hook 5 is arranged at the outer end of the telescopic arm 41 .

[0051] The auxiliary bracket 2 includes a lower frame body 21 and an upper frame body 22. The lower frame body 21 is connected to the swing arm 4 through a connecting rod 6, and the upper frame body 22 is connected to the working end of the hoist. A telescopic trigger 23 linked to the telescopic actuator 42 is also provided on the lower frame body 21, and the telescopic trigger 23 penetrates the lower frame body 21 upward and is connected to the upper frame body 22. When the upper frame body 22 moves relative to the lower frame body 21, the telescopic trigger 23 guides the telescopic arm 41 to telescope relative to the swing arm 4 through the telescopic actuator 42 linked thereto.

[0052] The telescopic arm 41 serves as a supporting structure for the limiting hook 5, and its length can be adjusted as needed. This feature enables the limiting hook 5 to more flexibly adapt to photovoltaic panels of different sizes and shapes, ensuring the stability and accuracy of clamping. The limiting hook 5 is installed at the outer end of the telescopic arm 41, and this combination constitutes a key clamping mechanism during the transportation of photovoltaic panels.

[0053] The auxiliary support 2 is wrapped in the lower frame 21 and the upper frame 22, and the two are connected by sliding. The lower frame 21 is connected to the swing arm 4 through the connecting rod 6, ensuring that the rise or fall of the auxiliary support 2 can drive the swing arm 4 to deflect. The upper frame 22 is directly connected to the working end of the hoisting machine and is responsible for transmitting the lifting power.

[0054] A telescopic trigger 23 linked to the telescopic actuator 42 is also provided on the lower frame 21, and the upper end of the telescopic trigger 23 is connected to the upper frame 22. This design enables the sub-frame 2 to automatically trigger the action of the telescopic actuator 42 during the relative movement. Specifically, when the upper frame 22 moves relative to the lower frame 21, the telescopic trigger 23 will sense this change and guide the telescopic arm 41 to perform telescopic movement through the telescopic actuator 42 linked thereto. This linkage mechanism realizes the synchronous coordination between the sub-frame 2 and the telescopic arm 41 inside the swing arm 4, ensuring the stability and reliability of the entire device during the process of transporting photovoltaic panels.

[0055] like Figure 2 and Figure 3 As shown, a deflection elastic reset element 7 is provided between the auxiliary bracket 2 and the limiting frame 11. When the auxiliary bracket 2 moves upward relative to the limiting frame 11 in the supporting frame, the auxiliary bracket 2 and the limiting frame 11 compress the deflection elastic reset element 7 to store energy.

[0056] The deflection elastic reset element 7 is a mechanical element capable of storing and releasing energy and is installed between the auxiliary bracket 2 and the limit frame 11. Its main function is to store energy through its own compression when the auxiliary bracket 2 moves upward relative to the limit frame 11. This energy storage process not only provides power reserve for subsequent reset actions, but also helps to alleviate the impact and vibration caused by movement, protecting the mechanical structure of the entire device.

[0057] Specifically, when the hoist drives the auxiliary support 2 to move upward, the distance between the auxiliary support 2 and the main support 1 gradually increases. In this process, the deflection elastic reset element 7 is subjected to the compression force and begins to accumulate energy. This energy is stored in the form of elastic potential energy inside the deflection elastic reset element 7, waiting to be released at the right time.

[0058] In addition, the introduction of the deflection elastic reset element 7 also makes the device more intelligent and automated during operation. When the sub-bracket 2 completes the ascending action and starts to descend, the deflection elastic reset element 7 automatically releases the previously accumulated energy and pushes the sub-bracket 2 to move in the reset direction, that is, pushes the sub-bracket 2 to move downward. This process does not require an additional power source or control signal, and realizes automatic reset and rapid response of the device.

[0059] Further, such as Figure 3 As shown, a telescopic elastic reset element 8 is also provided on the auxiliary bracket 2, and the telescopic elastic reset element 8 is arranged between the upper frame body 22 and the lower frame body 21. When the lower frame body 21 moves upward relative to the upper frame body 22, the telescopic elastic reset element 8 is compressed and stores energy.

[0060] The telescopic elastic reset element 8, as a key component connecting the upper frame 22 and the lower frame 21, can automatically compress and store energy according to the movement of the lower frame 21 relative to the upper frame 22. When the hoist or other external force drives the lower frame 21 to move upward relative to the upper frame 22, the telescopic elastic reset element 8 is immediately compressed and begins to accumulate energy. This energy storage process is similar to the compression of a spring, which converts mechanical energy into elastic potential energy and stores it for subsequent use.

[0061] When the hoist or other external force drives the lower frame 21 to move upward relative to the upper frame 22, the telescopic elastic reset element 8 is compressed before the deflection elastic reset element 7, that is, the telescopic elastic reset element 8 is compressed first, and then the deflection elastic reset element 7 is compressed. In this embodiment, the elastic coefficient of the deflection elastic reset element 7 is smaller than the elastic coefficient of the telescopic elastic reset element 8.

[0062] When the lower frame 21 needs to be lowered or reset, the telescopic elastic reset element 8 will automatically release the previously accumulated energy to push the lower frame 21 to move in the opposite direction. This process does not require an additional power source or control signal, and realizes automatic reset and rapid response of the device.

[0063] like Figure 3 As shown, a positioning sleeve 24 coaxially sleeved on the positioning rod 12 is provided on the lower frame 21, the inner cavity of the positioning sleeve 24 is slidably connected to the outer periphery of the positioning rod 12, the positioning sleeve 24 is fixedly connected to the lower frame 21 through the base, and the positioning sleeve 24 slides through the upper frame 22, that is, the positioning sleeve 24 is slidably connected to the upper frame 22, and is fixedly connected to the lower frame 21, and a limiting ring 25 is fixedly provided at the top of the positioning sleeve 24, that is, the limiting ring 25, the positioning sleeve 24 and the lower frame 21 are rigidly connected as a whole. When the deflection elastic reset element 7 is inserted between the limiting frame 11 and the limiting ring 25, it is equivalent to setting the deflection elastic reset element 7 between the limiting frame 11 and the lower frame 21.

[0064] The positioning sleeve 24 is slidably mounted on the positioning rod 12 and is coaxial with the positioning rod 12. This coaxial mounting ensures that the positioning sleeve 24 can always move along the axis of the positioning rod 12 during the sliding process, thereby avoiding jamming or damage caused by deviation or tilt.

[0065] The positioning sleeve 24 also slides through the upper frame 22. The positioning sleeve 24 is not only fixedly connected to the lower frame 21, but also generates dynamic interaction with the upper frame 22 through its sliding movement. This design enables the relative movement between the upper frame 22 and the lower frame 21 to be transmitted more directly and effectively through the positioning sleeve 24, thereby improving the response speed and sensitivity of the entire device.

[0066] A limiting ring 25 is also provided at the top of the positioning sleeve 24. The limiting ring 25 has a dual role. On the one hand, it serves as a mounting seat for the deflection elastic reset element 7, supporting and resisting the deflection elastic reset element 7. On the other hand, the limiting ring 25 is also similar to a safety valve or a stopper, which can automatically lock the position of the positioning sleeve 24 when it slides to a predetermined position, preventing it from continuing to move upward and exceeding the safety range. For example, when the lower edge of the limiting ring 25 abuts against the upper surface of the upper frame 22, the positioning sleeve 24 is limited. This design not only protects the mechanical structure inside the device from damage, but also ensures the safety and reliability of the installation operation.

[0067] like Figure 3 and Figure 5 As shown, the deflection elastic reset element 7 is arranged between the limit ring 25 and the limit frame 11 at the upper end of the positioning sleeve 24. The telescopic elastic reset element 8 is arranged between the upper frame 22 and the limit ring 25. Specifically, in this embodiment, a connecting seat 26 is fixedly arranged on the upper frame 22, and the lower end of the telescopic elastic reset element 8 abuts on the connecting seat 26, and the upper end of the telescopic elastic reset element 8 abuts on the lower surface of the limit ring 25. Since the limit ring 25, the positioning sleeve 24 and the lower frame 21 are rigidly connected to form an integral structure, and the connecting seat 26 and the upper frame 22 are also fixedly connected to form an integral structure, the telescopic elastic reset element 8 is equivalent to being arranged between the upper frame 22 and the lower frame 21. Of course, the connecting seat 26 may not be provided, and the lower end of the telescopic elastic reset element 8 may be directly abutted against the upper surface of the upper frame 22.

[0068] The deflection elastic reset element 7, as a mechanical element capable of storing and releasing elastic potential energy, is arranged between the limit ring 25 and the limit frame 11 at the upper end of the positioning sleeve 24, and can control the deflection movement of the positioning sleeve 24 and realize automatic reset. When the positioning sleeve 24 is deflected by an external force, the deflection elastic reset element 7 will deform and store energy. Once the external force disappears, the deflection elastic reset element 7 will release the stored energy and push the positioning sleeve 24 to automatically reset to its original position. This design not only improves the stability and reliability of the device, but also makes the deflection movement of the positioning sleeve 24 smoother and more controllable.

[0069] The telescopic elastic reset element 8 is arranged between the upper frame 22 and the limit ring 25, and its main function is to control the telescopic movement of the upper frame 22 and realize automatic reset. When the upper frame 22 is subjected to external force and undergoes telescopic movement, the telescopic elastic reset element 8 will deform and store energy. When the external force disappears or reaches a predetermined condition, the telescopic elastic reset element 8 will release the stored energy and push the upper frame 22 to automatically reset to the original position or the predetermined position. This design not only simplifies the operation process, but also improves the automation and work efficiency of the device.

[0070] like Figure 4 and Figure 6 As shown, the telescopic actuator 42 has an actuator rod 421 extending outward from its inner cavity, the outer end of the actuator rod 421 is connected to the telescopic arm 41, the telescopic trigger 23 is arranged on the lower frame 21, the telescopic trigger 23 has a trigger rod 231 extending outward from its inner cavity, the trigger rod 231 extends upward and is connected to the upper frame 22, and the inner cavity of the telescopic actuator 42 is connected to the inner cavity of the telescopic trigger 23 through a hose.

[0071] like Figure 6 As shown, the inner cavity of the telescopic actuator 42 is provided with an actuator piston 422, the actuator rod 421 is fixedly connected to one end of the actuator piston 422, and the actuator piston 422 forms an actuator cavity 423 relative to the inner cavity side wall of the telescopic actuator 42 away from the limiting hook 5. Figure 4 As shown, the inner cavity of the telescopic trigger 23 is provided with a trigger piston 232, and the trigger rod 231 extends outward from one end of the trigger piston 232. The trigger piston 232 forms a trigger cavity 233 relative to the bottom wall of the inner cavity of the telescopic trigger 23, and the execution cavity 423 and the trigger cavity 233 are connected by a hose.

[0072] The telescopic actuator 42 has an actuator rod 421 extending outward from the inner cavity, and the outer end of the actuator rod 421 is fixedly connected to the telescopic arm 41, thereby realizing direct control of the telescopic arm 41. When the actuator rod 421 moves under the drive of the telescopic actuator 42, the telescopic arm 41 will also perform a corresponding telescopic action, thereby realizing precise adjustment of the clamping force of the photovoltaic panel 9.

[0073] The telescopic trigger 23 is disposed on the lower frame 21 and connected to the upper frame 22 via a trigger rod 231 that also extends outward from the inner cavity. This design enables the relative movement between the upper frame 22 and the lower frame 21 to be directly transmitted to the telescopic trigger 23, thereby triggering the mechanical reaction inside it.

[0074] The inner cavity of the telescopic actuator 42 is connected to the inner cavity of the telescopic trigger 23 through a hose. The hose not only acts as a transmission medium, but also ensures the sealing and stability between the two chambers. The two ends of the hose are connected to the execution chamber 423 and the trigger chamber 233, which are located on the opposite sides of the execution piston 422 and the trigger piston 232.

[0075] The transmission medium is hydraulic oil. The hydraulic oil flows in the execution chamber 423 and the trigger chamber 233. When the pressure in the trigger chamber 233 decreases, the pressure in the execution chamber 423 decreases, and the execution piston 422 in the execution chamber 423 moves inward, so that the two limiting hooks 5 can contact the side wall of the photovoltaic panel 9 inward.

[0076] The motion state of the actuator piston 422 and the trigger piston 232 directly determines the functional performance of the telescopic actuator 42 and the telescopic trigger 23. When the trigger rod 231 is subjected to the upward pressure of the upper frame 22, the trigger piston 232 will move upward in the trigger chamber 233, and then transmit the pressure to the actuator chamber 423 through the hose. At this time, the actuator piston 422 is subjected to the pressure, pushing the actuator rod 421 to move inward, thereby driving the telescopic arm 41 to retract inward, so that the two limiting hooks 5 can contact the side wall of the photovoltaic panel 9.

[0077] The working process of the hoisting device for installing solar photovoltaic panels using a manipulator proposed by the present invention is as follows:

[0078] When in use, the working end of the lifting machine is connected to the four corners of the top of the upper frame 22. Figure 7 As shown, the lifting tool connected to the working end of the lifting machine is then moved to the photovoltaic panel stacking position by the lifting machine, and the main bracket 1 is located directly above the photovoltaic panel 9, and then the working end of the lifting machine is moved downward, so that the suction cups 3 on the main bracket 1 can all be adsorbed on the photovoltaic panel 9, and the suction mechanism connected to the suction cups 3 is controlled to suck air into the suction cup space where the suction cups 3 are in contact with the photovoltaic panel 9, forming a local negative pressure, so that the suction cups 3 can firmly adsorb the photovoltaic panel 9 being lifted, and then the lifting machine is lifted. Because the elastic coefficient of the deflection elastic reset element 7 is smaller than the elastic coefficient of the telescopic elastic reset element 8, the auxiliary bracket 2 including the upper frame 22 and the lower frame 21 moves upward as a whole relative to the bottom end of the main bracket 1, so that the positioning sleeve 24 compresses the deflection elastic reset element 7 upward, and the connecting rod 6 drives the swing arm 4 to deflect outward, so that the limiting hook 5 installed on the swing arm 4 can move along the horizontal The upper frame 22 moves upward relative to the lower frame 21, and the upper frame 22 compresses the telescopic elastic reset element 8 upward, so that the upper frame 22 drives the trigger piston 232 to move upward in the telescopic trigger 23 through the trigger rod 231, so that the pressure of the trigger chamber 233 is reduced, and the trigger chamber 233 is connected with the execution chamber 423, so that the pressure of the execution piston 422 facing away from the execution rod 421 is reduced, and the execution piston 422 drives the execution rod 421 to move inward under the state of reduced pressure at one end thereof, thereby causing the telescopic arm 41 to move toward the inside of the swing arm 4, so that the limiting hook 5 can approach the side wall of the photovoltaic panel 9 in the horizontal direction and contact the side wall of the photovoltaic panel 9. The state at this time is as follows: Figure 1 As shown, under the action of the limiting hook 5 abutting on the opposite side of the photovoltaic panel 9, the lifting machine completely lifts the photovoltaic panel 9, and the suction cup 3 supports the photovoltaic panel 9 during the process of adsorbing the photovoltaic panel 9, which can effectively prevent the photovoltaic panel 9 from falling off.

[0079] During installation, the hoisting machine transports the photovoltaic panel 9 to the installation position and places the photovoltaic panel 9 on the installation bracket. The upper frame 22, telescopic arm 41, lower frame 21, and swing arm 4 reset themselves in turn according to the above-mentioned reverse movement process, so that the limiting hook 5 deflects upward on both sides of the photovoltaic panel 9, so that the suction cup 3 can be separated from the photovoltaic panel 9, thereby completing the lifting and installation operation.

[0080] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A hoisting device for installing solar photovoltaic panels using a manipulator, comprising a hoisting machine and a hoisting tool connected to the working end of the hoisting machine, characterized in that: The lifting tool comprises a support frame and an auxiliary support (2), wherein the auxiliary support (2) is connected to the working end of the lifting machine, and the support frame comprises a main support (1), a limit frame (11) and a positioning rod (12), wherein the limit frame (11) is located above the main support (1), and the positioning rod (12) is vertically arranged between the limit frame (11) and the main support (1), and the limit frame (11) and the main support (1) are fixedly connected via the positioning rod (12); the auxiliary support (2) is vertically slidably arranged on the positioning rod (1 2), a suction cup (3) capable of adsorbing the photovoltaic panel is arranged at the bottom of the main support (1), a swing arm (4) capable of deflecting to both sides thereof is arranged on the main support (1), a limiting hook (5) is arranged at the end of the swing arm (4), and the other end of the swing arm (4) is connected to the auxiliary support (2) through a connecting rod (6), when the auxiliary support (2) moves upward relative to the main support (1), the swing arm (4) deflects to both sides of the auxiliary support (2) and enables the limiting hook (5) to clamp both sides of the photovoltaic panel; A telescopic arm (41) and a telescopic actuator (42) for driving the telescopic arm (41) to move are arranged in the swing arm (4); a limiting hook (5) is arranged at the outer end of the telescopic arm (41); the auxiliary bracket (2) comprises a lower frame body (21) and an upper frame body (22); the lower frame body (21) is transmission-connected to the swing arm (4) through a connecting rod (6); the upper frame body (22) is connected to the working end of the hoist; a telescopic trigger (23) linked to the telescopic actuator (42) is also arranged on the lower frame body (21); the telescopic trigger (23) penetrates the lower frame body (21) upwards and is connected to the upper frame body (22); when the upper frame body (22) moves relative to the lower frame body (21), the telescopic trigger (23) guides the telescopic arm (41) to telescope relative to the swing arm (4) through the linked telescopic actuator (42).

2. The hoisting device for installing solar photovoltaic panels using a manipulator according to claim 1, characterized in that: A deflection elastic reset element (7) is provided between the auxiliary bracket (2) and the limiting bracket (11); when the auxiliary bracket (2) moves upward relative to the limiting bracket (11) in the support bracket, the auxiliary bracket (2) and the limiting bracket (11) compress the deflection elastic reset element (7) to store energy.

3. The hoisting device for installing solar photovoltaic panels using a manipulator according to claim 2, characterized in that: A telescopic elastic reset element (8) is also provided on the secondary support (2). The telescopic elastic reset element (8) is provided between the upper frame (22) and the lower frame (21). When the lower frame (21) moves upward relative to the upper frame (22), the telescopic elastic reset element (8) is compressed to store energy. The elastic coefficient of the deflection elastic reset element (7) is smaller than the elastic coefficient of the telescopic elastic reset element (8).

4. The hoisting device for installing solar photovoltaic panels using a manipulator according to claim 3 is characterized in that: The lower frame (21) is provided with a positioning sleeve (24) coaxially sleeved on the positioning rod (12); the inner cavity of the positioning sleeve (24) is slidably connected to the outer periphery of the positioning rod (12); the lower end of the positioning sleeve (24) is fixedly connected to the lower frame (21); and the upper end of the positioning sleeve (24) slides upward and penetrates the upper frame (22); a limit ring (25) is fixedly provided at the top end of the positioning sleeve (24); a deflection elastic reset element (7) is inserted on the positioning rod (12) between the limit frame (11) and the limit ring (25); and a telescopic elastic reset element (8) is inserted on the positioning rod (12) between the upper frame (22) and the limit ring (25).

5. The hoisting device for installing solar photovoltaic panels using a manipulator according to claim 1, characterized in that: The telescopic actuator (42) comprises an actuator rod (421) extending outward from an inner cavity, the outer end of the actuator rod (421) is connected to the telescopic arm (41), the telescopic trigger (23) is arranged on the lower frame (21), the telescopic trigger (23) comprises a trigger rod (231) extending outward from the inner cavity, the trigger rod (231) extends upward and is connected to the upper frame (22), and the inner cavity of the telescopic actuator (42) is connected to the inner cavity of the telescopic trigger (23) via a hose.

6. The hoisting device for installing solar photovoltaic panels using a manipulator according to claim 5, characterized in that: An actuating piston (422) is provided in the inner cavity of the telescopic actuator (42); an actuating rod (421) is fixedly connected to one end of the actuating piston (422); the actuating piston (422) forms an actuating cavity (423) relative to the inner cavity side wall of the telescopic actuator (42); a triggering piston (232) is provided in the inner cavity of the telescopic trigger (23); the triggering rod (231) extends outward from one end of the triggering piston (232); the triggering piston (232) forms a triggering cavity (233) relative to the inner cavity bottom wall of the telescopic trigger (23); and the actuating cavity (423) and the triggering cavity (233) are connected via a hose.

7. The hoisting device for installing solar photovoltaic panels using a manipulator according to claim 4, characterized in that: The positioning sleeve (24) is fixedly connected to the lower frame (21) via a base; a connecting seat (26) is fixedly provided on the upper frame (22); the lower end of the telescopic elastic reset element (8) abuts against the connecting seat (26); and the upper end of the telescopic elastic reset element (8) abuts against the lower surface of the limit ring (25).

8. The hoisting device for installing solar photovoltaic panels using a manipulator according to claim 1, characterized in that: A total of four positioning rods (12) are provided, and the limiting frame (11) and the main support (1) are fixedly connected to form an integral body via the four positioning rods (12); a stand (13) is also provided on the main support (1) for limiting the height of the auxiliary support (2) relative to the main support (1).

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