Photovoltaic panel full-automatic installation robot and installation method

Abstract

The invention discloses a photovoltaic panel full-automatic mounting robot and a mounting method. The photovoltaic panel full-automatic mounting robot comprises a transfer device, an execution device, an adsorption device I, an adsorption device II, a manned device, a power generation device, a connecting device and a walking device. The position adjusting function of the transfer device is achieved through cooperation of an air cylinder and a sensor installed on an outer frame, and the function of changing the area of a storage area is achieved by driving a connecting plate through stretching and retracting of air cylinders on the two sides of a center frame. The adsorption device II places the photovoltaic panel at a specified installation position through the adsorption device I, and the photovoltaic panel is fixed through a pressing block and a bolt adsorbed by the adsorption device II; the walking device achieves the function of adapting to the road surface through cooperation of the rotating frame, the floating frame and the crawler wheels. Full-automatic installation of the photovoltaic panels and automatic carrying and storage of the photovoltaic panels of multiple sizes are achieved, the photovoltaic panels are stably installed under different terrains, and the problems that an existing robot needs manual participation to fix the photovoltaic panels, a transfer device is complex, and the terrains are limited are solved.

Description

Technical field:

[0001] The present invention relates to the field of photovoltaic panel installation robots, and in particular to a photovoltaic panel full-automatic installation robot and an installation method. Background technology:

[0002] At present, with the increase in global demand for renewable energy, photovoltaic power generation, as an important part of clean energy, is growing rapidly in installed capacity, providing important support for achieving sustainable environmental development. It is predicted that by 2030, the global photovoltaic installed capacity will reach 4,500GW. With the large-scale construction of photovoltaic power stations, the requirements for the installation speed and quality of photovoltaic panels are getting higher and higher, which provides a broad space for the market application of efficient photovoltaic panel installation robots. However, photovoltaic power stations are often built in areas with harsh natural environments such as deserts, Gobi, and mountains. Manual installation of photovoltaic panels is dangerous and relatively inefficient. Automated photovoltaic panel installation robots can improve installation efficiency, reduce the risk of manual high-altitude operations, reduce the risk of component damage and cracking, and provide higher installation accuracy and consistency. Therefore, photovoltaic panel installation robots are currently mainly used, but the existing photovoltaic panel installation robots have many problems in actual application, such as:

[0003] (1) Existing photovoltaic panel installation robots cannot fully automate the photovoltaic panel installation process. After placing the photovoltaic panels at the installation location, manual intervention is still required to fix the photovoltaic panels. Fixing photovoltaic panels at high altitudes will increase manual high-altitude operations, which is dangerous and increases labor costs, while also affecting work efficiency.

[0004] (2) Existing photovoltaic panel installation robots have shortcomings in the process of transferring photovoltaic panels. Either a crane is used to place the photovoltaic panels in the storage area, or a flipping device is used to place photovoltaic panels of a certain size in the storage area. It is not possible to automatically store photovoltaic panels of multiple sizes at the same time, and the device is relatively complicated.

[0005] (3) The walking devices of existing photovoltaic panel installation robots are mostly wheeled or ordinary crawler-type. The wheeled type is suitable for installing photovoltaic panels on flat ground, while the ordinary crawler type is unstable in complex terrain. If there is shaking during the installation process, the photovoltaic panels will fall off, which poses a problem of terrain restrictions.

[0006] In summary, in order to effectively solve the shortcomings of existing photovoltaic panel installation robots, it is urgent to invent a fully automatic photovoltaic panel installation robot to realize the automation of the photovoltaic panel installation process and improve the efficiency of photovoltaic panel installation; realize the automatic transfer and storage of photovoltaic panels of multiple sizes, reduce the equipment on the robot, and simplify it; realize the multi-terrain installation of the photovoltaic panel installation robot and improve the scope of application of the photovoltaic panel installation robot. Summary of the invention:

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a fully automatic photovoltaic panel installation robot. During the photovoltaic panel installation process, the robot installs the pressing block and the bolt to the fixed installation position of the photovoltaic panel through the mutual cooperation between the two adsorption devices. The fixing process does not require human intervention, thereby realizing the fully automatic installation of the photovoltaic panel. During the transportation of the photovoltaic panel, the robot transports the photovoltaic panel to the fork frame through the transfer device and then automatically adjusts the storage area according to the size of the photovoltaic panel, thereby realizing the automatic transportation and storage of photovoltaic panels of multiple sizes. During the movement of the robot, the rotating frame, floating frame, moving wheels and floating wheels on the walking device cooperate with each other, so that the walking state can be automatically adjusted according to the road conditions to adapt to the road surface, so that the robot walks more smoothly, and the smooth installation of photovoltaic panels can be realized in various complex terrains.

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

[0009] A photovoltaic panel fully automatic installation robot, characterized in that: the photovoltaic panel fully automatic installation robot comprises a transfer device, an execution device, an adsorption device I, an adsorption device II, a manned device, a power generation device, a connection device and a walking device, and a storage round table; the execution device, the manned device and the power generation device are installed on the upper side of the connection device, four walking devices are installed on the left and right sides of the connection device, and the two ends of the execution device are respectively connected to the adsorption device I and the adsorption device II;

[0010] The transfer device includes cylinder I, a connecting plate, an outer frame, cylinder II, a sensor, a center frame, cylinder III, and a fork frame; two cylinders I are installed on the left and right sides of the outer frame; two connecting plates are installed on the left and right sides of the center frame; the outer frame is located at the front end of the photovoltaic panel automatic installation robot; two cylinders II are vertically installed at the rear end through hole of the outer frame, and the sensor is installed at the upper end of the outer frame; the center frame is installed in the middle of the outer frame; the two ends of the cylinder III are respectively connected to the connecting plate and the center frame; the fork frame is installed in the middle of the center frame;

[0011] The execution device includes a chassis box, a large arm, and a small arm; the execution device is located at the upper end of the photovoltaic panel automatic installation robot; the lower end of the large arm is connected to the upper end of the chassis box, and the upper end is connected to the lower end of the small arm;

[0012] The adsorption device I comprises a connection cover, a connection block I, a holder I, a holder II, a connection block II, and a vacuum suction cup; the adsorption device I is located at the upper end of the actuator; the lower end of the connection block I is connected to the upper end of the connection cover; the holder I and the holder II are fixed by the connection block II; the threaded holes on the connection cover correspond to the threaded holes on the two middle holders II, and the fixed holders I and II are fixed to the lower end of the connection cover; the vacuum suction cup is fixed at the through holes of the holders I and II;

[0013] The adsorption device II includes a vacuum suction cup, a rotating disc, a connecting block, a positioning block, and a bolt clamp; the adsorption device II is located at the upper end of the actuator; the two vacuum suction cups and the bolt clamp are fixed at three through holes on the rotating disc; the upper end of the rotating disc is connected to the lower end of the fixing block through the through hole of the connecting block;

[0014] The manned device comprises a manned platform base, a manned platform, a support rod, and a connecting rod; the manned device is located at the upper end of the fully automatic photovoltaic panel installation robot; the support rod is connected to the through hole of the manned platform base, and the support rod is fixed to the manned platform base through the connecting rod; the support rod and the through hole corresponding to the support rod are connected through the connecting rod; the uppermost support rod is fixed to the lower end of the manned platform to fix the manned platform;

[0015] The connecting device includes a connecting hole I, a fixing block, a fixing rod, a through hole, a connecting hole II, a transmission shaft, and an upper cover plate; the connecting device is located in the middle of the fully automatic photovoltaic panel installation robot; a transmission shaft is installed at the connecting hole I; the fixing rod passes through the fixing block to fix the cylinder I installed at the fixing block through the through hole, and the cylinder I can rotate around the fixing block; the upper cover plate is fixed through the connecting hole II;

[0016] The walking device comprises tracks, support wheels, a rotating frame, moving wheels, a floating frame, a small floating wheel and a large floating wheel; the four walking devices are located on the left and right sides of the connecting device and are symmetrically distributed; the support wheels are installed on the inner side above the tracks; the upper end of the rotating frame is connected to the support wheels, and the left and right sides of the lower end are connected to the moving wheels; the upper end of the floating frame is connected to the rotating frame, and the lower end is connected to the small floating wheel or the large floating wheel; the two small floating wheels and the two large floating wheels are installed on the inner side of the lower end of the tracks, and are symmetrically distributed on the left and right ends;

[0017] The storage truncated platform is located above the connecting device, and the interior of the storage truncated platform is used to place the pressing blocks and bolts required for fixing the photovoltaic panels.

[0018] Furthermore, in the above-mentioned fully automatic photovoltaic panel installation robot, the outer frame is provided with a fixing block I, a connecting hole, a fixing rod, and a fixing block II; the center frame is provided with a through hole, a mounting hole I, and a mounting hole II; the cylinder III includes a piston, a large nut, a piston rod, and a small nut; the cylinder I is installed at the fixing block II, fixed to the outside of the outer frame, and symmetrically distributed on the left and right sides; the cylinder II is vertically installed at the fixing block I, and through the connecting hole, the vertical movement of the cylinder II drives the movement of the cylinder I to realize the up and down movement of the outer frame; the fixing rod fixes the center frame to the outer frame through the through hole; the piston rod at one end of the cylinder III is fixed to the inside of the center frame through the mounting hole I, and the piston at the other end is fixed to the connecting plate through the through hole on the connecting plate, so as to realize the automatic adjustment of the storage area of ​​the photovoltaic panel; the three fork frames are symmetrically distributed on the center frame through the mounting hole II.

[0019] Furthermore, in the above-mentioned fully automatic photovoltaic panel installation robot, the chassis box includes a box base, a small electrical box, a chassis motor, an oil sealing ring, a flange cover, and a chassis rotating worm gear box; the chassis rotating turbine box contains a rotating turbine shaft, the lower end of which is connected to the upper end of the box base, and the rear side is connected to the small electrical box and the chassis motor to realize the rotation of the rotating turbine shaft in the chassis rotating turbine box; an oil sealing ring is installed in the groove at the upper end of the flange cover, and the lower end is connected to the upper end of the chassis rotating turbine box.

[0020] Furthermore, in the above-mentioned fully automatic photovoltaic panel installation robot, the big arm includes a driving arm seat I, a reducer, a big arm housing, a connecting rod, a small arm seat, a transmission shaft plate, a connecting frame, and a driving arm seat II; the upper side of the flange cover is connected to the lower end of the driving arm seat II, and the rotation of the rotating turbine shaft in the rotating turbine box of the chassis drives the driving arm seat II to rotate; the lower end of the driving arm seat I is connected to the upper end of the driving arm seat II, and the rotation of the driving arm seat II drives the driving arm seat I to rotate; the outer side of the lower end of the big arm housing is connected to the reducer, and the reducer is fixed to the big arm housing through the threaded holes at the contact between the big arm housing and the reducer, and the rotation of the reducer drives the big arm housing to rotate; the connecting frame connects the big arm housing and the connecting reducer through the through hole at the upper end of the driving arm seat I, and fixes the big arm housing to the driving arm seat I through the threaded holes at the contact between the driving arm seat I and the big arm housing; the lower end of the transmission shaft plate is connected to the inner side of the lower end of the big arm housing, and the upper end is connected to the lower end of the connecting rod; the front end of the small arm seat is connected to the front end of the connecting rod, and the rear end is connected to the outer side of the front end of the big arm housing.

[0021] Furthermore, in the above-mentioned fully automatic photovoltaic panel installation robot, the small arm includes a rotating motor, a gear box, a rotating flange, a central axis, a wrist rotating flange, a front rotating flange, and a front central axis; the gear box contains gears, and the lower end is connected to the upper end of the small arm seat, and the rear end is installed with a rotating motor, and the movement of the rotating motor drives the gears in the gear box to move; the rear end of the rotating flange is connected to the gear box, and the front end is connected to the central axis, and the movement of the gears in the gear box drives the central axis to rotate; the rear end of the wrist rotating flange is connected to the central axis, and the front end is connected to the front rotating flange, and the front rotating flange can rotate around the wrist rotating flange; the front central axis is installed at the front end of the front rotating flange, and the front rotating flange contains gears, which can drive the front central axis to rotate.

[0022] Furthermore, in the above-mentioned fully automatic photovoltaic panel installation robot, the manned platform base includes a fixed support I and a fixed support II; different support rods are connected at the through holes of the fixed support I and the fixed support II, and the support rods are fixed to the manned platform base through connecting rods, but the support rods at the fixed support I can rotate around the fixed support I, and the support rods at the fixed support II can rotate around the fixed support II; the support rods are cross-arranged and connected by connecting rods at the corresponding through holes, the topmost support rod is connected to the manned platform, and the rotation of the support rod drives the manned platform to move up and down.

[0023] Furthermore, in the above-mentioned fully automatic photovoltaic panel installation robot, the rotating frame includes mounting hole I, mounting hole II, and mounting hole III; the floating frame includes fixed block I, rotating block I, rotating shaft, rotating block II, and fixed block II; a supporting wheel axle is installed at the center hole of the supporting wheel, a moving wheel axle is installed at the center hole of the moving wheel, a small floating wheel axle is installed at the center hole of the small floating wheel, and a large floating wheel axle is installed at the center hole of the large floating wheel; a rotating frame is installed on the supporting wheel axle, fixed on the supporting wheel axle through mounting hole I, and the rotating frame can rotate around the supporting wheel axle; the moving wheel axle A rotating frame is installed on it and fixed on the moving wheel shaft through the mounting hole II. The rotation of the rotating frame drives the moving wheel to move; the rotating block I and the rotating block II are connected by a rotating shaft at the corresponding through holes, and the rotating block I and the rotating block II can rotate; the fixed block II connects the rotating block II to the floating frame through the through hole at the other end of the rotating block II and the mounting hole III on the floating frame, and the rotation of the connecting frame drives the floating frame to move; the fixed block I is connected to the small floating wheel shaft or the large floating wheel shaft through the through hole at the other end of the rotating block I, and the movement of the floating frame drives the small floating wheel shaft or the large floating wheel shaft to float up and down.

[0024] The present invention also provides a photovoltaic panel fully automatic installation method, using any of the photovoltaic panel fully automatic installation robots described above, the photovoltaic panel fully automatic installation process includes the following steps:

[0025] S1: Robot walking (if the road surface where the photovoltaic panels are installed is flat, skip step S1):

[0026] S11: According to the road conditions, the small floating wheel and the large floating wheel drive the contacting crawler to float up and down to adapt to the road conditions;

[0027] S12: The small floating wheel and the large floating wheel float and drive the floating frame to swing;

[0028] S13: The floating frame swings to drive the moving wheels connected to the left and right sides of the lower end of the rotating frame to move to corresponding positions;

[0029] S2: Transfer the photovoltaic panel to the transfer device:

[0030] S21: In the initial state, the transfer device is in the maximum open state. According to the distance information fed back by the sensor, cylinders I and II adjust the position of the transfer device to transfer the photovoltaic panel to the transfer device;

[0031] S22: According to the size of the photovoltaic panel, the piston rod of cylinder III contracts to drive the connecting plates on both sides of the center frame to clamp the photovoltaic panel placed on the transfer device;

[0032] S3: Installation of photovoltaic panels:

[0033] S31: When the robot moves to the photovoltaic panel installation position, the adsorption device I adsorbs the photovoltaic panel placed on the transfer device until the adsorption device I tightly absorbs the photovoltaic panel, and the actuator rotates to the approximate installation position of the photovoltaic panel. At the same time, the adsorption device II tightly absorbs the pressing blocks and bolts required for fixing the photovoltaic panel at the storage truncated table;

[0034] S32: The sensor at the upper end of the execution device feeds back the location information of the photovoltaic panel installation, and the adsorption device I places the photovoltaic panel at the designated installation location, and at the same time moves the adsorption device II to the fixed position of the photovoltaic panel;

[0035] S33: placing the pressing block I on the vacuum suction cup into the fixed groove, then rotating the disc to place the pressing block II on the second vacuum suction cup on the upper side of the pressing block I, and finally rotating the disc to rotate the bolts in the bolt fixture into the bolt holes to fix the photovoltaic panel;

[0036] S34: After the photovoltaic panel is fixed, repeat steps S2 to S3.

[0037] The beneficial effects of the present invention are:

[0038] The present invention can realize full automation of the photovoltaic panel installation process through the mutual cooperation between the two adsorption devices, without the need for manual intervention in fixing, thereby reducing labor costs and improving installation efficiency.

[0039] Through the transfer device, the photovoltaic panel installation robot can automatically move the photovoltaic panels according to the placement of the photovoltaic panels. At the same time, it can automatically adjust the storage area to achieve the storage of photovoltaic panels of multiple sizes, and the installation is simple.

[0040] Through the walking device, the photovoltaic panel installation robot can automatically adjust its walking state according to road conditions, so as to achieve smooth installation of photovoltaic panels in various complex terrains, and make the photovoltaic panel installation robot more widely applicable. Description of the drawings:

[0041] Figure 1 This is a schematic diagram of the structure of the present invention from a first viewing angle;

[0042] Figure 2 This is a three-dimensional structural diagram of the present invention from a second viewing angle;

[0043] Figure 3 It is a three-dimensional structural diagram of the transfer device of the present invention;

[0044] Figure 4 It is a schematic diagram of the structure of the outer frame in the transfer device of the present invention;

[0045] Figure 5 It is a structural schematic diagram of the center frame in the transfer device of the present invention;

[0046] Figure 6It is a schematic diagram of the structure of the cylinder in the transfer device of the present invention;

[0047] Figure 7 It is a structural schematic diagram of the execution device of the present invention;

[0048] Figure 8 It is a structural schematic diagram of the chassis box in the execution device of the present invention;

[0049] Fig. 9 It is a structural schematic diagram of the large arm in the execution device of the present invention;

[0050] Fig.10 It is a schematic diagram of the structure of the small arm in the execution device of the present invention;

[0051] Fig.11 It is a structural schematic diagram of the adsorption device I of the present invention;

[0052] Fig.12 It is a structural schematic diagram of the adsorption device II of the present invention;

[0053] Fig.13 It is a structural schematic diagram of the manned device of the present invention;

[0054] Fig.14 It is a structural schematic diagram of the connection device of the present invention;

[0055] Fig.15 It is a structural schematic diagram of the walking device of the present invention;

[0056] Fig.16 This is a schematic diagram of the structure of the rotating frame in the walking device;

[0057] Fig.17 It is a structural schematic diagram of a floating frame in the walking device of the present invention;

[0058] In the figure, 1, transfer device, 101, cylinder Ⅰ, 102, connecting plate, 103, outer frame, 103-1, fixing block Ⅰ, 103-2, connecting hole, 103-3, fixing rod, 103-4, fixing block Ⅱ, 104, cylinder Ⅱ, 105, sensor, 106, center frame, 106-1, through hole, 106-2, mounting hole Ⅰ, 106-3, mounting hole Ⅱ, 107, cylinder Ⅲ, 107-1, piston, 107-2, large nut, 107-3, piston rod, 107-4, small nut, 108, fork frame, 201, chassis box, 201-1, box base, 201-2, Small electric box, 201-3, chassis motor, 201-4, oil seal ring, 201-5, flange cover, 201-6, chassis rotating turbine box, 202, large arm, 202-1, drive arm seat Ⅰ, 202-2, reducer, 202-3, large arm housing, 202-4, connecting rod, 202-5, small arm seat, 202-6, transmission shaft plate, 202-7, connecting frame, 202-8, drive arm seat Ⅱ, 203, small arm, 203-1, rotating motor, 203-2, gear box, 203-3, rotating flange, 203-4, center shaft, 203-5, wrist rotating flange, 203- 6. Front rotating flange, 203-7, front center axis, 301, connecting cover, 302, connecting block Ⅰ, 303, retaining frame Ⅰ, 304, retaining frame Ⅱ, 305, connecting block Ⅱ, 306, vacuum suction cup, 401, vacuum suction cup, 402, rotating disc, 403, connecting block, 404, fixing block, 405, bolt clamp, 501, manned platform base, 501-1, fixed support Ⅰ, 501-2, fixed support Ⅱ, 502, manned platform, 503, connecting rod, 504, support rod, 701, connecting hole Ⅰ, 702, fixing block, 703, fixing rod, 704, through hole, 705, Connecting hole II, 706, transmission shaft, 707, upper plate cover, 801, crawler track, 802, supporting wheel, 802-1, supporting wheel axle, 803, rotating frame, 803-1, mounting hole I, 803-2, mounting hole II, 803-3, mounting hole III, 804, moving wheel, 804-1, moving wheel axle, 805, floating wheel, 805-1, fixed block I, 805-2, rotating block I, 805-3, rotating shaft, 805-4, rotating block II, 805-5, fixed block II, 806, small floating wheel, 806-1, small floating wheel axle, 807, large floating wheel, 807-1, large floating wheel axle. Specific implementation method:

[0059] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the 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.

[0060] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] like Figures 1 to 17 As shown, this embodiment is a fully automatic photovoltaic panel installation robot, which includes a transfer device 1, an execution device 2, an adsorption device I3, an adsorption device II4, a manned device 5, a power generation device 6, a connection device 7 and a walking device 8, and a storage round table 901; the execution device 2, the manned device 5 and the power generation device 6 are installed on the upper side of the connection device 7, and four walking devices 8 are installed on the left and right sides of the connection device 7, and the two ends of the execution device 2 are respectively connected to the adsorption device I3 and the adsorption device II4;

[0064] In this embodiment, the transfer device 1 includes a cylinder I 101, a connecting plate 102, an outer frame 103, a cylinder II 104, a sensor 105, a center frame 106, a cylinder III 107, and a fork frame 108; two cylinders I 101 are installed on the left and right sides of the outer frame 103; two connecting plates 102 are installed on the left and right sides of the center frame 106; the outer frame 103 is located at the front end of the photovoltaic panel automatic installation robot; two cylinders II 104 are vertically installed at the rear end through hole of the outer frame 103; the sensor 105 is installed at the upper end of the outer frame 103; the center frame 106 is installed in the middle of the outer frame 103, and the two ends of the cylinder III 107 are respectively connected to the connecting plate 102 and the center frame 106, and the fork frame 108 is installed in the middle of the center frame 106;

[0065] In this embodiment, the execution device 2 includes a chassis box 201, a large arm 202, and a small arm 203; the execution device 2 is located at the upper end of the photovoltaic panel automatic installation robot; the lower end of the large arm 202 is connected to the upper end of the chassis box 201, and the upper end is connected to the lower end of the small arm 203;

[0066] In this embodiment, the adsorption device I3 includes a connection cover 301, a connection block I302, a holder I303, a holder II304, a connection block II305, and a vacuum suction cup 306; the adsorption device I3 is located at the upper end of the actuator 2; the lower end of the connection block I302 is connected to the upper end of the connection cover 301; the holder I303 and the holder II304 are fixed by the connection block II305; the threaded holes on the connection cover 301 correspond to the threaded holes on the two middle holders II304, and the fixed holder I303 and the holder II304 are fixed to the lower end of the connection cover 301; the vacuum suction cup 306 is fixed to the through holes of the holder I303 and the holder II304;

[0067] In this embodiment, the adsorption device II4 includes a vacuum suction cup 401, a rotating disc 402, a connecting block 403, a positioning block 404, and a bolt clamp 405; the adsorption device II4 is located at the upper end of the actuator 2; the two vacuum suction cups 401 and the bolt clamp 405 are fixed at three through holes on the rotating disc 402; the upper end of the rotating disc 402 is connected to the lower end of the fixing block 404 through the through holes of the connecting block 403;

[0068] In this embodiment, the manned device 5 includes a manned platform base 501, a manned platform 502, a support rod 503, and a connecting rod 504; the manned device 5 is located at the upper end of the fully automatic photovoltaic panel installation robot; the support rod 503 is connected to the through hole of the manned platform base 501, and the support rod 503 is fixed to the manned platform base 501 through the connecting rod 504; the support rod 503 and the through hole corresponding to the support rod 503 are connected by the connecting rod 504; the uppermost support rod 503 is fixed to the lower end of the manned platform 502 to fix the manned platform 502;

[0069] In this embodiment, the connection device 7 includes a connection hole I 701, a fixing block 702, a fixing rod 703, a through hole 704, a connection hole II 705, a transmission shaft 706, and an upper cover plate 707; the connection device 7 is located in the middle of the photovoltaic panel automatic installation robot; a transmission shaft 705 is installed at the connection hole I 701; the fixing rod 703 passes through the fixing block 702 to fix the cylinder I 101 installed at the fixing block 702 through the through hole 704, and the cylinder I 101 can rotate around the fixing block 702; the upper cover plate 707 is fixed through the connection hole II 705;

[0070] In this embodiment, the walking device 8 includes a crawler 801, a support wheel 802, a rotating frame 803, a moving wheel 804, a floating frame 805, a small floating wheel 806, and a large floating wheel 807; the four walking devices 8 are located on the left and right sides of the connecting device 7 and are symmetrically distributed, the support wheel 802 is installed on the inner side above the crawler 801; the upper end of the rotating frame 803 is connected to the support wheel 801, and the left and right sides of the lower end are connected to the moving wheel 804; the upper end of the floating frame 805 is connected to the rotating frame 803, and the lower end is connected to the small floating wheel 806 or the large floating wheel 807; the two small floating wheels 806 and the two large floating wheels 807 are installed on the inner side of the lower end of the crawler, and are symmetrically distributed on the left and right ends;

[0071] In this embodiment, the storage truncated platform 901 is located above the connecting device 6, and the interior of the storage truncated platform 901 is used to place the pressing blocks and bolts required for fixing the photovoltaic panels.

[0072] In this embodiment, the outer frame 103 is provided with a fixing block I 103-1, a connecting hole 103-2, a fixing rod 103-3, and a fixing block II 103-4; the center frame 106 is provided with a through hole 106-1, a mounting hole I 106-2, and a mounting hole II 106-3; the cylinder III 107 includes a piston 107-1, a large nut 107-2, a piston rod 107-3, and a small nut 107-4; the cylinder I 101 is installed at the fixing block II 103-4, fixed to the outside of the outer frame 103, and symmetrically distributed on the left and right sides; the cylinder II 104 is vertically installed at the fixing block I 103-1, and is connected to the outer frame 103. Hole Ⅰ106-2, the vertical movement of cylinder Ⅱ104 drives cylinder Ⅰ101 to move, realizing the up, down, left and right movement of the outer frame 103; the fixing rod 103-3 fixes the center frame 106 to the outer frame 103 through the through hole 106-1; the piston rod 107-3 at one end of the cylinder Ⅲ107 is fixed to the inside of the center frame 106 through the mounting hole Ⅰ106-2, and the piston 107-1 at the other end is fixed to the connecting plate 102 through the through hole on the connecting plate 102, realizing automatic adjustment of the storage area of ​​the photovoltaic panel; the three fork frames 108 are symmetrically distributed on the center frame 106 through the mounting holes Ⅱ106-3.

[0073] In this embodiment, the chassis box 201 includes a box base 201-1, a small electrical box 201-2, a chassis motor 201-3, an oil sealing ring 201-4, a flange cover 201-5, and a chassis rotating worm gear box 201-6; the chassis rotating turbine box 201-6 contains a rotating turbine shaft, the lower end of which is connected to the upper end of the box base 201-1, and the rear side is connected to the small electrical box 201-2 and the chassis motor 201-3, so as to realize the rotation of the rotating turbine shaft in the chassis rotating turbine box 201-6; an oil sealing ring 201-4 is installed in the groove at the upper end of the flange cover 201-5, and the lower end is connected to the upper end of the chassis rotating turbine box 201-6.

[0074] In this embodiment, the big arm 202 includes a driving arm seat I 202-1, a reducer 202-2, a big arm housing 202-3, a connecting rod 202-4, a small arm seat 202-5, a transmission shaft plate 202-6, a connecting frame 202-7, and a driving arm seat II 202-8; the upper side of the flange cover 201-5 is connected to the lower end of the driving arm seat II 202-8, and the rotation of the rotating turbine shaft in the chassis rotating turbine box 201-6 drives the driving arm seat II 202-8 to rotate; the lower end of the driving arm seat I 202-1 is connected to the upper end of the driving arm seat II 202-8, and the rotation of the driving arm seat II 202-8 drives the driving arm seat I 202-1 to rotate; the outer side of the lower end of the big arm housing 202-3 is connected to the reducer 202-2, and through the big arm housing 202-3 and the reducer The threaded hole at the contact point of 202-2 fixes the reducer 202-2 on the large arm housing 202-3, and the rotation of the reducer 202-2 drives the large arm housing 202-3 to rotate; the connecting frame 202-7 connects the large arm housing 202-3 and the reducer 202-2 through the through hole at the upper end of the driving arm seat Ⅰ202-1, and fixes the large arm housing 202-3 on the driving arm seat Ⅰ202-1 through the threaded hole at the contact point between the driving arm seat Ⅰ202-1 and the large arm housing 202-3; the lower end of the transmission shaft plate 202-6 is connected to the inner side of the lower end of the large arm housing 202-3, and the upper end is connected to the lower end of the connecting rod (202-4); the front end of the small arm seat 202-5 is connected to the front end of the connecting rod 202-4, and the rear end is connected to the outer side of the front end of the large arm housing 202-3.

[0075] In this embodiment, the forearm 203 includes a rotating motor 203-1, a gear box 203-2, a rotating flange 203-3, a central axis 203-4, a wrist rotating flange 203-5, a front rotating flange 203-6, and a front central axis 203-7; the gear box 203-2 contains gears, the lower end of which is connected to the upper end of the forearm seat 202-5, and the rear end is equipped with a rotating motor 203-1, and the movement of the rotating motor 203-1 drives the gears in the gear box 203-2 to move; the rear end of the rotating flange 203-3 is connected to the gear The wheel box 203-2 has a front end connected to the central axis 203-4, and the movement of the gears inside the gear box 203-2 drives the central axis 203-4 to rotate; the rear end of the wrist rotating flange 203-5 is connected to the central axis 203-4, and the front end is connected to the front rotating flange 203-6, and the front rotating flange 203-6 can rotate around the wrist rotating flange 203-5; the front central axis 203-7 is installed at the front end of the front rotating flange 203-6, and the front rotating flange 203-6 contains gears, which can drive the front central axis 203-7 to rotate.

[0076] In this embodiment, the manned platform base 501 includes a fixed support I 501-1 and a fixed support II 501-2; different support rods 503 are connected at the through holes of the fixed support I 501-1 and the fixed support II 501-2, and the support rods 503 are fixed to the manned platform base 501 through connecting rods 504, but the support rods 503 at the fixed support I 501-1 can rotate around the fixed support I 501-1, and the support rods 503 at the fixed support II 501-2 can rotate around the fixed support II 501-2; the support rods 503 are cross-arranged and connected at the corresponding through holes by connecting rods 504, the topmost support rod 503 is connected to the manned platform 502, and the rotation of the support rods 503 drives the manned platform 502 to move up and down.

[0077] In this embodiment, the rotating frame 803 includes mounting hole I803-1, mounting hole II803-2, and mounting hole III803-3; the floating frame 805 includes a fixed block I805-1, a rotating block I805-2, a rotating shaft 805-3, a rotating block II805-4, and a fixed block II805-5; a supporting wheel shaft 802-1 is installed at the center hole of the supporting wheel 802, a moving wheel shaft 804-1 is installed at the center hole of the moving wheel 804, a small floating wheel shaft 806-1 is installed at the center hole of the small floating wheel 806, and a large floating wheel shaft 807-1 is installed at the center hole of the large floating wheel 807; the rotating frame 803 is installed on the supporting wheel shaft 802-1, which is fixed on the supporting wheel shaft 802-1 through the mounting hole I803-1, and the rotating frame 803 can rotate around the supporting wheel shaft 802-1; the rotating frame is installed on the moving wheel shaft 804-1 803, is fixed on the moving wheel shaft 804-1 through the mounting hole II803-2, and the rotation of the rotating frame 803 drives the moving wheel 804 to move; the rotating block I805-2 and the rotating block II805-4 are connected by the rotating shaft 805-3 at the corresponding through holes, and the rotating block I805-2 and the rotating block II805-4 are rotatable; the fixed block II805-5 connects the rotating block II805-4 to the floating frame 805 through the through hole at the other end of the rotating block II805-4 and the mounting hole III803-3 on the floating frame 805, and the rotation of the connecting frame 803 drives the floating frame 805 to move; the fixed block I805-1 is connected to the small floating wheel shaft 806-1 or the large floating wheel shaft 807-1 through the through hole at the other end of the rotating block I805-2, and the movement of the floating frame 805 drives the small floating wheel shaft 806-1 or the large floating wheel shaft 807-1 to float up and down.

[0078] In this embodiment, the photovoltaic panel fully automatic installation method includes the following steps:

[0079] S1: Robot walking (if the road surface where the photovoltaic panels are installed is flat, skip step S1):

[0080] S11: According to the road conditions, the small floating wheel 806 and the large floating wheel 807 drive the contacting crawler to float up and down to adapt to the road conditions;

[0081] S12: The small floating wheel 806 and the large floating wheel 807 float and drive the floating frame 805 to swing;

[0082] S13: The floating frame 805 swings to drive the moving wheels 804 connected to the left and right sides of the lower end of the rotating frame 803 to move to corresponding positions;

[0083] S2: Transfer the photovoltaic panel to the transfer device:

[0084] S21: Initially, the transfer device is in the maximum open state. According to the distance information fed back by the sensor 105, the cylinder I 101 and the cylinder II 104 adjust the position of the transfer device 2 to transfer the photovoltaic panel to the transfer device 2;

[0085] S22: According to the size of the photovoltaic panel, the piston rod 10-3 of the cylinder III 107 contracts to drive the connecting plates 102 on both sides of the center frame 106 to clamp the photovoltaic panel placed on the transfer device 2;

[0086] S3: Installation of photovoltaic panels:

[0087] S31: When the robot moves to the photovoltaic panel installation position, the adsorption device I3 adsorbs the photovoltaic panel placed on the transfer device 1 until the adsorption device I3 tightly absorbs the photovoltaic panel, and the actuator 2 rotates to the approximate installation position of the photovoltaic panel. At the same time, the adsorption device II2 tightly absorbs the pressing blocks and bolts required for fixing the photovoltaic panel at the storage truncated table 901;

[0088] S32: The sensor at the upper end of the execution device 2 feeds back the location information of the photovoltaic panel installation, and the adsorption device I3 places the photovoltaic panel at the designated installation location, and at the same time moves the adsorption device II2 to the fixed position of the photovoltaic panel;

[0089] S33: placing the pressing block I on the vacuum suction cup 401 into the fixed groove, then rotating the disc 402 to place the pressing block II on the second vacuum suction cup 401 on the upper side of the pressing block I, and finally rotating the disc 402 to rotate the bolts in the bolt fixture 406 and place them into the bolt holes to fix the photovoltaic panel;

[0090] S34: After the photovoltaic panel is fixed, repeat steps S2 to S3.

[0091] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A fully automatic photovoltaic panel installation robot, characterized in that: The photovoltaic panel fully automatic installation robot comprises a transfer device (1), an execution device (2), an adsorption device I (3), an adsorption device II (4), a manned device (5), a power generation device (6), a connection device (7) and a walking device (8), and a storage truncated table (901); the execution device (2), the manned device (5) and the power generation device (6) are installed on the upper side of the connection device (7); four walking devices (8) are installed on the left and right sides of the connection device (7); and the two ends of the execution device (2) are respectively connected to the adsorption device I (3) and the adsorption device II (4); The transfer device (1) comprises a cylinder I (101), a connecting plate (102), an outer frame (103), a cylinder II (104), a sensor (105), a center frame (106), a cylinder III (107), and a fork frame (108); two cylinders I (101) are installed on the left and right sides of the outer frame (103); two connecting plates (102) are installed on the left and right sides of the center frame (106); the outer frame (103) is located at the front end of the photovoltaic panel automatic installation robot; two cylinders II (104) are vertically installed at the rear end through hole of the outer frame (103), and the sensor (105) is installed at the upper end of the outer frame (103); the center frame (106) is installed in the middle of the outer frame (103); two ends of the cylinder III (107) are respectively connected to the connecting plate (102) and the center frame (106); and the fork frame (108) is installed in the middle of the center frame (106); The execution device (2) comprises a chassis box (201), a large arm (202), and a small arm (203); the execution device (2) is located at the upper end of the photovoltaic panel fully automatic installation robot; the lower end of the large arm (202) is connected to the upper end of the chassis box (201), and the upper end is connected to the lower end of the small arm (203); The adsorption device I (3) comprises a connection cover (301), a connection block I (302), a retaining frame I (303), a retaining frame II (304), a connection block II (305), and a vacuum suction cup (306); the adsorption device I (3) is located at the upper end of the actuator (2); the lower end of the connection block I (302) is connected to the upper end of the connection cover (301); the retaining frame I (303) and the retaining frame II (304) are fixed by the connection block II (305); the threaded holes on the connection cover (301) correspond to the threaded holes on the two middle retaining frames II (304), and the fixed retaining frames I (303) and II (304) are fixed to the lower end of the connection cover (301); the vacuum suction cup (306) is fixed to the through holes of the retaining frames I (303) and II (304); The adsorption device II (4) comprises a vacuum suction cup (401), a rotating disc (402), a connecting block (403), a positioning block (404), and a bolt clamp (405); the adsorption device II (4) is located at the upper end of the actuator (2); the two vacuum suction cups (401) and the bolt clamp (405) are fixed at three through holes on the rotating disc (402); the upper end of the rotating disc (402) is connected to the lower end of the fixing block (404) through the through holes of the connecting block (403); The manned device (5) comprises a manned platform base (501), a manned platform (502), a support rod (503), and a connecting rod (504); the manned device (5) is located at the upper end of the fully automatic photovoltaic panel installation robot; the support rod (503) is connected to the through hole of the manned platform base (501), and the support rod (503) is fixed to the manned platform base (501) through the connecting rod (504); the support rod (503) and the through hole corresponding to the support rod (503) are connected through the connecting rod (504); the uppermost support rod (503) is fixed to the lower end of the manned platform (502) to fix the manned platform (502); The connecting device (7) comprises a connecting hole I (701), a fixing block (702), a fixing rod (703), a through hole (704), a connecting hole II (705), a transmission shaft (706), and an upper cover plate (707); the connecting device (7) is located in the middle of the fully automatic photovoltaic panel installation robot; a transmission shaft (705) is installed at the connecting hole I (701); the fixing rod (703) passes through the fixing block (702) to fix the cylinder I (101) passing through the through hole (704) and installed at the fixing block (702), and the cylinder I (101) can rotate around the fixing block (702); the upper cover plate (707) is fixed through the connecting hole II (705); The walking device (8) comprises a crawler track (801), a supporting wheel (802), a rotating frame (803), a moving wheel (804), a floating frame (805), a small floating wheel (806), and a large floating wheel (807); four walking devices (8) are located on the left and right sides of the connecting device (7) and are symmetrically distributed; the supporting wheel (802) is installed on the inner side above the crawler track (801); the upper end of the rotating frame (803) is connected to the supporting wheel (801), and the left and right sides of the lower end are connected to the moving wheel (804); the upper end of the floating frame (805) is connected to the rotating frame (803), and the lower end is connected to the small floating wheel (806) or the large floating wheel (807); two small floating wheels (806) and two large floating wheels (807) are installed on the inner side of the lower end of the crawler track, and are symmetrically distributed on the left and right ends; The storage truncated platform (901) is located above the connecting device (6), and the interior of the storage truncated platform (901) is used to place the pressing blocks and bolts required for fixing the photovoltaic panels.

2. The photovoltaic panel fully automatic installation robot according to claim 1, characterized in that: The outer frame (103) is provided with a fixing block I (103-1), a connecting hole (103-2), a fixing rod (103-3), and a fixing block II (103-4); the center frame (106) is provided with a through hole (106-1), a mounting hole I (106-2), and a mounting hole II (106-3); the cylinder III (107) comprises a piston (107-1), a large nut (107-2), a piston rod (107-3), and a small nut (107-4); the cylinder I (101) is installed at the fixing block II (103-4), fixed to the outside of the outer frame (103), and symmetrically distributed on the left and right sides; the cylinder II (104) is vertically installed at the fixing block I (103-1), and is connected to the outer frame (103) through the connecting hole. (103-2), the vertical movement of cylinder II (104) drives cylinder I (101) to move, thereby realizing the up, down, left, and right movement of the outer frame (103); the fixing rod (103-3) fixes the center frame (106) to the outer frame (103) through the through hole (106-1); the piston rod (107-3) at one end of the cylinder III (107) is fixed inside the center frame (106) through the mounting hole I (106-2), and the piston (107-1) at the other end is fixed to the connecting plate (102) through the through hole on the connecting plate (102), thereby realizing automatic adjustment of the storage area of ​​the photovoltaic panel; the three fork frames (108) are symmetrically distributed on the center frame (106) through the mounting holes II (106-3).

3. The photovoltaic panel fully automatic installation robot according to claim 1, characterized in that: The chassis case (201) comprises a case base (201-1), a small electric box (201-2), a chassis motor (201-3), an oil sealing ring (201-4), a flange cover (201-5), and a chassis rotating worm gear box (201-6); the chassis rotating turbine box (201-6) contains a rotating turbine shaft, the lower end of which is connected to the upper end of the case base (201-1), and the rear side is connected to the small electric box (201-2) and the chassis motor (201-3), so as to realize the rotation of the rotating turbine shaft in the chassis rotating turbine box (201-6); an oil sealing ring (201-4) is installed in a groove at the upper end of the flange cover (201-5), and the lower end of which is connected to the upper end of the chassis rotating turbine box (201-6).

4. The photovoltaic panel fully automatic installation robot according to claim 1, characterized in that: The large arm (202) comprises a driving arm seat I (202-1), a reducer (202-2), a large arm housing (202-3), a connecting rod (202-4), a small arm seat (202-5), a transmission shaft plate (202-6), a connecting frame (202-7), and a driving arm seat II (202-8); the upper side of the flange cover (201-5) is connected to the lower end of the driving arm seat II (202-8), and the rotation of the rotating turbine shaft in the chassis rotating turbine box (201-6) drives the driving arm seat II (202-8) to rotate; the lower end of the driving arm seat I (202-1) is connected to the upper end of the driving arm seat II (202-8), and the rotation of the driving arm seat II (202-8) drives the driving arm seat I (202-1) to rotate; the outer side of the lower end of the large arm housing (202-3) is connected to the reducer (202-2), and through the large arm housing (202-3) and the reducer ( The threaded hole at the contact point of the drive arm seat Ⅰ (202-1) fixes the reducer (202-2) on the large arm housing (202-3), and the rotation of the reducer (202-2 drives the large arm housing (202-3) to rotate; the connecting frame (202-7) connects the large arm housing (202-3) and the reducer (202-2) through the through hole at the upper end of the drive arm seat Ⅰ (202-1), and fixes the large arm housing (202-3) on the drive arm seat Ⅰ (202-1) through the threaded hole at the contact point between the drive arm seat Ⅰ (202-1) and the large arm housing (202-3); the lower end of the transmission shaft plate (202-6) is connected to the inner side of the lower end of the large arm housing (202-3), and the upper end is connected to the lower end of the connecting rod (202-4); the front end of the small arm seat (202-5) is connected to the front end of the connecting rod (202-4), and the rear end is connected to the outer side of the front end of the large arm housing (202-3).

5. The photovoltaic panel fully automatic installation robot according to claim 1, characterized in that: The small arm (203) comprises a rotating motor (203-1), a gear box (203-2), a rotating flange (203-3), a central shaft (203-4), a wrist rotating flange (203-5), a front rotating flange (203-6), and a front central shaft (203-7); the gear box (203-2) contains gears, the lower end of which is connected to the upper end of the small arm seat (202-5), and the rear end is equipped with a rotating motor (203-1), and the movement of the rotating motor (203-1) drives the gears in the gear box (203-2) to move; the rear end of the rotating flange (203-3) is connected to the gear The front end of the gear box (203-2) is connected to the central shaft (203-4), and the movement of the gears inside the gear box (203-2) drives the central shaft (203-4) to rotate; the rear end of the wrist rotating flange (203-5) is connected to the central shaft (203-4), and the front end is connected to the front rotating flange (203-6), and the front rotating flange (203-6) can rotate around the wrist rotating flange (203-5); the front central shaft (203-7) is installed at the front end of the front rotating flange (203-6), and the front rotating flange (203-6) contains gears, which can drive the front central shaft (203-7) to rotate.

6. The photovoltaic panel fully automatic installation robot according to claim 1, characterized in that: The manned platform base (501) comprises a fixed support I (501-1) and a fixed support II (501-2); different support rods (503) are connected at the through holes of the fixed support I (501-1) and the fixed support II (501-2), and the support rods (503) are fixed to the manned platform base (501) through connecting rods (504); however, the support rods (503) at the fixed support I (501-1) can rotate around the fixed support I (501-1), and the support rods (503) at the fixed support II (501-2) can rotate around the fixed support II (501-2); the support rods (503) are cross-arranged and connected at corresponding through holes through connecting rods (504); the uppermost support rod (503) is connected to the manned platform (502), and the rotation of the support rods (503) drives the manned platform (502) to move up and down.

7. The photovoltaic panel fully automatic installation robot according to claim 1, characterized in that: The rotating frame (803) includes a mounting hole I (803-1), a mounting hole II (803-2), and a mounting hole III (803-3); the floating frame (805) includes a fixed block I (805-1), a rotating block I (805-2), a rotating shaft (805-3), a rotating block II (805-4), and a fixed block II (805-5); a supporting wheel shaft (802-1) is installed at the center hole of the supporting wheel (802), and a moving wheel shaft is installed at the center hole of the moving wheel (804). (804-1), a small floating wheel axle (806-1) is installed at the center hole of the small floating wheel (806), and a large floating wheel axle (807-1) is installed at the center hole of the large floating wheel (807); a rotating frame (803) is installed on the supporting wheel axle (802-1), and is fixed on the supporting wheel axle (802-1) through the mounting hole I (803-1), and the rotating frame (803) can rotate around the supporting wheel axle (802-1); a rotating frame (80 3), fixed on the moving wheel shaft (804-1) through the mounting hole II (803-2), the rotation of the rotating frame (803) drives the moving wheel (804) to move; the rotating block I (805-2) and the rotating block II (805-4) are connected through the rotating shaft (805-3) at the corresponding through holes, and the rotating block I (805-2) and the rotating block II (805-4) can rotate; the fixed block II (805-5) is connected through the through hole at the other end of the rotating block II (805-4) and the floating frame (805 ), the rotating block II (805-4) is connected to the floating frame (805), and the rotation of the connecting frame (803) drives the floating frame (805) to move; the fixed block I (805-1) is connected to the small floating wheel shaft (806-1) or the large floating wheel shaft (807-1) through the through hole at the other end of the rotating block I (805-2), and the movement of the floating frame (805) drives the small floating wheel shaft (806-1) or the large floating wheel shaft (807-1) to float up and down.

8. A fully automatic photovoltaic panel installation method, characterized in that: Using the photovoltaic panel fully automatic installation robot described in any one of claims 1 to 7, the photovoltaic panel fully automatic installation process includes the following steps: S1: Robot walking (if the road surface where the photovoltaic panels are installed is flat, skip step S1): S11: According to the road conditions, the small floating wheel (806) and the large floating wheel (807) drive the contacting crawler to float up and down to adapt to the road conditions; S12: The small floating wheel (806) and the large floating wheel (807) float and drive the floating frame (805) to swing; S13: The floating frame (805) swings to drive the moving wheels (804) connected to the left and right sides of the lower end of the rotating frame (803) to move to corresponding positions; S2: Transfer the photovoltaic panel to the transfer device: S21: In the initial state, the transfer device is in the maximum open state. According to the distance information fed back by the sensor (105), the cylinder I (101) and the cylinder II (104) adjust the position of the transfer device (2) to transfer the photovoltaic panel to the transfer device (2); S22: According to the size of the photovoltaic panel, the piston rod (10-3) of the cylinder III (107) contracts to drive the connecting plates (102) on both sides of the center frame (106) to clamp the photovoltaic panel placed on the transfer device (2); S3: Installation of photovoltaic panels: S31: When the robot moves to the photovoltaic panel installation position, the adsorption device I (3) adsorbs the photovoltaic panel placed on the transfer device (1) until the adsorption device I (3) firmly holds the photovoltaic panel, and the execution device (2) rotates to the approximate installation position of the photovoltaic panel. At the same time, the adsorption device II (2) firmly holds the pressing blocks and bolts required for fixing the photovoltaic panel at the storage truncated table (901); S32: The sensor at the upper end of the execution device (2) feeds back the location information of the photovoltaic panel installation, and the adsorption device I (3) places the photovoltaic panel at the designated installation location, and at the same time moves the adsorption device II (2) to the fixed position of the photovoltaic panel; S33: placing the pressing block I on the vacuum suction cup (401) in the fixed groove, then rotating the disc (402) to place the pressing block II on the second vacuum suction cup (401) on the upper side of the pressing block I, and finally rotating the disc (402) to rotate the bolts in the bolt clamp (406) and place them in the bolt holes to fix the photovoltaic panel; S34: After the photovoltaic panel is fixed, repeat steps S2 to S3.

Images